diff --git a/gpt6_astra_1x_icl/README.md b/gpt6_astra_1x_icl/README.md new file mode 100644 index 0000000000000000000000000000000000000000..c62ef488b4313c83e4e1caaeed5650c3124b2bc6 --- /dev/null +++ b/gpt6_astra_1x_icl/README.md @@ -0,0 +1,40 @@ +# GPT-6 Astra — 1× + 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:** 68/260 = **26.15%**. +- **Latched stage completion rate:** **48.77%**, averaged equally over 26 tasks. +- **Coverage:** 26 tasks × 10 Full-channel episodes = 260 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 selected indices 5–14 form a 260-episode Full-channel cohort. Seventeen damaged outcomes use same-index certified replacements. Task 61 episode 8 was additionally rerun at its original index and seed because its original native evaluator log was lost. The rerun's first valid outcome was selected regardless of success; the original recorded success and 100% LSCR remain historical evidence, not the selected score. The cohort is an amended reporting selection. + +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 1× 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_1x_icl/leaderboard_gpt6_astra_1x_icl.json b/gpt6_astra_1x_icl/leaderboard_gpt6_astra_1x_icl.json new file mode 100644 index 0000000000000000000000000000000000000000..aba6feb83c746b124690907a82b5fa6d45862742 --- /dev/null +++ b/gpt6_astra_1x_icl/leaderboard_gpt6_astra_1x_icl.json @@ -0,0 +1,1855 @@ +{ + "model": { + "id": "gpt6_astra_1x_icl", + "label": "GPT-6 Astra", + "variantLabel": "1× + ICL", + "family": "GPT-6 Astra", + "modelVersion": "gpt-6-astra", + "checkpoint": null, + "inputs": "RGB vision + proprioception + task description", + "protocolId": "standard", + "displayOrder": 100, + "trainingSetting": "Frozen per-task in-context preparation; no weight updates", + "resultVersion": "Amended 260, 1× budget", + "updatedAt": null, + "evaluationSetting": "task_icl_v3", + "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_1x_icl/logo.png", + "logoAlt": "SenseNova logo", + "weightsUrl": null, + "codeUrl": "https://github.com/OpenSenseNova/SenseNova-RoboRSI", + "externalReport": true, + "episodesPerChannel": 10, + "stepBudgetMultiplier": 1 + }, + "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": 26.153846153846153 + }, + "channelLscr": { + "None": null, + "Equi.": null, + "Inv.": null, + "Full": 48.76923076923077 + }, + 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{"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_130_tray_1": {"position": [0.0, 0.0, 0.7669315787575799], "rpy_deg": [90.0, 0.0, 0.0]}, "obj_030_fork_1": {"position": [0.15, 0.42, 0.7678315750008304], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_029_plate_1": {"position": [0.38, 0.4, 0.7703514749334981], "rpy_deg": [0.0, 0.0, -4.654001271476265]}, "obj_030_fork_2": {"position": [-0.35, 0.42, 0.7678315750008304], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_029_plate_2": {"position": [-0.12, 0.4, 0.7703514749334981], "rpy_deg": [0.0, 0.0, -8.099633824209123]}, "obj_030_fork_3": {"position": [-0.85, 0.42, 0.7678315750008304], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_029_plate_3": {"position": [-0.62, 0.4, 0.7703514749334981], "rpy_deg": [0.0, 0.0, 1.3936278054763047]}, "obj_194_wineglass_1": {"position": [0.12, 0.06, 0.7969315750162904], "rpy_deg": [90.0, 0.0, 6.782736650592234]}, "obj_194_wineglass_2": {"position": [0.0, 0.06, 0.7969315750162904], "rpy_deg": [90.0, 0.0, 7.082600779515968]}, "obj_194_wineglass_3": {"position": [-0.12, 0.06, 0.7969315750162904], "rpy_deg": [90.0, 0.0, -7.38640921858779]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "table_setting", "robot_key": "multi_xarm7_with_ability", "perturbation_axis": "inv+cov", "stable_success": false, "ever_instant_success": false, "at_end_success": false, "at_end_success_observed": false, "at_end_success_budget": 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": 36.06666666666666, "expert_time_step": 2164, "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": 0.9990880248491173, "mean_kinematic_grasp_stability": 0.6399406472490312, "per_object_best_kinematic_grasp_stability": {"obj_194_wineglass_1": 0.8335107367736981, "obj_194_wineglass_2": 0.9990880248491173, "obj_194_wineglass_3": 0.66623866455776}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.750315554361018, "mean_kinematic_stability_score": 0.49444582356764333, "mean_lift_score": 0.7726432532347505, "mean_hold_score": 0.7492606284658042, "mean_motion_stability_score": 0.7451280275685788, "mean_duration_score": 0.755822550831793, "mean_anti_slip_score": 0.7513520914629948}, "robot_motion_metrics": {"joint_velocity_rms": 0.24885255518545155, "joint_acceleration_rms": 3.3044956467602726, "joint_jerk_rms": 338.5533845724937, "joint_effort_rms": 78.57811544551096}, "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": 0, "robot_constraint_diagnostics": {"joint_limit_max_excess_by_joint": {"index_q1": 2.952172284409471e-09, "index_q2": 8.593593614492079e-10, "middle_q1": 1.8974362081536356e-09, "middle_q2": 1.4360916900102438e-09, "multi_pinky_q1": 3.7422373679874e-06, "multi_pinky_q2": 2.8534909688460175e-06, "multi_ring_q2": 4.629057730198838e-05, "pinky_q1": 1.1768497287789614e-09, "pinky_q2": 1.7755481529491135e-09, "ring_q1": 6.512841377315226e-10, "ring_q2": 2.198807580455764e-09}, "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": 4.629057730198838e-05, "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": 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": 4.629057730198838e-05, "max_joint_limit_excess_joint": "multi_ring_q2", "stage_completion": {"place_first_glass": false, "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": null, "place_second_glass": null, "place_third_glass": null}, "violation_counts": {}, "policy_query_count": 9, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3246, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/03_wine_glass_plate_balance/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/03_wine_glass_plate_balance/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..18c99bc9911fb29c970d90415a22159841e655b4 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/03_wine_glass_plate_balance/Full/summary.json @@ -0,0 +1,212 @@ +{ + "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": 10, + "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": 3246, + "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": 0.39999999999999997 + }, + "efficiency": { + "avg_time_to_success_s": null + }, + "safety": { + "safe_success_rate": 0.0, + "hard_violation_rate": 0.9, + "drop_rate": 0.9, + "high_speed_violation_rate": 0.1, + "safety_violation_step_rate": 0.04460874922982132 + }, + "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": 0.16666666666666666, + "current_chain_depth_progress_score": 0.16666666666666666, + "latched_chain_depth_progress_score": 0.39999999999999997, + "avg_current_chain_depth": 0.5, + "avg_latched_chain_depth": 1.2 + }, + "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": 0.0004313000616142945, + "violation_counts": { + "drop_obj_194_wineglass_1": 1, + "drop_to_table_obj_194_wineglass_1": 9, + "drop_to_table_obj_194_wineglass_2": 1, + "drop_to_table_obj_194_wineglass_3": 2, + "high_speed_obj_194_wineglass_1": 1 + }, + "robot_constraint_violation_rate": 0.7, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.0012630930375847197, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.06860432028770447, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "middle_q2": 29, + "multi_pinky_q1": 3, + "multi_ring_q1": 1, + "multi_ring_q2": 8 + }, + "joint_limit_hard_counts": { + "middle_q2": 1, + "multi_pinky_q1": 2, + "multi_ring_q1": 3, + "multi_ring_q2": 2, + "ring_q1": 1 + }, + "joint_limit_hard_episode_events": 9, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "index_q1": 0.0030562784522771835, + "index_q2": 2.8614797198400765e-09, + "middle_q1": 0.0012579697649925947, + "middle_q2": 0.05049429088830948, + "multi_index_q1": 0.00476967403665185, + "multi_index_q2": 2.294862300189493e-09, + "multi_middle_q1": 0.002055603312328458, + "multi_middle_q2": 0.001359704416245222, + "multi_pinky_q1": 0.026384813711047173, + "multi_pinky_q2": 0.0026463610120117664, + "multi_ring_q1": 0.0110697066411376, + "multi_ring_q2": 0.06860432028770447, + "multi_thumb_q1": 0.0005444049602374434, + "multi_thumb_q2": 0.00013726763427257538, + "pinky_q1": 0.001833398942835629, + "pinky_q2": 0.0018782949773594737, + "ring_q1": 0.006766872014850378, + "ring_q2": 0.0024923672899603844, + "thumb_q1": 0.0006504592020064592, + "thumb_q2": 0.0006376263336278498 + }, + "coverage": { + "hard_limit_source": { + "available": 10, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 10, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 10 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 10 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 10, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 10, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 9.036153273750015, + "joint_effort_rms": 91.83046455785966, + "joint_jerk_rms": 915.2846308193771, + "joint_velocity_rms": 0.480255237631612 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9986104463301466, + "mean_kinematic_grasp_stability": 0.5942982607822139, + "per_object_best_kinematic_grasp_stability": { + "obj_194_wineglass_1": 0.8956681838712092, + "obj_194_wineglass_2": 0.995692048610797, + "obj_194_wineglass_3": 0.9360362115771004 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8491921681385672, + "mean_duration_score": 0.46705483672212, + "mean_hold_score": 0.3785936537276675, + "mean_kinematic_stability_score": 0.23044707313794188, + "mean_legacy_gsi": 0.4845957828923964, + "mean_lift_score": 0.44093242965701374, + "mean_motion_stability_score": 0.3529374016477624 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3246, + "error_count": 0 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_1x_icl/per_task_eval/06_fruit_bowl_loading/Full/per_episode.jsonl b/gpt6_astra_1x_icl/per_task_eval/06_fruit_bowl_loading/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..07923a431986f6de5f4743182000c4b8b84e95ab --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/06_fruit_bowl_loading/Full/per_episode.jsonl @@ -0,0 +1,10 @@ +{"scene": "scenes/06_fruit_bowl_loading.yaml", "episode_index": 5, "seed": 200600004, "success": false, "steps": 1920, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200600004, "base_seed": 200600000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": 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"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, -1.1896116733551025, 1.5838463306427002, 1.465399980545044, 0.0036071443464607, -1.9369776248931885, 1.569999098777771, 0.1589788943529129, -0.0028472088743001223, -1.495308756828308, -0.07861988991498947, 0.004691833630204201, 0.002664998173713684, 0.005464643239974976, 0.004216913599520922, 0.0, -0.14475968480110168, -0.14702346920967102, -0.14389653503894806, -0.14529013633728027, 0.0, 0.0, 0.10000000149011612, 0.0, 0.0, 0.25, 0.0, -0.15000000596046448, -0.03830999881029129, -0.15000000596046448, -0.15000000596046448, 0.10000000149011612, 0.10000000149011612, 0.11425000429153442, 0.1857789009809494], "shielded_full_target": [1.5699793100357056, -1.5624622106552124, -1.1896116733551025, 1.5838463306427002, 1.465399980545044, 0.0036071443464607, -1.9369776248931885, 1.569999098777771, 0.1589788943529129, -0.0028472088743001223, -1.495308756828308, -0.07861988991498947, 0.004691833630204201, 0.002664998173713684, 0.005464643239974976, 0.004216913599520922, 0.0, -0.14475968480110168, -0.14702346920967102, -0.14389653503894806, -0.14529013633728027, 0.0, 0.0, 0.10000000149011612, 0.0, 0.0, 0.25, 0.0, -0.15000000596046448, -0.03830999881029129, -0.15000000596046448, -0.15000000596046448, 0.10000000149011612, 0.10000000149011612, 0.11425000429153442, 0.1857789009809494]}, "joint_limit_active_steps": 213, "joint_limit_hard_episode_events": 10, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 126, "max_joint_limit_excess_rad": 0.9934417605400085, "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": 213, "joint_limit_active_step_rate": 0.1109375, "finger_joint_limit_saturation_steps": 126, "finger_joint_limit_saturation_step_rate": 0.065625, "max_joint_limit_excess_rad": 0.9934417605400085, "max_joint_limit_excess_joint": "right_middle_1_joint", "stage_completion": {"move_bowl": true, "place_apple_3": false, "place_apple_4": false, "place_banana": false}, "current_stage_completion": {"move_bowl": true, "place_apple_3": false, "place_apple_4": false, "place_banana": false}, "stage_first_completion_step": {"move_bowl": 786, "place_apple_3": null, "place_apple_4": null, "place_banana": null}, "violation_counts": {"drop_to_table_obj_013_apple_4": 1}, "policy_query_count": 34, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1920, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/06_fruit_bowl_loading/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/06_fruit_bowl_loading/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..7e40727dc7e8cb40d2e5ce7fa02a4a93e1951dd5 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/06_fruit_bowl_loading/Full/summary.json @@ -0,0 +1,275 @@ +{ + "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": 10, + "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": 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": 0.1, + "success_rate_ci": { + "mean": 0.1, + "ci_low": 0.0, + "ci_high": 0.3 + } + }, + "progress": { + "latched_stage_completion_rate": 0.525 + }, + "efficiency": { + "avg_time_to_success_s": 31.016666666666186 + }, + "safety": { + "safe_success_rate": 0.0, + "hard_violation_rate": 0.9, + "drop_rate": 0.9, + "high_speed_violation_rate": 0.1, + "safety_violation_step_rate": 0.0042205222896333425 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.1, + "at_end_success_rate": 0.1, + "task_family_success_rate": { + "rigid_pick_place": 0.1 + } + }, + "progress": { + "current_stage_completion_rate": 0.325, + "current_chain_depth_progress_score": 0.36666666666666664, + "latched_chain_depth_progress_score": 0.5666666666666667, + "avg_current_chain_depth": 1.1, + "avg_latched_chain_depth": 1.7 + }, + "efficiency": { + "task_efficiency": 0.6878022568511659, + "expert_time_s": 21.333333333333332, + "expert_time_step": 1280, + "avg_steps_to_success": 1861, + "avg_policy_steps_to_success": 621, + "avg_policy_queries_to_success": 25 + }, + "safety": { + "safety_violation_events_per_step": 0.0006330783434450013, + "violation_counts": { + "drop_obj_013_apple_3": 1, + "drop_to_table_obj_013_apple_3": 2, + "drop_to_table_obj_013_apple_4": 8, + "high_speed_obj_013_apple_3": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.17246109206014243, + "finger_joint_limit_saturation_step_rate": 0.1280400949617515, + "max_joint_limit_excess_rad": 3.382310390472412, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 193, + "left_index_2_joint": 9, + "left_little_1_joint": 382, + "left_little_2_joint": 84, + "left_middle_1_joint": 303, + "left_middle_2_joint": 5, + "left_ring_1_joint": 308, + "left_ring_2_joint": 29, + "left_thumb_1_joint": 59, + "left_thumb_2_joint": 216, + "left_thumb_3_joint": 190, + "left_thumb_4_joint": 70, + "right_index_1_joint": 680, + "right_index_2_joint": 25, + "right_little_1_joint": 129, + "right_little_2_joint": 57, + "right_middle_1_joint": 798, + "right_middle_2_joint": 35, + "right_ring_1_joint": 382, + "right_ring_2_joint": 56, + "right_thumb_1_joint": 10, + "right_thumb_2_joint": 1635, + "right_thumb_3_joint": 36, + "right_thumb_4_joint": 1 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 7, + "left_index_2_joint": 2, + "left_little_1_joint": 22, + "left_little_2_joint": 5, + "left_middle_1_joint": 16, + "left_middle_2_joint": 3, + "left_ring_1_joint": 21, + "left_ring_2_joint": 6, + "left_thumb_1_joint": 3, + "left_thumb_2_joint": 15, + "left_thumb_3_joint": 5, + "left_thumb_4_joint": 5, + "right_index_1_joint": 22, + "right_index_2_joint": 2, + "right_little_1_joint": 8, + "right_little_2_joint": 2, + "right_middle_1_joint": 25, + "right_middle_2_joint": 3, + "right_ring_1_joint": 15, + "right_ring_2_joint": 2, + "right_thumb_1_joint": 3, + "right_thumb_2_joint": 25, + "right_thumb_3_joint": 2, + "right_thumb_4_joint": 2 + }, + "joint_limit_hard_episode_events": 79, + "finger_joint_limit_saturation_counts": { + "left_index_1_joint": 140, + "left_index_2_joint": 3, + "left_little_1_joint": 226, + "left_little_2_joint": 71, + "left_middle_1_joint": 170, + "left_ring_1_joint": 162, + "left_thumb_1_joint": 39, + "left_thumb_2_joint": 93, + "left_thumb_3_joint": 184, + "left_thumb_4_joint": 56, + "right_index_1_joint": 409, + "right_index_2_joint": 3, + "right_little_1_joint": 82, + "right_little_2_joint": 53, + "right_middle_1_joint": 617, + "right_middle_2_joint": 32, + "right_ring_1_joint": 241, + "right_ring_2_joint": 48, + "right_thumb_2_joint": 1231, + "right_thumb_3_joint": 34 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.7339382171630859, + "left_index_2_joint": 0.3402869701385498, + "left_little_1_joint": 0.9096411466598511, + "left_little_2_joint": 1.1495881080627441, + "left_middle_1_joint": 0.9641392827033997, + "left_middle_2_joint": 0.2039506435394287, + "left_ring_1_joint": 1.0324233770370483, + "left_ring_2_joint": 0.24595904350280762, + "left_thumb_1_joint": 0.7501708269119263, + "left_thumb_2_joint": 0.987554132938385, + "left_thumb_3_joint": 3.382310390472412, + "left_thumb_4_joint": 1.9342007637023926, + "right_index_1_joint": 0.8946888446807861, + "right_index_2_joint": 0.273584246635437, + "right_little_1_joint": 0.932692289352417, + "right_little_2_joint": 0.7767856121063232, + "right_middle_1_joint": 0.9934417605400085, + "right_middle_2_joint": 0.6010532379150391, + "right_ring_1_joint": 0.9061310887336731, + "right_ring_2_joint": 0.626173734664917, + "right_thumb_1_joint": 0.0660252571105957, + "right_thumb_2_joint": 0.6172922253608704, + "right_thumb_3_joint": 1.7565410137176514, + "right_thumb_4_joint": 0.025886058807373047 + }, + "coverage": { + "hard_limit_source": { + "available": 10, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 10, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 10 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 10 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 10, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 10, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 54.53032325899591, + "joint_effort_rms": 49.91163010593858, + "joint_jerk_rms": 5538.471765760078, + "joint_velocity_rms": 1.1476248155165663 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.6750588898147976, + "mean_kinematic_grasp_stability": 0.17570324777356666, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.21171605483204742, + "obj_013_apple_3": 0.6421852607741502, + "obj_013_apple_4": 0.2131514025765569 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9908254908253259, + "mean_duration_score": 0.03099287995244664, + "mean_hold_score": 0.030345580896439787, + "mean_kinematic_stability_score": 0.01797651457830877, + "mean_legacy_gsi": 0.22654757608459167, + "mean_lift_score": 0.08310973547380095, + "mean_motion_stability_score": 0.027594197289731306 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1895.5, + "error_count": 1 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_1x_icl/per_task_eval/07_citrus_plate_loading/Full/per_episode.jsonl b/gpt6_astra_1x_icl/per_task_eval/07_citrus_plate_loading/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1df5634ac7ac97ec03ada82666e8eaef149cf054 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/07_citrus_plate_loading/Full/per_episode.jsonl @@ -0,0 +1,10 @@ +{"scene": "scenes/07_citrus_plate_loading.yaml", "episode_index": 5, "seed": 200700004, "success": false, "steps": 1806, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200700004, "base_seed": 200700000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 90.0, "base_yaw_deg": 90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan10", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan10_physics/scene.usda", "scene_offset": [-0.73022, 0.88397, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_wood_wood0571_jpg", "asset_uri": "dex2bench_dataset/textures/wood/wood0571.jpg", "asset_category": "wood", "asset_id": "wood/wood0571.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1264.407810741221, "color": [0.41267547473938565, 0.6253480285101527, 0.503705286016052], "pitch_deg": -11.825968318712398, "yaw_deg": -84.61004767552114, "angle_deg": 0.7812262408764072}, "dome": {"intensity": 180.97228937258268, "color": [0.8599017062221701, 0.9753609152879769, 0.633045866623631], "exposure": 0.17002155516756667}, "profile_name": "", "profile_split": "", "profile_pool_size": 0}}, "spatial": {"object_pose": {"enabled": true, "position_jitter_cm": 2.0, "position_jitter_m": 0.02, "yaw_jitter_deg": 10.0}, "table_height": {"enabled": true, "height_offset_m": 0.03205055840607311, "offset_m_range": [-0.05, 0.05]}, "camera": {"enabled": true, "asset_split": "unseen", "profile_name": "eval_default_camera", "profile_split": "unseen", "profile_pool_size": 1, "cameras": {"cam_chest": {"enabled": true, "position_offset_m": [0.0004163122639925486, -0.0026854479475154603, -0.004562131519886658], "target_offset_m": [-0.0009719760352854059, 0.0007308547393574229, 0.0020383248107919494], "distance_offset_m": 0.02128768589814626, 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"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": 997, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_thumb_mcp_joint", "role": "finger", "qpos": -0.018147969618439674, "hard_excess_rad": 0.018147969618439674, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.6632000207901001, "operating_lower": 0.0, "operating_upper": 0.6632000207901001, "expanded_target": 0.5037806034088135, "shielded_target": 0.5037806034088135}], "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": [1.7946112155914307, -1.5159891843795776, -2.084616184234619, 1.6618270874023438, 0.7108597159385681, 0.16555754840373993, -0.5150452256202698, 1.5945912599563599, -0.5141053199768066, 0.2824733555316925, -1.8767610788345337, -0.4442581534385681, 0.04859346151351929, 0.0029135316144675016, 0.027625417336821556, 0.007189338095486164, 0.22835925221443176, -0.051139168441295624, -0.004084933549165726, 0.12596985697746277, 0.0, 0.34745311737060547, 0.7446742057800293, 0.8393958806991577, 0.6911866068840027, 0.8799575567245483, 0.8792235851287842, 0.0, 0.0, 0.10755880177021027, 0.16469621658325195, 0.8279868364334106, 0.36450958251953125, 0.5037806034088135, 0.043493375182151794, 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": [1.7946112155914307, -1.5159891843795776, -2.084616184234619, 1.6618270874023438, 0.7108597159385681, 0.16555754840373993, -0.5150452256202698, 1.5945912599563599, -0.5141053199768066, 0.2824733555316925, -1.8767610788345337, -0.4442581534385681, 0.04859346151351929, 0.0029135316144675016, 0.027625417336821556, 0.007189338095486164, 0.22835925221443176, -0.051139168441295624, -0.004084933549165726, 0.12596985697746277, 0.0, 0.34745311737060547, 0.7446742057800293, 0.8393958806991577, 0.6911866068840027, 0.8799575567245483, 0.8792235851287842, 0.0, 0.0, 0.14148934185504913, 0.0, 0.3770908713340759, 0.10755880177021027, 0.16469621658325195, 0.8279868364334106, 0.36450958251953125, 0.5037806034088135, 0.0, 0.0, 0.043493375182151794, 0.0, 0.0, 0.9299948215484619, 0.40941715240478516, 0.5467531085014343, 0.0, 0.0, 0.0], "shielded_full_target": [1.7946112155914307, -1.5159891843795776, -2.084616184234619, 1.6618270874023438, 0.7108597159385681, 0.16555754840373993, -0.5150452256202698, 1.5945912599563599, -0.5141053199768066, 0.2824733555316925, -1.8767610788345337, -0.4442581534385681, 0.04859346151351929, 0.0029135316144675016, 0.027625417336821556, 0.007189338095486164, 0.22835925221443176, -0.051139168441295624, -0.004084933549165726, 0.12596985697746277, 0.0, 0.34745311737060547, 0.7446742057800293, 0.8393958806991577, 0.6911866068840027, 0.8799575567245483, 0.8792235851287842, 0.0, 0.0, 0.14148934185504913, 0.0, 0.3770908713340759, 0.10755880177021027, 0.16469621658325195, 0.8279868364334106, 0.36450958251953125, 0.5037806034088135, 0.0, 0.0, 0.043493375182151794, 0.0, 0.0, 0.9299948215484619, 0.40941715240478516, 0.5467531085014343, 0.0, 0.0, 0.0]}, "joint_limit_active_steps": 97, "joint_limit_hard_episode_events": 23, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 57, "max_joint_limit_excess_rad": 0.7936220169067383, "max_joint_limit_excess_joint": "left_thumb_yaw_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": 97, "joint_limit_active_step_rate": 0.05370985603543743, "finger_joint_limit_saturation_steps": 57, "finger_joint_limit_saturation_step_rate": 0.03156146179401993, "max_joint_limit_excess_rad": 0.7936220169067383, "max_joint_limit_excess_joint": "left_thumb_yaw_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": 369, "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, "high_speed_obj_014_lemon_2": 1, "drop_to_table_obj_014_lemon_3": 1, "drop_obj_014_lemon_3": 1, "high_speed_obj_014_lemon_3": 1}, "policy_query_count": 21, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1806, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/07_citrus_plate_loading/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/07_citrus_plate_loading/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b1cb8e4122011ad8d9e03053584d0cb1cfad7761 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/07_citrus_plate_loading/Full/summary.json @@ -0,0 +1,278 @@ +{ + "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": 10, + "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": 1806, + "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": 0.575 + }, + "efficiency": { + "avg_time_to_success_s": null + }, + "safety": { + "safe_success_rate": 0.0, + "hard_violation_rate": 0.9, + "drop_rate": 0.9, + "high_speed_violation_rate": 0.3, + "safety_violation_step_rate": 0.05840922890103218 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.4, + "at_end_success_rate": 0.2, + "task_family_success_rate": { + "rigid_pick_place": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.35, + "current_chain_depth_progress_score": 0.4, + "latched_chain_depth_progress_score": 0.7, + "avg_current_chain_depth": 0.8, + "avg_latched_chain_depth": 1.4 + }, + "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": 0.001639344262295082, + "violation_counts": { + "drop_obj_014_lemon_2": 2, + "drop_obj_014_lemon_3": 1, + "drop_obj_017_orange_4": 2, + "drop_to_table_obj_014_lemon_2": 3, + "drop_to_table_obj_014_lemon_3": 1, + "drop_to_table_obj_017_orange_4": 9, + "drop_to_table_obj_017_orange_5": 3, + "high_speed_obj_014_lemon_2": 2, + "high_speed_obj_014_lemon_3": 1, + "high_speed_obj_017_orange_4": 2, + "high_speed_obj_029_plate_1": 1 + }, + "robot_constraint_violation_rate": 0.9, + "finger_joint_limit_saturation_rate": 0.6, + "joint_limit_active_step_rate": 0.053005464480874315, + "finger_joint_limit_saturation_step_rate": 0.009653916211293261, + "max_joint_limit_excess_rad": 1.5978164672851562, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_dip_joint": 11, + "left_index_mcp_joint": 4, + "left_index_pip_joint": 16, + "left_middle_dip_joint": 35, + "left_middle_mcp_joint": 29, + "left_middle_pip_joint": 73, + "left_middle_pitch_joint": 17, + "left_pinky_mcp_joint": 92, + "left_pinky_pip_joint": 37, + "left_ring_dip_joint": 23, + "left_ring_mcp_joint": 46, + "left_ring_pip_joint": 52, + "left_thumb_dip_joint": 21, + "left_thumb_mcp_joint": 358, + "left_thumb_pip_joint": 1, + "left_thumb_yaw_joint": 52, + "right_index_pip_joint": 2, + "right_middle_pip_joint": 7, + "right_ring_pip_joint": 3, + "right_thumb_mcp_joint": 250 + }, + "joint_limit_hard_counts": { + "left_index_dip_joint": 1, + "left_index_mcp_joint": 1, + "left_index_pip_joint": 32, + "left_middle_dip_joint": 2, + "left_middle_mcp_joint": 2, + "left_middle_pip_joint": 133, + "left_middle_pitch_joint": 1, + "left_pinky_dip_joint": 1, + "left_pinky_mcp_joint": 9, + "left_pinky_pip_joint": 3, + "left_ring_dip_joint": 2, + "left_ring_mcp_joint": 4, + "left_ring_pip_joint": 10, + "left_thumb_dip_joint": 2, + "left_thumb_mcp_joint": 30, + "left_thumb_pip_joint": 1, + "left_thumb_yaw_joint": 2, + "right_index_pip_joint": 30, + "right_middle_pip_joint": 72, + "right_ring_pip_joint": 2, + "right_thumb_mcp_joint": 27 + }, + "joint_limit_hard_episode_events": 220, + "finger_joint_limit_saturation_counts": { + "left_index_dip_joint": 6, + "left_middle_dip_joint": 29, + "left_middle_mcp_joint": 15, + "left_pinky_mcp_joint": 6, + "left_pinky_pip_joint": 26, + "left_ring_dip_joint": 11, + "left_ring_mcp_joint": 23, + "left_ring_pip_joint": 25, + "left_thumb_dip_joint": 12, + "left_thumb_mcp_joint": 44, + "left_thumb_yaw_joint": 44, + "right_thumb_mcp_joint": 10 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 0.40528249740600586, + "left_index_mcp_joint": 0.06639307737350464, + "left_index_pip_joint": 0.14446650445461273, + "left_index_pitch_joint": 0.0033638954628258944, + "left_middle_dip_joint": 1.5978164672851562, + "left_middle_mcp_joint": 0.6392132043838501, + "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": 1.280145525932312, + "left_ring_dip_joint": 0.534247875213623, + "left_ring_mcp_joint": 0.7535475492477417, + "left_ring_pip_joint": 0.8452719449996948, + "left_thumb_dip_joint": 0.7821993231773376, + "left_thumb_mcp_joint": 0.6103029251098633, + "left_thumb_pip_joint": 0.017655611038208008, + "left_thumb_yaw_joint": 0.7936220169067383, + "right_index_dip_joint": 5.028687519370578e-05, + "right_index_pip_joint": 0.052236296236515045, + "right_index_pitch_joint": 0.00014959948020987213, + "right_middle_dip_joint": 0.0003015365800820291, + "right_middle_pip_joint": 0.19331547617912292, + "right_middle_pitch_joint": 0.0002718656905926764, + "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": 0.0001470772986067459, + "right_ring_pip_joint": 0.03229715675115585, + "right_thumb_dip_joint": 2.9477143471012823e-05, + "right_thumb_mcp_joint": 0.29763340950012207, + "right_thumb_pip_joint": 4.7241366701200604e-05, + 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0.0, 0.0, -0.21417845785617828, 0.4749193787574768, 0.0, 0.0, 0.1840321123600006, 0.0, 0.0, 0.0, 0.0, 0.0, -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": 250, "joint_limit_hard_episode_events": 30, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 168, "max_joint_limit_excess_rad": 1.586573600769043, "max_joint_limit_excess_joint": "left_hand_j13", "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": 250, "joint_limit_active_step_rate": 0.07284382284382285, "finger_joint_limit_saturation_steps": 168, "finger_joint_limit_saturation_step_rate": 0.04895104895104895, "max_joint_limit_excess_rad": 1.586573600769043, "max_joint_limit_excess_joint": "left_hand_j13", "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": 3222, "pour_olive_oil": null}, "violation_counts": {"high_speed_obj_182_bread_2": 1}, "policy_query_count": 31, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3432, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/08_frypan_stand_pour/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/08_frypan_stand_pour/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..c37d0eb6c0dc9a296718644bd72e2b520ea0ad4b --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/08_frypan_stand_pour/Full/summary.json @@ -0,0 +1,307 @@ +{ + "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": 10, + "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": 3432, + "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": 0.15 + }, + "efficiency": { + "avg_time_to_success_s": null + }, + "safety": { + "safe_success_rate": 0.0, + "hard_violation_rate": 0.3, + "drop_rate": 0.0, + "high_speed_violation_rate": 0.3, + "safety_violation_step_rate": 0.00032802528776763884 + }, + "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": 0.3, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 0.3 + }, + "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": 8.946144211844694e-05, + "violation_counts": { + "high_speed_obj_172_soy_sauce_1": 1, + "high_speed_obj_182_bread_2": 2 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.10458042583646449, + "finger_joint_limit_saturation_step_rate": 0.0571062205522753, + "max_joint_limit_excess_rad": 2.122424602508545, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Finger_Spread": 285, + "left_hand_Index_Finger_Distal": 422, + "left_hand_Index_Finger_Proximal": 629, + "left_hand_Middle_Finger_Distal": 208, + "left_hand_Middle_Finger_Proximal": 474, + "left_hand_Pinky": 261, + "left_hand_Ring_Finger": 276, + "left_hand_Thumb_Flexion": 1534, + "left_hand_Thumb_Opposition": 238, + "left_hand_index_spread": 265, + "left_hand_j12": 214, + "left_hand_j13": 210, + "left_hand_j14": 14, + "left_hand_j15": 3, + "left_hand_j16": 6, + "left_hand_j17": 41, + "left_hand_j3": 574, + "left_hand_j4": 2, + "left_hand_j5": 402, + "left_hand_ring_spread": 388, + "right_hand_Index_Finger_Distal": 62, + "right_hand_Index_Finger_Proximal": 64, + "right_hand_Middle_Finger_Distal": 105, + "right_hand_Middle_Finger_Proximal": 299, + "right_hand_Pinky": 76, + "right_hand_Ring_Finger": 181, + "right_hand_Thumb_Flexion": 105, + "right_hand_j12": 15, + "right_hand_j13": 92, + "right_hand_j15": 101, + "right_hand_j3": 159 + }, + "joint_limit_hard_counts": { + "left_hand_Finger_Spread": 19, + "left_hand_Index_Finger_Distal": 13, + "left_hand_Index_Finger_Proximal": 30, + "left_hand_Middle_Finger_Distal": 11, + "left_hand_Middle_Finger_Proximal": 22, + "left_hand_Pinky": 10, + "left_hand_Ring_Finger": 16, + "left_hand_Thumb_Flexion": 35, + "left_hand_Thumb_Opposition": 18, + "left_hand_index_spread": 47, + "left_hand_j12": 10, + "left_hand_j13": 12, + "left_hand_j14": 1, + "left_hand_j15": 1, + "left_hand_j16": 3, + "left_hand_j17": 2, + "left_hand_j3": 21, + "left_hand_j4": 3, + "left_hand_j5": 62, + "left_hand_ring_spread": 12, + "right_hand_Index_Finger_Distal": 25, + "right_hand_Index_Finger_Proximal": 18, + "right_hand_Middle_Finger_Distal": 27, + "right_hand_Middle_Finger_Proximal": 48, + "right_hand_Pinky": 22, + "right_hand_Ring_Finger": 25, + "right_hand_Thumb_Flexion": 18, + "right_hand_j12": 16, + "right_hand_j13": 26, + "right_hand_j14": 2, + "right_hand_j15": 3, + "right_hand_j3": 19, + "right_hand_j5": 1 + }, + "joint_limit_hard_episode_events": 180, + "finger_joint_limit_saturation_counts": { + "left_hand_Finger_Spread": 198, + "left_hand_Index_Finger_Distal": 316, + "left_hand_Index_Finger_Proximal": 442, + "left_hand_Middle_Finger_Distal": 156, + "left_hand_Middle_Finger_Proximal": 314, + "left_hand_Pinky": 150, + "left_hand_Ring_Finger": 88, + "left_hand_Thumb_Flexion": 647, + "left_hand_Thumb_Opposition": 147, + "left_hand_index_spread": 86, + "left_hand_j12": 159, + "left_hand_j13": 134, + "left_hand_j14": 8, + "left_hand_j17": 22, + "left_hand_j3": 363, + "left_hand_j5": 138, + "left_hand_ring_spread": 300, + "right_hand_Middle_Finger_Distal": 62, + "right_hand_Middle_Finger_Proximal": 56, + "right_hand_Ring_Finger": 51, + "right_hand_Thumb_Flexion": 17, + "right_hand_j15": 75, + "right_hand_j3": 44 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.8473438620567322, + "left_hand_Index_Finger_Distal": 1.539358377456665, + "left_hand_Index_Finger_Proximal": 1.3137761354446411, + "left_hand_Middle_Finger_Distal": 1.0814626216888428, + "left_hand_Middle_Finger_Proximal": 1.446799397468567, + "left_hand_Pinky": 0.8448187708854675, + "left_hand_Ring_Finger": 0.5920495986938477, + "left_hand_Thumb_Flexion": 2.122424602508545, + "left_hand_Thumb_Opposition": 0.7682660818099976, + "left_hand_index_spread": 0.7858690023422241, + "left_hand_j12": 1.524500846862793, + "left_hand_j13": 1.586573600769043, + "left_hand_j14": 0.7159442901611328, + "left_hand_j15": 0.2375551015138626, + "left_hand_j16": 0.014156644232571125, + "left_hand_j17": 0.6165305376052856, + "left_hand_j3": 1.3230681419372559, + "left_hand_j4": 0.03332408145070076, + "left_hand_j5": 0.9578635692596436, + "left_hand_ring_spread": 1.350319266319275, + "right_hand_Finger_Spread": 0.002514712745323777, + "right_hand_Index_Finger_Distal": 0.22093699872493744, + "right_hand_Index_Finger_Proximal": 0.10431328415870667, + "right_hand_Middle_Finger_Distal": 0.6995282173156738, + "right_hand_Middle_Finger_Proximal": 0.4700015187263489, + "right_hand_Pinky": 0.11842221766710281, + "right_hand_Ring_Finger": 0.4743174910545349, + "right_hand_Thumb_Flexion": 0.41061514616012573, + "right_hand_Thumb_Opposition": 0.000317111931508407, + "right_hand_index_spread": 0.0016010317485779524, + "right_hand_j12": 0.041416678577661514, + "right_hand_j13": 0.14545877277851105, + "right_hand_j14": 0.009076248854398727, + "right_hand_j15": 0.4486370384693146, + "right_hand_j16": 0.00037610915023833513, + "right_hand_j17": 0.0011840634979307652, + "right_hand_j3": 0.9112940430641174, + "right_hand_j4": 3.488648508209735e-05, + "right_hand_j5": 0.006437512114644051, + "right_hand_ring_spread": 0.0024567407090216875 + }, + "coverage": { + "hard_limit_source": { + "available": 10, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 10, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 10 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 10 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 10, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 10, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 17.57303284739676, + "joint_effort_rms": 30.554318080512665, + "joint_jerk_rms": 1740.172251966746, + "joint_velocity_rms": 0.41925120570845065 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.5465015212467665, + "mean_kinematic_grasp_stability": 0.4917737156866544, + "per_object_best_kinematic_grasp_stability": { + "obj_146_olive_oil_1": 0.2118868034065897, + "obj_172_soy_sauce_1": 0.5428749003249655 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9057135985707381, + "mean_duration_score": 0.1296814891457749, + "mean_hold_score": 0.11354288238216828, + "mean_kinematic_stability_score": 0.03007668700669158, + "mean_legacy_gsi": 0.2725563161287371, + "mean_lift_score": 0.13398981970410542, + "mean_motion_stability_score": 0.10237528498868878 + } + }, + "tool": { + "tool_selection_accuracy": 0.7, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 18, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3353.4, + "error_count": 1 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_1x_icl/per_task_eval/09_cleaner_moisturizer_box_loading/Full/per_episode.jsonl b/gpt6_astra_1x_icl/per_task_eval/09_cleaner_moisturizer_box_loading/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..284833c1bc77737b343c74dfc3bb9803b94578e0 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/09_cleaner_moisturizer_box_loading/Full/per_episode.jsonl @@ -0,0 +1,10 @@ +{"scene": "scenes/09_cleaner_moisturizer_box_loading.yaml", "episode_index": 5, "seed": 200900004, "success": false, "steps": 1926, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": 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"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": [-1.8368861675262451, -1.2001497745513916, 1.8109391927719116, 0.06816457211971283, -1.20021653175354, -2.7195253372192383, 0.3773891031742096, 1.4262601137161255, -2.4419989585876465, 1.5474475622177124, 1.930524230003357, -3.0706980228424072, 1.1533161401748657, -0.5183607935905457, 0.38734859228134155, -1.5379303693771362, 0.02627328597009182, 0.2522822916507721, 0.0, -2.265327215194702, 0.0, 0.0, 0.13417337834835052, 0.5668941736221313, 0.034409429877996445, 0.057143665850162506, 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0.010469773784279823, 0.0, 0.0, -0.3364182114601135, -1.242545485496521, -0.014009613543748856, -0.29969915747642517, -0.08181120455265045, 1.061431646347046, 0.017227021977305412, -0.07001754641532898, -0.07770846039056778, 0.007951246574521065, 0.007343605160713196, -0.051170796155929565]}, "joint_limit_active_steps": 267, "joint_limit_hard_episode_events": 21, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 156, "max_joint_limit_excess_rad": 0.5781030654907227, "max_joint_limit_excess_joint": "multi_leap_r_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": 267, "joint_limit_active_step_rate": 0.13862928348909656, "finger_joint_limit_saturation_steps": 156, "finger_joint_limit_saturation_step_rate": 0.08099688473520249, "max_joint_limit_excess_rad": 0.5781030654907227, "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": 26, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1926, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/09_cleaner_moisturizer_box_loading/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/09_cleaner_moisturizer_box_loading/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..07006b8be5b30a4a14ee4dc540c98100de6b6eee --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/09_cleaner_moisturizer_box_loading/Full/summary.json @@ -0,0 +1,237 @@ +{ + "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": 10, + "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": 1926, + "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": 0.2, + "success_rate_ci": { + "mean": 0.2, + "ci_low": 0.0, + "ci_high": 0.5 + } + }, + "progress": { + "latched_stage_completion_rate": 0.0 + }, + "efficiency": { + "avg_time_to_success_s": 29.258333333332953 + }, + "safety": { + "safe_success_rate": 0.2, + "hard_violation_rate": 0.3, + "drop_rate": 0.3, + "high_speed_violation_rate": 0.1, + "safety_violation_step_rate": 0.0005285691632750145 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.2, + "at_end_success_rate": 0.2, + "task_family_success_rate": { + "rigid_pick_place": 0.2 + } + }, + "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": 0.7309270866394292, + "expert_time_s": 21.383333333333333, + "expert_time_step": 1283, + "avg_steps_to_success": 1755.5, + "avg_policy_steps_to_success": 585.5, + "avg_policy_queries_to_success": 22 + }, + "safety": { + "safety_violation_events_per_step": 0.00021142766531000582, + "violation_counts": { + "drop_to_table_obj_200_cleaner_2": 3, + "high_speed_obj_154_wooden_box_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.9, + "joint_limit_active_step_rate": 0.08853533484856493, + "finger_joint_limit_saturation_step_rate": 0.04635551561921877, + "max_joint_limit_excess_rad": 1.7215934991836548, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_10": 363, + "leap_l_11": 13, + "leap_l_12": 8, + "leap_l_13": 8, + "leap_l_2": 425, + "leap_l_5": 71, + "leap_l_6": 58, + "leap_l_9": 59, + "multi_leap_r_10": 655, + "multi_leap_r_11": 19, + "multi_leap_r_2": 311, + "multi_leap_r_5": 9, + "multi_leap_r_6": 259, + "multi_leap_r_9": 33 + }, + "joint_limit_hard_counts": { + "leap_l_10": 18, + "leap_l_11": 12, + "leap_l_12": 1, + "leap_l_13": 9, + "leap_l_2": 98, + "leap_l_3": 2, + "leap_l_5": 3, + "leap_l_6": 7, + "leap_l_9": 4, + "multi_leap_r_10": 23, + "multi_leap_r_11": 1, + "multi_leap_r_2": 18, + "multi_leap_r_5": 2, + "multi_leap_r_6": 7, + "multi_leap_r_9": 9 + }, + "joint_limit_hard_episode_events": 135, + "finger_joint_limit_saturation_counts": { + "leap_l_10": 208, + "leap_l_12": 2, + "leap_l_2": 149, + "leap_l_5": 2, + "leap_l_6": 13, + "leap_l_9": 3, + "multi_leap_r_10": 435, + "multi_leap_r_2": 91, + "multi_leap_r_6": 157 + }, + "joint_limit_max_excess_by_joint": { + "joint7": 0.002178192138671875, + "leap_l_10": 1.7215934991836548, + "leap_l_11": 0.04692891240119934, + "leap_l_12": 0.2714962959289551, + "leap_l_13": 0.016356706619262695, + "leap_l_15": 0.0019141435623168945, + "leap_l_2": 1.59174382686615, + "leap_l_3": 0.007471174001693726, + "leap_l_5": 0.2800409197807312, + "leap_l_6": 0.32280123233795166, + "leap_l_9": 0.2903289794921875, + "multi_leap_r_1": 0.004976987838745117, + "multi_leap_r_10": 1.1505019664764404, + "multi_leap_r_11": 0.1929008960723877, + "multi_leap_r_2": 1.406436800956726, + "multi_leap_r_3": 0.00039336085319519043, + "multi_leap_r_5": 0.06958889961242676, + "multi_leap_r_6": 0.7499661445617676, + "multi_leap_r_9": 0.14962145686149597 + }, + "coverage": { + "hard_limit_source": { + "available": 10, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 10, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 10 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 10 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 10, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 10, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 23.810451645998292, + "joint_effort_rms": 62.29403347460127, + "joint_jerk_rms": 2366.79009938777, + "joint_velocity_rms": 0.7054899200340649 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8618147740430608, + "mean_kinematic_grasp_stability": 0.6386741189676691, + "per_object_best_kinematic_grasp_stability": { + "obj_200_cleaner_2": 0.8438837776737047, + "obj_209_soap_3": 0.2996346957430446 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7500015372419915, + "mean_duration_score": 0.34143576379041307, + "mean_hold_score": 0.2573252645977591, + "mean_kinematic_stability_score": 0.07110006258989891, + "mean_legacy_gsi": 0.36872778290899044, + "mean_lift_score": 0.29982892424063234, + "mean_motion_stability_score": 0.23394034772178426 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1891.9, + "error_count": 0 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_1x_icl/per_task_eval/12_screwdriver_box_and_hammer/Full/per_episode.jsonl b/gpt6_astra_1x_icl/per_task_eval/12_screwdriver_box_and_hammer/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..981f5218ae3972c99d39455d435cae072b269a02 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/12_screwdriver_box_and_hammer/Full/per_episode.jsonl @@ -0,0 +1,10 @@ +{"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": 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{"joint_limit_soft_counts": {"left_little_1_joint": 3, "left_thumb_2_joint": 6, "left_thumb_3_joint": 20, "left_thumb_4_joint": 4, "right_index_1_joint": 10, "right_thumb_3_joint": 50}, "joint_limit_hard_counts": {"left_little_1_joint": 2, "left_thumb_2_joint": 4, "left_thumb_3_joint": 1, "left_thumb_4_joint": 2, "right_index_1_joint": 4, "right_thumb_3_joint": 1, "right_thumb_4_joint": 1}, "finger_joint_limit_saturation_counts": {"right_thumb_3_joint": 36}, "joint_limit_max_excess_by_joint": {"left_index_2_joint": 1.08761057049378e-07, "left_little_1_joint": 0.01662297174334526, "left_little_2_joint": 0.0018775563221424818, "left_middle_2_joint": 1.6801367337393458e-06, "left_ring_2_joint": 0.001883951248601079, "left_thumb_1_joint": 2.228927223768551e-05, "left_thumb_2_joint": 0.047564659267663956, "left_thumb_3_joint": 0.09909138828516006, "left_thumb_4_joint": 0.03685218095779419, "right_index_1_joint": 0.07673466950654984, "right_index_2_joint": 1.100990516533784e-06, "right_little_2_joint": 4.44172968627754e-07, "right_middle_2_joint": 1.0454394328007766e-07, "right_ring_2_joint": 1.1357818721080548e-06, "right_thumb_1_joint": 2.48352371272631e-05, "right_thumb_2_joint": 5.526792665477842e-05, "right_thumb_3_joint": 0.40510305762290955, "right_thumb_4_joint": 0.007208675146102905}, "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": 241, "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": -0.009307545609772205, "hard_excess_rad": 0.009307545609772205, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.6068440079689026, "operating_lower": 0.0, "operating_upper": 0.6068440079689026, "expanded_target": 0.22444215416908264, "shielded_target": 0.22444215416908264, "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": [1.8940284252166748, -1.3604682683944702, -1.5699794292449951, 2.315476894378662, 1.562464952468872, -0.6895476579666138, -1.5838395357131958, 1.8928601741790771, -0.003596596885472536, 0.019815361127257347, -1.5699987411499023, 0.0028283274732530117, 0.47556164860725403, 0.48113441467285156, 0.45534154772758484, 0.4620650112628937, 0.5523826479911804, 0.19644828140735626, 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": [1.8940284252166748, -1.3604682683944702, -1.5699794292449951, 2.315476894378662, 1.562464952468872, -0.6895476579666138, -1.5838395357131958, 1.8928601741790771, -0.003596596885472536, 0.019815361127257347, -1.5699987411499023, 0.0028283274732530117, 0.47556164860725403, 0.48113441467285156, 0.45534154772758484, 0.4620650112628937, 0.5523826479911804, 0.3811548054218292, 0.3873790204524994, 0.35857096314430237, 0.3660804033279419, 0.19644828140735626, 0.004607485141605139, 0.0026043641846626997, 0.00537152448669076, 0.00413545360788703, 0.0, 0.22444215416908264, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.26851117610931396, 0.0, 0.10000000149011612], "shielded_full_target": [1.8940284252166748, -1.3604682683944702, -1.5699794292449951, 2.315476894378662, 1.562464952468872, -0.6895476579666138, -1.5838395357131958, 1.8928601741790771, -0.003596596885472536, 0.019815361127257347, -1.5699987411499023, 0.0028283274732530117, 0.47556164860725403, 0.48113441467285156, 0.45534154772758484, 0.4620650112628937, 0.5523826479911804, 0.3811548054218292, 0.3873790204524994, 0.35857096314430237, 0.3660804033279419, 0.19644828140735626, 0.004607485141605139, 0.0026043641846626997, 0.00537152448669076, 0.00413545360788703, 0.0, 0.22444215416908264, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.26851117610931396, 0.0, 0.10000000149011612]}, "joint_limit_active_steps": 93, "joint_limit_hard_episode_events": 15, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 36, "max_joint_limit_excess_rad": 0.40510305762290955, "max_joint_limit_excess_joint": "right_thumb_3_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": 93, "joint_limit_active_step_rate": 0.027555555555555555, "finger_joint_limit_saturation_steps": 36, "finger_joint_limit_saturation_step_rate": 0.010666666666666666, "max_joint_limit_excess_rad": 0.40510305762290955, "max_joint_limit_excess_joint": "right_thumb_3_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": 637, "place_phillips_left": 1834, "hammer_strike_wood": 2826, "place_hammer": 3027}, "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_1x_icl/per_task_eval/12_screwdriver_box_and_hammer/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/12_screwdriver_box_and_hammer/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ad764cb14298101912b3208f64ec4a3afefab548 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/12_screwdriver_box_and_hammer/Full/summary.json @@ -0,0 +1,247 @@ +{ + "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": 10, + "successes": 4, + "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": 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": 0.4, + "success_rate_ci": { + "mean": 0.4, + "ci_low": 0.1, + "ci_high": 0.7 + } + }, + "progress": { + "latched_stage_completion_rate": 0.85 + }, + "efficiency": { + "avg_time_to_success_s": 52.94166666666494 + }, + "safety": { + "safe_success_rate": 0.4, + "hard_violation_rate": 0.2, + "drop_rate": 0.2, + "high_speed_violation_rate": 0.1, + "safety_violation_step_rate": 0.013190515542559279 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.8, + "at_end_success_rate": 0.5, + "task_family_success_rate": { + "tool_precision_place": 0.4 + } + }, + "progress": { + "current_stage_completion_rate": 0.8, + "current_chain_depth_progress_score": 0.8, + "latched_chain_depth_progress_score": 0.85, + "avg_current_chain_depth": 3.2, + "avg_latched_chain_depth": 3.4 + }, + "efficiency": { + "task_efficiency": 0.7246924442871527, + "expert_time_s": 38.28333333333333, + "expert_time_step": 2297, + "avg_steps_to_success": 3176.5, + "avg_policy_steps_to_success": 1059.25, + "avg_policy_queries_to_success": 19.25 + }, + "safety": { + "safety_violation_events_per_step": 0.00015892187400673829, + "violation_counts": { + "drop_obj_044_flat_screwdriver_2": 1, + "drop_to_table_obj_044_flat_screwdriver_2": 1, + "drop_to_table_obj_048_hammer_3": 1, + "high_speed_obj_044_flat_screwdriver_2": 1, + "high_speed_obj_154_wooden_box_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.9, + "joint_limit_active_step_rate": 0.11515478990528256, + "finger_joint_limit_saturation_step_rate": 0.07513826203038586, + "max_joint_limit_excess_rad": 5.223601818084717, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 274, + "left_little_1_joint": 317, + "left_middle_1_joint": 246, + "left_ring_1_joint": 306, + "left_thumb_2_joint": 870, + "left_thumb_3_joint": 20, + "left_thumb_4_joint": 5, + "right_index_1_joint": 936, + "right_little_1_joint": 77, + "right_middle_1_joint": 494, + "right_ring_1_joint": 482, + "right_thumb_2_joint": 471, + "right_thumb_3_joint": 119, + "right_thumb_4_joint": 10 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 19, + "left_little_1_joint": 8, + "left_middle_1_joint": 9, + "left_ring_1_joint": 15, + "left_thumb_2_joint": 25, + "left_thumb_3_joint": 1, + "left_thumb_4_joint": 5, + "right_index_1_joint": 32, + "right_little_1_joint": 4, + "right_middle_1_joint": 15, + "right_ring_1_joint": 9, + "right_thumb_2_joint": 7, + "right_thumb_3_joint": 6, + "right_thumb_4_joint": 4 + }, + "joint_limit_hard_episode_events": 91, + "finger_joint_limit_saturation_counts": { + "left_index_1_joint": 62, + "left_little_1_joint": 223, + "left_middle_1_joint": 102, + "left_ring_1_joint": 109, + "left_thumb_2_joint": 531, + "right_index_1_joint": 625, + "right_little_1_joint": 68, + "right_middle_1_joint": 238, + "right_ring_1_joint": 341, + "right_thumb_2_joint": 329, + "right_thumb_3_joint": 38 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.27620208263397217, + "left_index_2_joint": 1.139794562732277e-06, + "left_little_1_joint": 5.223601818084717, + "left_little_2_joint": 0.0018775563221424818, + "left_middle_1_joint": 0.32757097482681274, + "left_middle_2_joint": 1.1005318810930476e-05, + "left_ring_1_joint": 0.7387237548828125, + "left_ring_2_joint": 0.004270508419722319, + "left_thumb_1_joint": 2.2825703126727603e-05, + "left_thumb_2_joint": 0.4792882204055786, + "left_thumb_3_joint": 0.09909138828516006, + "left_thumb_4_joint": 0.03685218095779419, + "right_index_1_joint": 0.9538151621818542, + "right_index_2_joint": 7.616848506586393e-06, + "right_little_1_joint": 1.3297919034957886, + "right_little_2_joint": 3.0642575438832864e-05, + "right_middle_1_joint": 0.30515244603157043, + "right_middle_2_joint": 5.51865559828002e-05, + "right_ring_1_joint": 0.2909194231033325, + "right_ring_2_joint": 5.6689455959713086e-05, + "right_thumb_1_joint": 0.0003198256599716842, + "right_thumb_2_joint": 0.3879449963569641, + "right_thumb_3_joint": 0.40510305762290955, + "right_thumb_4_joint": 0.05127860605716705 + }, + "coverage": { + "hard_limit_source": { + "available": 10, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 10, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 10 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 10 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 10, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 10, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 57.26923484351931, + "joint_effort_rms": 45.39985160217687, + "joint_jerk_rms": 5931.196605298128, + "joint_velocity_rms": 1.196371621151782 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9977184232259461, + "mean_kinematic_grasp_stability": 0.45023017764548745, + "per_object_best_kinematic_grasp_stability": { + 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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": 230, "joint_limit_hard_episode_events": 6, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 181, "max_joint_limit_excess_rad": 1.083169937133789, "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": 230, "joint_limit_active_step_rate": 0.09270455461507457, "finger_joint_limit_saturation_steps": 181, "finger_joint_limit_saturation_step_rate": 0.07295445384925434, "max_joint_limit_excess_rad": 1.083169937133789, "max_joint_limit_excess_joint": "right_finger1_joint2", "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": 16, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2481, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/21_condiment_box_loading/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/21_condiment_box_loading/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b9755e8caf9769151987c90e0308989066e4d94b --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/21_condiment_box_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": 202100000, + "seed_policy": "episode_seed = base_seed + episode_index - 1", + "randomization_recorded": true, + "n_episodes": 10, + "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": 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": 0.2, + "success_rate_ci": { + "mean": 0.2, + "ci_low": 0.0, + "ci_high": 0.5 + } + }, + "progress": { + "latched_stage_completion_rate": 0.23333333333333334 + }, + "efficiency": { + "avg_time_to_success_s": 40.49166666666565 + }, + "safety": { + "safe_success_rate": 0.2, + "hard_violation_rate": 0.5, + "drop_rate": 0.5, + "high_speed_violation_rate": 0.0, + "safety_violation_step_rate": 0.0002968365702654567 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.2, + "at_end_success_rate": 0.2, + "task_family_success_rate": { + "rigid_pick_place": 0.2 + } + }, + "progress": { + "current_stage_completion_rate": 0.23333333333333334, + "current_chain_depth_progress_score": 0.25, + "latched_chain_depth_progress_score": 0.25, + "avg_current_chain_depth": 0.5, + "avg_latched_chain_depth": 0.5 + }, + "efficiency": { + "task_efficiency": 0.6810269994526049, + "expert_time_s": 27.566666666666666, + "expert_time_step": 1654, + "avg_steps_to_success": 2429.5, + "avg_policy_steps_to_success": 810, + "avg_policy_queries_to_success": 22.5 + }, + "safety": { + "safety_violation_events_per_step": 0.0002968365702654567, + "violation_counts": { + "drop_to_table_obj_171_msg_4": 5, + "drop_to_table_obj_172_soy_sauce_2": 2 + }, + "robot_constraint_violation_rate": 0.9, + "finger_joint_limit_saturation_rate": 0.7, + "joint_limit_active_step_rate": 0.03290645407514206, + "finger_joint_limit_saturation_step_rate": 0.020693749469934696, + "max_joint_limit_excess_rad": 2.4376306533813477, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_finger2_joint4": 47, + "left_finger3_joint4": 55, + "left_finger4_joint2": 9, + "left_finger4_joint4": 55, + "left_finger5_joint4": 52, + "right_finger1_joint1": 216, + "right_finger1_joint2": 244, + "right_finger1_joint3": 222, + "right_finger2_joint1": 107, + "right_finger3_joint1": 53, + "right_finger3_joint4": 72, + "right_finger4_joint1": 13, + "right_finger4_joint2": 20, + "right_finger4_joint4": 46, + "right_finger5_joint1": 14, + "right_finger5_joint2": 27, + "right_finger5_joint4": 28 + }, + "joint_limit_hard_counts": { + "left_finger2_joint4": 1, + "left_finger3_joint4": 1, + "left_finger4_joint2": 1, + "left_finger4_joint4": 1, + "left_finger5_joint4": 1, + "right_finger1_joint1": 5, + "right_finger1_joint2": 50, + "right_finger1_joint3": 11, + "right_finger2_joint1": 7, + "right_finger3_joint1": 2, + "right_finger3_joint4": 2, + "right_finger4_joint1": 3, + "right_finger4_joint2": 6, + "right_finger4_joint4": 3, + "right_finger5_joint1": 1, + "right_finger5_joint2": 5, + "right_finger5_joint4": 1 + }, + "joint_limit_hard_episode_events": 64, + "finger_joint_limit_saturation_counts": { + "left_finger2_joint4": 45, + "left_finger3_joint4": 53, + "left_finger4_joint4": 53, + "left_finger5_joint4": 48, + "right_finger1_joint1": 174, + "right_finger1_joint2": 137, + "right_finger1_joint3": 78, + "right_finger2_joint1": 47, + "right_finger3_joint1": 12, + "right_finger3_joint4": 65, + "right_finger4_joint4": 36, + "right_finger5_joint2": 10, + "right_finger5_joint4": 24 + }, + "joint_limit_max_excess_by_joint": { + "left_finger1_joint2": 0.00391620397567749, + "left_finger2_joint1": 0.0003159046173095703, + "left_finger2_joint2": 0.00010144710540771484, + "left_finger2_joint4": 1.8637301921844482, + "left_finger3_joint4": 2.3013296127319336, + "left_finger4_joint2": 0.11612790822982788, + "left_finger4_joint4": 2.4376306533813477, + "left_finger5_joint2": 0.0035106539726257324, + "left_finger5_joint4": 2.2746286392211914, + "right_finger1_joint1": 1.5812128782272339, + "right_finger1_joint2": 1.083169937133789, + "right_finger1_joint3": 0.7230508923530579, + "right_finger2_joint1": 0.3803626298904419, + "right_finger2_joint2": 0.0009592175483703613, + "right_finger3_joint1": 0.1703876256942749, + "right_finger3_joint4": 1.728808045387268, + "right_finger4_joint1": 0.018409013748168945, + "right_finger4_joint2": 0.20231959223747253, + "right_finger4_joint4": 1.2384870052337646, + "right_finger5_joint1": 0.23881781101226807, + "right_finger5_joint2": 0.40025654435157776, + "right_finger5_joint4": 0.6091189384460449 + }, + "coverage": { + "hard_limit_source": { + "available": 10, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 10, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 10 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 10 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 10, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 10, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 21.106462569404204, + "joint_effort_rms": 34.15535031136554, + "joint_jerk_rms": 2137.8700609128655, + "joint_velocity_rms": 0.48582973757766323 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.875453319366878, + "mean_kinematic_grasp_stability": 0.40674579740861994, + "per_object_best_kinematic_grasp_stability": { + "obj_171_msg_4": 0.8669026389450034, + "obj_172_soy_sauce_2": 0.3484896544064934, + "obj_173_vinegar_3": 0.3677465198821677 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7685570102324817, + "mean_duration_score": 0.3333672806617162, + "mean_hold_score": 0.24902185413207156, + "mean_kinematic_stability_score": 0.06303769278693115, + "mean_legacy_gsi": 0.36836577022870376, + "mean_lift_score": 0.32760037535194875, + "mean_motion_stability_score": 0.23132505296156392 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2358.2, + "error_count": 1 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_1x_icl/per_task_eval/22_tool_box_loading/Full/per_episode.jsonl b/gpt6_astra_1x_icl/per_task_eval/22_tool_box_loading/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb9044c9d46b553e5b973a62d9e63d5dd940cf70 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/22_tool_box_loading/Full/per_episode.jsonl @@ -0,0 +1,10 @@ +{"scene": "scenes/22_tool_box_loading.yaml", "episode_index": 5, "seed": 202200004, "success": false, "steps": 2043, "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": 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"joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 66, "joint_limit_active_step_rate": 0.032305433186490456, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.11344873905181885, "max_joint_limit_excess_joint": "right_thumb_mcp", "stage_completion": {"place_phillips": false, "place_flat": false, "place_wrench": false, "place_drill": false}, "current_stage_completion": {"place_phillips": false, "place_flat": false, "place_wrench": false, "place_drill": false}, "stage_first_completion_step": {"place_phillips": null, "place_flat": null, "place_wrench": null, "place_drill": null}, "violation_counts": {"drop_to_table_obj_147_drill_5": 1, "high_speed_obj_147_drill_5": 1, "drop_to_table_obj_042_adjustable_wrench_4": 1}, "policy_query_count": 33, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2043, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/22_tool_box_loading/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/22_tool_box_loading/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..568edf4cabfb82f3273db845ecc0c8a75b68c297 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/22_tool_box_loading/Full/summary.json @@ -0,0 +1,210 @@ +{ + "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": 10, + "successes": 5, + "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": 0.5, + "success_rate_ci": { + "mean": 0.5, + "ci_low": 0.2, + "ci_high": 0.8 + } + }, + "progress": { + "latched_stage_completion_rate": 0.725 + }, + "efficiency": { + "avg_time_to_success_s": 32.91999999999941 + }, + "safety": { + "safe_success_rate": 0.5, + "hard_violation_rate": 0.3, + "drop_rate": 0.3, + "high_speed_violation_rate": 0.1, + "safety_violation_step_rate": 0.0004479617739286248 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.7, + "at_end_success_rate": 0.6, + "task_family_success_rate": { + "rigid_assembly": 0.5 + } + }, + "progress": { + "current_stage_completion_rate": 0.7, + "current_chain_depth_progress_score": 0.75, + "latched_chain_depth_progress_score": 0.75, + "avg_current_chain_depth": 1.5, + "avg_latched_chain_depth": 1.5 + }, + "efficiency": { + "task_efficiency": 0.6893364199929786, + "expert_time_s": 22.683333333333334, + "expert_time_step": 1361, + "avg_steps_to_success": 1975.2, + "avg_policy_steps_to_success": 658.8, + "avg_policy_queries_to_success": 24.8 + }, + "safety": { + "safety_violation_events_per_step": 0.00029864118261908315, + "violation_counts": { + "drop_to_table_obj_042_adjustable_wrench_4": 1, + "drop_to_table_obj_044_flat_screwdriver_3": 1, + "drop_to_table_obj_147_drill_5": 3, + "high_speed_obj_147_drill_5": 1 + }, + "robot_constraint_violation_rate": 0.7, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.004081429495794137, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.11344873905181885, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_thumb_abd": 1, + "left_thumb_pip": 5, + "right_middle_mcp": 2, + "right_ring_mcp": 1, + "right_thumb_abd": 1, + "right_thumb_mcp": 73 + }, + "joint_limit_hard_counts": { + "left_middle_mcp": 4, + "left_thumb_abd": 12, + "left_thumb_pip": 3, + "right_middle_mcp": 4, + "right_ring_mcp": 6, + "right_thumb_abd": 2, + "right_thumb_mcp": 5, + "right_wrist": 1 + }, + "joint_limit_hard_episode_events": 35, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_middle_mcp": 0.006831526756286621, + "left_ring_mcp": 0.003512263298034668, + "left_thumb_abd": 0.012391950003802776, + "left_thumb_pip": 0.06341838836669922, + "left_wrist": 0.0015559792518615723, + "multi_panda_joint1": 0.0007355213165283203, + "multi_panda_joint6": 0.0014863014221191406, + "panda_joint6": 0.00025081634521484375, + "right_middle_mcp": 0.01965653896331787, + "right_ring_mcp": 0.021506071090698242, + "right_thumb_abd": 0.01598169095814228, + "right_thumb_mcp": 0.11344873905181885, + "right_wrist": 0.005901217460632324 + }, + "coverage": { + "hard_limit_source": { + "available": 10, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 10, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 10 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 10 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 10, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 10, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 22.367337886593, + "joint_effort_rms": 38.81418593137456, + "joint_jerk_rms": 2296.63084483884, + "joint_velocity_rms": 0.4387224129909315 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9368400181971847, + "mean_kinematic_grasp_stability": 0.40969288911124657, + "per_object_best_kinematic_grasp_stability": { + "obj_042_adjustable_wrench_4": 0.4613274562594772, + "obj_043_phillips_screwdriver_2": 0.519796901095459, + "obj_044_flat_screwdriver_3": 0.8068015206125777, + "obj_147_drill_5": 0.8072000871020392 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7625753955019094, + "mean_duration_score": 0.35017685997261283, + "mean_hold_score": 0.2890241535183454, + "mean_kinematic_stability_score": 0.08842905670716783, + "mean_legacy_gsi": 0.3922435900200157, + "mean_lift_score": 0.3596693608186037, + "mean_motion_stability_score": 0.26173983225426856 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2009.1, + "error_count": 0 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_1x_icl/per_task_eval/24_stationery_category_sorting/Full/per_episode.jsonl b/gpt6_astra_1x_icl/per_task_eval/24_stationery_category_sorting/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0dd09ed1933b579812eb42d794b5bf687d64e78d --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/24_stationery_category_sorting/Full/per_episode.jsonl @@ -0,0 +1,10 @@ +{"scene": "scenes/24_stationery_category_sorting.yaml", "episode_index": 5, "seed": 202400004, "success": false, "steps": 4626, "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": 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"left_thumb_distal_joint"], "expanded_full_target": [1.3771048784255981, -1.5700000524520874, 0.23158416152000427, -1.5700000524520874, -1.7054827213287354, 1.5700000524520874, -0.11565814167261124, -6.721204703907802e-10, 1.12899911403656, -1.5700000524520874, 0.23860058188438416, 9.509766307758127e-09, 0.8959183692932129, 0.8226239085197449, 0.3896501362323761, 0.722623884677887, 1.2450145483016968, 0.0, 1.2365558177407365e-07, 0.0, 0.0, 1.8543628854672534e-08, 1.0347857475280762, 0.9501306414604187, 0.4500459134578705, 0.8346306085586548, 0.9704372882843018, 0.0, 1.4282220206496277e-07, 0.0, 0.0, 2.0541827794318124e-08, 0.9704372882843018, 2.0541827794318124e-08], "shielded_full_target": [1.3771048784255981, -1.5700000524520874, 0.23158416152000427, -1.5700000524520874, -1.7054827213287354, 1.5700000524520874, -0.11565814167261124, -6.721204703907802e-10, 1.12899911403656, -1.5700000524520874, 0.23860058188438416, 9.509766307758127e-09, 0.8959183692932129, 0.8226239085197449, 0.3896501362323761, 0.722623884677887, 1.2450145483016968, 0.0, 1.2365558177407365e-07, 0.0, 0.0, 1.8543628854672534e-08, 1.0347857475280762, 0.9501306414604187, 0.4500459134578705, 0.8346306085586548, 0.9704372882843018, 0.0, 1.4282220206496277e-07, 0.0, 0.0, 2.0541827794318124e-08, 0.9704372882843018, 2.0541827794318124e-08]}, "joint_limit_active_steps": 250, "joint_limit_hard_episode_events": 38, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 68, "max_joint_limit_excess_rad": 0.29407820105552673, "max_joint_limit_excess_joint": "left_ring_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": 250, "joint_limit_active_step_rate": 0.054042369217466496, "finger_joint_limit_saturation_steps": 68, "finger_joint_limit_saturation_step_rate": 0.014699524427150886, "max_joint_limit_excess_rad": 0.29407820105552673, "max_joint_limit_excess_joint": "left_ring_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": true, "glue_in_box": false, "battery_in_box": false}, "stage_first_completion_step": {"pen_in_cup": null, "marker_in_cup": 4264, "glue_in_box": null, "battery_in_box": null}, "violation_counts": {"drop_to_table_obj_166_markpen_4": 1, "drop_to_table_obj_199_glue_5": 1}, "policy_query_count": 34, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4626, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/24_stationery_category_sorting/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/24_stationery_category_sorting/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..65913c6726410ba950255dd2b2492bd3e1d07585 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/24_stationery_category_sorting/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": 202400000, + "seed_policy": "episode_seed = base_seed + episode_index - 1", + "randomization_recorded": true, + "n_episodes": 10, + "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": 4626, + "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": 0.00032425421530479895 + }, + "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": 0.15, + "current_chain_depth_progress_score": 0.3, + "latched_chain_depth_progress_score": 0.35, + "avg_current_chain_depth": 0.6, + "avg_latched_chain_depth": 0.7 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 51.38333333333333, + "expert_time_step": 3083, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00032425421530479895, + "violation_counts": { + "drop_to_table_obj_166_markpen_4": 7, + "drop_to_table_obj_168_battery_6": 2, + "drop_to_table_obj_199_glue_5": 1, + "drop_to_table_obj_221_pen_3": 5 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.9, + "joint_limit_active_step_rate": 0.06288370082144401, + "finger_joint_limit_saturation_step_rate": 0.03938607868568958, + "max_joint_limit_excess_rad": 2.296665906906128, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_distal_joint": 9, + "left_index_proximal_joint": 55, + "left_middle_distal_joint": 3, + "left_middle_proximal_joint": 16, + "left_pinky_distal_joint": 84, + "left_pinky_proximal_joint": 100, + "left_ring_distal_joint": 217, + "left_ring_proximal_joint": 45, + "left_thumb_distal_joint": 78, + "left_thumb_metacarpal_joint": 8, + "left_thumb_proximal_joint": 1, + "right_index_distal_joint": 111, + "right_index_proximal_joint": 344, + "right_middle_distal_joint": 226, + "right_middle_proximal_joint": 629, + "right_pinky_distal_joint": 453, + "right_pinky_proximal_joint": 428, + "right_ring_distal_joint": 816, + "right_ring_proximal_joint": 686, + "right_thumb_distal_joint": 86, + "right_thumb_metacarpal_joint": 252, + "right_thumb_proximal_joint": 116 + }, + "joint_limit_hard_counts": { + "left_index_distal_joint": 2, + "left_index_proximal_joint": 16, + "left_middle_distal_joint": 6, + "left_middle_proximal_joint": 17, + "left_pinky_distal_joint": 11, + "left_pinky_proximal_joint": 42, + "left_ring_distal_joint": 15, + "left_ring_proximal_joint": 22, + "left_thumb_distal_joint": 6, + "left_thumb_metacarpal_joint": 2, + "left_thumb_proximal_joint": 5, + "right_index_distal_joint": 12, + "right_index_proximal_joint": 27, + "right_middle_distal_joint": 22, + "right_middle_proximal_joint": 39, + "right_pinky_distal_joint": 38, + "right_pinky_proximal_joint": 69, + "right_ring_distal_joint": 52, + "right_ring_proximal_joint": 59, + "right_thumb_distal_joint": 13, + "right_thumb_metacarpal_joint": 3, + "right_thumb_proximal_joint": 13 + }, + "joint_limit_hard_episode_events": 242, + "finger_joint_limit_saturation_counts": { + "left_index_proximal_joint": 10, + "left_pinky_distal_joint": 39, + "left_pinky_proximal_joint": 37, + "left_ring_distal_joint": 99, + "left_thumb_distal_joint": 40, + "right_index_distal_joint": 38, + "right_index_proximal_joint": 275, + "right_middle_distal_joint": 103, + "right_middle_proximal_joint": 445, + "right_pinky_distal_joint": 191, + "right_pinky_proximal_joint": 271, + "right_ring_distal_joint": 442, + "right_ring_proximal_joint": 290, + "right_thumb_distal_joint": 26, + "right_thumb_metacarpal_joint": 225, + "right_thumb_proximal_joint": 15 + }, + "joint_limit_max_excess_by_joint": { + "left_index_distal_joint": 0.017278848215937614, + "left_index_proximal_joint": 0.11591135710477829, + "left_middle_distal_joint": 0.011272430419921875, + "left_middle_proximal_joint": 0.028246808797121048, + "left_pinky_distal_joint": 0.318048357963562, + "left_pinky_proximal_joint": 0.1895831823348999, + "left_ring_distal_joint": 0.29407820105552673, + "left_ring_proximal_joint": 0.043559636920690536, + "left_thumb_distal_joint": 0.3178062438964844, + "left_thumb_metacarpal_joint": 0.07565286010503769, + "left_thumb_proximal_joint": 0.013899445533752441, + "right_index_distal_joint": 0.4855976104736328, + "right_index_proximal_joint": 2.296665906906128, + "right_middle_distal_joint": 0.4053751528263092, + "right_middle_proximal_joint": 0.8717591762542725, + "right_pinky_distal_joint": 0.2755752503871918, + "right_pinky_proximal_joint": 1.1545370817184448, + "right_ring_distal_joint": 0.7506979703903198, + "right_ring_proximal_joint": 1.6100006103515625, + "right_thumb_distal_joint": 0.523934006690979, + "right_thumb_metacarpal_joint": 1.271401286125183, + "right_thumb_proximal_joint": 0.149954691529274 + }, + "coverage": { + "hard_limit_source": { + "available": 10, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 10, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 10 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 10 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 10, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 10, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 17.79519686065434, + "joint_effort_rms": 44.77046983146167, + "joint_jerk_rms": 1787.0659899737534, + "joint_velocity_rms": 0.4567406371406277 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9885670708624079, + "mean_kinematic_grasp_stability": 0.5321034546628869, + "per_object_best_kinematic_grasp_stability": { + "obj_166_markpen_4": 0.6682970848742789, + "obj_168_battery_6": 0.7739798940890414, + "obj_199_glue_5": 0.7085178799598442, + "obj_221_pen_3": 0.7578735524374395 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8266284767257528, + "mean_duration_score": 0.31778516356823755, + "mean_hold_score": 0.21126486165153333, + "mean_kinematic_stability_score": 0.09919096057946239, + "mean_legacy_gsi": 0.35022192409635716, + "mean_lift_score": 0.27171962818849976, + "mean_motion_stability_score": 0.18910388950269644 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 4626, + "error_count": 0 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_1x_icl/per_task_eval/26_canned_food_tray_line_arrangement/Full/per_episode.jsonl b/gpt6_astra_1x_icl/per_task_eval/26_canned_food_tray_line_arrangement/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61b2e0500e772b413f93f44bf2b9f08e4db48168 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/26_canned_food_tray_line_arrangement/Full/per_episode.jsonl @@ -0,0 +1,10 @@ +{"scene": "scenes/26_canned_food_tray_line_arrangement.yaml", "episode_index": 5, "seed": 202600004, "success": false, "steps": 2613, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202600004, 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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": 35, "joint_limit_active_step_rate": 0.013394565633371604, "finger_joint_limit_saturation_steps": 17, "finger_joint_limit_saturation_step_rate": 0.006505931879066207, "max_joint_limit_excess_rad": 0.3349069654941559, "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": false}, "current_stage_completion": {"place_can_1": true, "place_can_2": true, "place_can_3": false, "place_can_4": false}, "stage_first_completion_step": {"place_can_1": 692, "place_can_2": 1305, "place_can_3": 1847, "place_can_4": null}, "violation_counts": {}, "policy_query_count": 15, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2613, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/26_canned_food_tray_line_arrangement/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/26_canned_food_tray_line_arrangement/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ae78072a6cc1a336596087653aa9c923a2fc3d22 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/26_canned_food_tray_line_arrangement/Full/summary.json @@ -0,0 +1,278 @@ +{ + "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": 10, + "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": 2613, + "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": 0.575 + }, + "efficiency": { + "avg_time_to_success_s": null + }, + "safety": { + "safe_success_rate": 0.0, + "hard_violation_rate": 0.1, + "drop_rate": 0.1, + "high_speed_violation_rate": 0.0, + "safety_violation_step_rate": 3.827018752391887e-05 + }, + "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": 0.4, + "current_chain_depth_progress_score": 0.6, + "latched_chain_depth_progress_score": 0.8, + "avg_current_chain_depth": 1.2, + "avg_latched_chain_depth": 1.6 + }, + "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": 3.827018752391887e-05, + "violation_counts": { + "drop_to_table_obj_002_master_chef_can_2": 1 + }, + "robot_constraint_violation_rate": 0.7, + "finger_joint_limit_saturation_rate": 0.4, + "joint_limit_active_step_rate": 0.017106773823191732, + "finger_joint_limit_saturation_step_rate": 0.005625717566016073, + "max_joint_limit_excess_rad": 1.7231225967407227, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_MCP_FE": 1, + "left_pinky_CMC": 55, + "left_pinky_MCP_FE": 19, + "multi_right_index_DIP": 63, + "multi_right_index_MCP_AA": 52, + "multi_right_index_MCP_FE": 69, + "multi_right_index_PIP": 49, + "multi_right_middle_DIP": 31, + "multi_right_middle_MCP_AA": 56, + "multi_right_middle_MCP_FE": 66, + "multi_right_middle_PIP": 28, + "multi_right_pinky_CMC": 53, + "multi_right_pinky_DIP": 19, + "multi_right_pinky_MCP_AA": 8, + "multi_right_pinky_MCP_FE": 5, + "multi_right_ring_MCP_AA": 23, + "multi_right_ring_MCP_FE": 53, + "multi_right_ring_PIP": 41, + "multi_right_thumb_CMC_AA": 276, + "multi_right_thumb_IP": 49, + "multi_right_thumb_MCP_AA": 50, + "multi_right_thumb_MCP_FE": 19 + }, + "joint_limit_hard_counts": { + "left_index_MCP_FE": 2, + "left_pinky_CMC": 4, + "left_pinky_MCP_FE": 1, + "multi_right_index_DIP": 2, + "multi_right_index_MCP_AA": 2, + "multi_right_index_MCP_FE": 2, + "multi_right_index_PIP": 2, + "multi_right_middle_DIP": 1, + "multi_right_middle_MCP_AA": 2, + "multi_right_middle_MCP_FE": 2, + "multi_right_middle_PIP": 3, + "multi_right_pinky_CMC": 5, + "multi_right_pinky_DIP": 1, + "multi_right_pinky_MCP_AA": 1, + "multi_right_pinky_MCP_FE": 2, + "multi_right_ring_MCP_AA": 1, + "multi_right_ring_MCP_FE": 2, + "multi_right_ring_PIP": 2, + "multi_right_thumb_CMC_AA": 2, + "multi_right_thumb_IP": 2, + "multi_right_thumb_MCP_AA": 1, + "multi_right_thumb_MCP_FE": 1 + }, + "joint_limit_hard_episode_events": 13, + "finger_joint_limit_saturation_counts": { + "left_pinky_CMC": 44, + "left_pinky_MCP_FE": 11, + "multi_right_index_DIP": 58, + "multi_right_index_MCP_AA": 28, + "multi_right_index_MCP_FE": 53, + "multi_right_index_PIP": 10, + "multi_right_middle_DIP": 28, + "multi_right_middle_MCP_AA": 41, + "multi_right_middle_MCP_FE": 54, + "multi_right_middle_PIP": 6, + "multi_right_pinky_CMC": 17, + "multi_right_pinky_DIP": 15, + "multi_right_ring_MCP_AA": 18, + "multi_right_ring_MCP_FE": 41, + "multi_right_ring_PIP": 12, + "multi_right_thumb_CMC_AA": 17, + "multi_right_thumb_IP": 40, + "multi_right_thumb_MCP_AA": 47, + "multi_right_thumb_MCP_FE": 3 + }, + "joint_limit_max_excess_by_joint": { + "A5": 1.3828277587890625e-05, + "left_index_MCP_FE": 0.010401219129562378, + "left_index_PIP": 0.00014018648653291166, + "left_middle_MCP_FE": 0.0015854686498641968, + "left_middle_PIP": 5.984597737551667e-05, + "left_pinky_CMC": 1.6369332075119019, + "left_pinky_DIP": 4.6774202928645536e-05, + "left_pinky_MCP_AA": 0.000651627779006958, + "left_pinky_MCP_FE": 0.2908959984779358, + "left_pinky_PIP": 0.00024309821310453117, + "left_ring_DIP": 5.443812187877484e-05, + "left_ring_PIP": 0.00024855288211256266, + "left_thumb_CMC_AA": 0.0033279061317443848, + "multi_right_index_DIP": 1.7231225967407227, + "multi_right_index_MCP_AA": 0.5683627128601074, + "multi_right_index_MCP_FE": 1.1254463195800781, + "multi_right_index_PIP": 0.5688197612762451, + "multi_right_middle_DIP": 0.428147554397583, + "multi_right_middle_MCP_AA": 0.5996490716934204, + "multi_right_middle_MCP_FE": 1.4571937322616577, + "multi_right_middle_PIP": 0.39574775099754333, + "multi_right_pinky_CMC": 0.3349069654941559, + "multi_right_pinky_DIP": 0.6046924591064453, + "multi_right_pinky_MCP_AA": 0.16932150721549988, + "multi_right_pinky_MCP_FE": 0.03357513248920441, + "multi_right_pinky_PIP": 9.58083196112014e-11, + "multi_right_ring_DIP": 4.77389135167261e-11, + "multi_right_ring_MCP_AA": 0.46329352259635925, + "multi_right_ring_MCP_FE": 0.9943783283233643, + "multi_right_ring_PIP": 0.22688937187194824, + "multi_right_thumb_CMC_AA": 0.22878697514533997, + "multi_right_thumb_IP": 0.5456024408340454, + 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"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": [2.227074384689331, -1.5326662063598633, -1.5700000524520874, 1.862589716911316, 1.5700000524520874, 0.33311736583709717, -1.5700000524520874, 2.221079111099243, -2.647447538972614e-10, 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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": 106, "joint_limit_hard_episode_events": 4, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 74, "max_joint_limit_excess_rad": 0.5464808344841003, "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": 106, "joint_limit_active_step_rate": 0.04173228346456693, "finger_joint_limit_saturation_steps": 74, "finger_joint_limit_saturation_step_rate": 0.029133858267716535, "max_joint_limit_excess_rad": 0.5464808344841003, "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": 1793, "place_tennis": 2485, "place_golf": 2485, "place_pingpong": 2485}, "violation_counts": {"high_speed_obj_058_golf_ball_4": 1, "drop_to_table_obj_058_golf_ball_4": 1}, "policy_query_count": 17, "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_1x_icl/per_task_eval/27_ball_box_loading/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/27_ball_box_loading/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..aba0e295ce3b46b186fe075c53e48904bd826ed8 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/27_ball_box_loading/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": 202700000, + "seed_policy": "episode_seed = base_seed + episode_index - 1", + "randomization_recorded": true, + "n_episodes": 10, + "successes": 10, + "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": 45.18999999999872 + }, + "safety": { + "safe_success_rate": 0.3, + "hard_violation_rate": 0.7, + "drop_rate": 0.1, + "high_speed_violation_rate": 0.7, + "safety_violation_step_rate": 0.0004425757911042266 + }, + "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": 0.8815334164071097, + "expert_time_s": 39.666666666666664, + "expert_time_step": 2380, + "avg_steps_to_success": 2711.4, + "avg_policy_steps_to_success": 904.2, + "avg_policy_queries_to_success": 19.8 + }, + "safety": { + "safety_violation_events_per_step": 0.00036881315925352216, + "violation_counts": { + "drop_to_table_obj_058_golf_ball_4": 1, + "high_speed_obj_058_golf_ball_4": 3, + "high_speed_obj_144_table_tennis_5": 6 + }, + "robot_constraint_violation_rate": 0.7, + "finger_joint_limit_saturation_rate": 0.6, + "joint_limit_active_step_rate": 0.02268200929409161, + "finger_joint_limit_saturation_step_rate": 0.016227779007154976, + "max_joint_limit_excess_rad": 0.5655606985092163, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_finger5_joint3": 23, + "right_finger1_joint3": 230, + "right_finger2_joint1": 47, + "right_finger3_joint1": 252, + "right_finger4_joint1": 252 + }, + "joint_limit_hard_counts": { + "left_finger5_joint3": 1, + "right_finger1_joint2": 14, + "right_finger1_joint3": 2, + "right_finger2_joint1": 1, + "right_finger3_joint1": 4, + "right_finger4_joint1": 4 + }, + "joint_limit_hard_episode_events": 20, + "finger_joint_limit_saturation_counts": { + "left_finger5_joint3": 13, + "right_finger1_joint3": 171, + "right_finger2_joint1": 26, + "right_finger3_joint1": 168, + "right_finger4_joint1": 161 + }, + "joint_limit_max_excess_by_joint": { + "left_finger1_joint2": 0.004154786467552185, + "left_finger2_joint1": 0.0003505498170852661, + "left_finger2_joint2": 0.0003935396671295166, + "left_finger5_joint3": 0.2794632911682129, + "right_finger1_joint2": 0.005902811884880066, + "right_finger1_joint3": 0.31119072437286377, + "right_finger2_joint1": 0.3970223665237427, + "right_finger2_joint2": 0.0016947686672210693, + "right_finger3_joint1": 0.5655606985092163, + "right_finger4_joint1": 0.5568047761917114 + }, + "coverage": { + "hard_limit_source": { + "available": 10, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 10, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 10 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 10 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 10, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 10, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 9.256581322588325, + "joint_effort_rms": 20.439332879679043, + "joint_jerk_rms": 945.797398486884, + "joint_velocity_rms": 0.32309312904499365 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9688283562851823, + "mean_kinematic_grasp_stability": 0.46235651122128657, + "per_object_best_kinematic_grasp_stability": { + "obj_053_mini_soccer_ball_2": 0.8429700090279171, + "obj_056_tennis_ball_3": 0.7501144634352336, + "obj_058_golf_ball_4": 0.6582300475117814, + "obj_144_table_tennis_5": 0.5581942281640864 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6459908498738125, + "mean_duration_score": 0.46322743964187374, + "mean_hold_score": 0.33652721456083634, + "mean_kinematic_stability_score": 0.07720277747525262, + "mean_legacy_gsi": 0.41907977307571204, + "mean_lift_score": 0.38939890230149105, + "mean_motion_stability_score": 0.31800925605330843 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2711.4, + "error_count": 0 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_1x_icl/per_task_eval/32_baking_tray_prep_with_tools/Full/per_episode.jsonl b/gpt6_astra_1x_icl/per_task_eval/32_baking_tray_prep_with_tools/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94c8b66ae80c49469a71971cae2af874f7e0f018 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/32_baking_tray_prep_with_tools/Full/per_episode.jsonl @@ -0,0 +1,10 @@ +{"scene": "scenes/32_baking_tray_prep_with_tools.yaml", "episode_index": 5, "seed": 203200004, "success": false, "steps": 2556, "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", 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b/gpt6_astra_1x_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": 10, + "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": 2556, + "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": 0.075 + }, + "efficiency": { + "avg_time_to_success_s": null + }, + "safety": { + "safe_success_rate": 0.0, + "hard_violation_rate": 0.2, + "drop_rate": 0.2, + "high_speed_violation_rate": 0.0, + "safety_violation_step_rate": 0.00011737089201877934 + }, + "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": 0.05, + "current_chain_depth_progress_score": 0.1, + "latched_chain_depth_progress_score": 0.15, + "avg_current_chain_depth": 0.2, + "avg_latched_chain_depth": 0.3 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 28.383333333333333, + "expert_time_step": 1703, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00011737089201877934, + "violation_counts": { + "drop_to_table_obj_009_gelatin_box_3": 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": 0.06083724569640062, + "finger_joint_limit_saturation_step_rate": 0.037363067292644755, + "max_joint_limit_excess_rad": 2.900862455368042, + 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+ "multi_right_thumb_MCP_FE": 94 + }, + "joint_limit_hard_counts": { + "left_index_MCP_AA": 1, + "left_index_MCP_FE": 1, + "left_middle_DIP": 8, + "left_middle_PIP": 2, + "left_pinky_CMC": 6, + "left_pinky_DIP": 7, + "left_pinky_MCP_FE": 1, + "left_ring_DIP": 4, + "left_ring_PIP": 1, + "left_thumb_CMC_AA": 5, + "left_thumb_MCP_AA": 1, + "multi_right_index_DIP": 3, + "multi_right_index_MCP_FE": 7, + "multi_right_index_PIP": 4, + "multi_right_middle_DIP": 5, + "multi_right_middle_MCP_AA": 1, + "multi_right_middle_MCP_FE": 4, + "multi_right_middle_PIP": 4, + "multi_right_pinky_CMC": 12, + "multi_right_pinky_DIP": 4, + "multi_right_pinky_MCP_AA": 3, + "multi_right_pinky_MCP_FE": 9, + "multi_right_pinky_PIP": 8, + "multi_right_ring_DIP": 5, + "multi_right_ring_MCP_AA": 1, + "multi_right_ring_MCP_FE": 3, + "multi_right_ring_PIP": 4, + "multi_right_thumb_CMC_AA": 22, + "multi_right_thumb_CMC_FE": 3, + "multi_right_thumb_IP": 2, + "multi_right_thumb_MCP_AA": 1, + "multi_right_thumb_MCP_FE": 19 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-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": 623, "joint_limit_hard_episode_events": 37, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 393, "max_joint_limit_excess_rad": 1.7634187936782837, "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": 623, "joint_limit_active_step_rate": 0.19228395061728396, "finger_joint_limit_saturation_steps": 393, "finger_joint_limit_saturation_step_rate": 0.12129629629629629, "max_joint_limit_excess_rad": 1.7634187936782837, "max_joint_limit_excess_joint": "left_pinky_mcp_joint", "stage_completion": {"open_fridge": true, "take_bottle": true, "pour_wine": false, "return_bottle": false, "close_fridge": false}, "current_stage_completion": {"open_fridge": false, "take_bottle": false, "pour_wine": false, "return_bottle": false, "close_fridge": false}, "stage_first_completion_step": {"open_fridge": 1177, "take_bottle": 1608, "pour_wine": null, "return_bottle": null, "close_fridge": null}, "violation_counts": {"drop_to_table_obj_224_wine_bottle_1": 1}, "policy_query_count": 37, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3240, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/34_fridge_wine_interhand_pour/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/34_fridge_wine_interhand_pour/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0b30e3cc0d9cc36eaad44cdeac1125c27066f3d5 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/34_fridge_wine_interhand_pour/Full/summary.json @@ -0,0 +1,315 @@ +{ + "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": 10, + "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": 3240, + "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": 0.3, + "success_rate_ci": { + "mean": 0.3, + "ci_low": 0.0, + "ci_high": 0.6 + } + }, + "progress": { + "latched_stage_completion_rate": 0.6799999999999999 + }, + "efficiency": { + "avg_time_to_success_s": 47.79999999999857 + }, + "safety": { + "safe_success_rate": 0.2, + "hard_violation_rate": 0.7, + "drop_rate": 0.7, + "high_speed_violation_rate": 0.0, + "safety_violation_step_rate": 0.00022375655287047692 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.3, + "at_end_success_rate": 0.3, + "task_family_success_rate": { + "articulation_pour": 0.3 + } + }, + "progress": { + "current_stage_completion_rate": 0.42, + "current_chain_depth_progress_score": 0.62, + "latched_chain_depth_progress_score": 0.6799999999999999, + "avg_current_chain_depth": 3.1, + "avg_latched_chain_depth": 3.4 + }, + "efficiency": { + "task_efficiency": 0.7564199283806476, + "expert_time_s": 36.0, + "expert_time_step": 2160, + "avg_steps_to_success": 2868, + "avg_policy_steps_to_success": 956.3333333333334, + "avg_policy_queries_to_success": 27.666666666666668 + }, + "safety": { + "safety_violation_events_per_step": 0.00022375655287047692, + "violation_counts": { + "drop_to_table_obj_224_wine_bottle_1": 7 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.3917018284106892, + "finger_joint_limit_saturation_step_rate": 0.3418360823424115, + "max_joint_limit_excess_rad": 2.037945032119751, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_dip_joint": 61, + "left_index_mcp_joint": 12, + "left_index_pip_joint": 697, + "left_index_pitch_joint": 494, + "left_middle_dip_joint": 40, + "left_middle_mcp_joint": 61, + "left_middle_pip_joint": 1173, + "left_middle_pitch_joint": 344, + "left_pinky_mcp_joint": 213, + "left_pinky_pip_joint": 140, + "left_ring_dip_joint": 27, + "left_ring_mcp_joint": 277, + "left_ring_pip_joint": 896, + "left_thumb_dip_joint": 56, + "left_thumb_mcp_joint": 3259, + "left_thumb_pip_joint": 125, + "left_thumb_yaw_joint": 32, + "right_index_dip_joint": 272, + "right_index_mcp_joint": 251, + "right_index_pip_joint": 645, + "right_index_pitch_joint": 379, + "right_middle_dip_joint": 327, + "right_middle_mcp_joint": 436, + "right_middle_pip_joint": 634, + "right_middle_pitch_joint": 300, + "right_pinky_dip_joint": 6, + "right_pinky_mcp_joint": 378, + "right_pinky_pip_joint": 356, + "right_ring_dip_joint": 393, + "right_ring_mcp_joint": 383, + "right_ring_pip_joint": 732, + "right_thumb_dip_joint": 141, + "right_thumb_mcp_joint": 6681, + "right_thumb_pip_joint": 94, + "right_thumb_yaw_joint": 92 + }, + "joint_limit_hard_counts": { + "left_index_dip_joint": 4, + "left_index_mcp_joint": 2, + "left_index_pip_joint": 89, + "left_index_pitch_joint": 17, + "left_middle_dip_joint": 3, + "left_middle_mcp_joint": 5, + "left_middle_pip_joint": 62, + "left_middle_pitch_joint": 14, + "left_pinky_mcp_joint": 22, + "left_pinky_pip_joint": 10, + "left_ring_dip_joint": 4, + "left_ring_mcp_joint": 24, + "left_ring_pip_joint": 57, + "left_thumb_dip_joint": 1, + "left_thumb_mcp_joint": 37, + "left_thumb_pip_joint": 4, + "left_thumb_yaw_joint": 2, + "right_index_dip_joint": 16, + "right_index_mcp_joint": 2, + "right_index_pip_joint": 8, + "right_index_pitch_joint": 12, + "right_middle_dip_joint": 24, + "right_middle_mcp_joint": 4, + "right_middle_pip_joint": 8, + "right_middle_pitch_joint": 8, + "right_pinky_dip_joint": 1, + "right_pinky_mcp_joint": 15, + "right_pinky_pip_joint": 5, + "right_ring_dip_joint": 15, + "right_ring_mcp_joint": 16, + "right_ring_pip_joint": 6, + "right_thumb_dip_joint": 8, + "right_thumb_mcp_joint": 15, + "right_thumb_pip_joint": 2, + "right_thumb_yaw_joint": 2 + }, + "joint_limit_hard_episode_events": 167, + "finger_joint_limit_saturation_counts": { + "left_index_dip_joint": 35, + "left_index_pip_joint": 348, + "left_index_pitch_joint": 336, + "left_middle_dip_joint": 7, + "left_middle_pip_joint": 662, + "left_middle_pitch_joint": 254, + "left_pinky_mcp_joint": 102, + "left_pinky_pip_joint": 106, + "left_ring_mcp_joint": 171, + "left_ring_pip_joint": 528, + "left_thumb_dip_joint": 52, + "left_thumb_mcp_joint": 2601, + "left_thumb_pip_joint": 115, + "left_thumb_yaw_joint": 26, + "right_index_dip_joint": 141, + "right_index_mcp_joint": 211, + "right_index_pip_joint": 540, + "right_index_pitch_joint": 315, + "right_middle_dip_joint": 191, + "right_middle_mcp_joint": 357, + "right_middle_pip_joint": 542, + "right_middle_pitch_joint": 218, + "right_pinky_mcp_joint": 253, + "right_pinky_pip_joint": 309, + "right_ring_dip_joint": 310, + "right_ring_mcp_joint": 269, + "right_ring_pip_joint": 663, + "right_thumb_dip_joint": 111, + "right_thumb_mcp_joint": 6338, + "right_thumb_pip_joint": 74, + "right_thumb_yaw_joint": 68 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 0.2799852788448334, + "left_index_mcp_joint": 0.1833624243736267, + "left_index_pip_joint": 1.2716604471206665, + "left_index_pitch_joint": 1.605282187461853, + "left_middle_dip_joint": 0.16115638613700867, + "left_middle_mcp_joint": 0.2435968816280365, + "left_middle_pip_joint": 1.4053504467010498, + "left_middle_pitch_joint": 1.5653107166290283, + "left_pinky_dip_joint": 0.0007799672312103212, + "left_pinky_mcp_joint": 1.7634187936782837, + "left_pinky_pip_joint": 1.73162043094635, + "left_ring_dip_joint": 0.15498420596122742, + "left_ring_mcp_joint": 1.5648345947265625, + "left_ring_pip_joint": 1.2001138925552368, + "left_thumb_dip_joint": 1.2471123933792114, + "left_thumb_mcp_joint": 1.5431932210922241, + "left_thumb_pip_joint": 0.9053640961647034, + "left_thumb_yaw_joint": 0.5279140472412109, + "right_index_dip_joint": 1.0168943405151367, + "right_index_mcp_joint": 0.565585732460022, + "right_index_pip_joint": 1.4217863082885742, + "right_index_pitch_joint": 0.7631471753120422, + "right_middle_dip_joint": 0.8343515396118164, + "right_middle_mcp_joint": 0.5970035791397095, + "right_middle_pip_joint": 1.8758935928344727, + "right_middle_pitch_joint": 0.835150420665741, + "right_pinky_dip_joint": 0.22969281673431396, + "right_pinky_mcp_joint": 0.9765199422836304, + "right_pinky_pip_joint": 1.4550007581710815, + "right_ring_dip_joint": 1.306758165359497, + "right_ring_mcp_joint": 0.5623847246170044, + "right_ring_pip_joint": 2.037945032119751, + "right_thumb_dip_joint": 1.4873428344726562, + "right_thumb_mcp_joint": 0.6458135843276978, + "right_thumb_pip_joint": 0.2756539583206177, + "right_thumb_yaw_joint": 0.6658437252044678 + }, + "coverage": { + "hard_limit_source": { + "available": 10, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 10, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 10 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 10 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 10, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 10, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 47.787378654259044, + "joint_effort_rms": 38.57953411576559, + "joint_jerk_rms": 4881.414279506254, + "joint_velocity_rms": 0.9058797532993996 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8886124110017146, + "mean_kinematic_grasp_stability": 0.4925575938786643, + "per_object_best_kinematic_grasp_stability": { + "obj_224_wine_bottle_1": 0.8886124110017146 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.48982951166362576, + "mean_duration_score": 0.7648623145760967, + "mean_hold_score": 0.408584463530777, + "mean_kinematic_stability_score": 0.14470559194835245, + "mean_legacy_gsi": 0.48046335493133674, + "mean_lift_score": 0.5189258376899576, + "mean_motion_stability_score": 0.3453879590047513 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3128.4, + "error_count": 0 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_1x_icl/per_task_eval/42_trash_disposal/Full/per_episode.jsonl b/gpt6_astra_1x_icl/per_task_eval/42_trash_disposal/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1a45edcc8c7333098da1ef00dabc4767281f282 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/42_trash_disposal/Full/per_episode.jsonl @@ -0,0 +1,10 @@ +{"scene": "scenes/42_trash_disposal.yaml", "episode_index": 5, "seed": 204200004, "success": true, "steps": 1422, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204200004, "base_seed": 204200000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 270.0, "base_yaw_deg": -90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan329", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan329_physics/scene.usda", "scene_offset": [0.65, 1.85, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_carpet_carpet2841_jpg", "asset_uri": "dex2bench_dataset/textures/carpet/carpet2841.jpg", "asset_category": "carpet", "asset_id": "carpet/carpet2841.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1100.5804893509355, "color": [0.6398941301050951, 0.6498664519761066, 0.7770392830609786], "pitch_deg": -10.04092337411549, "yaw_deg": 8.744582176406766, "angle_deg": 0.6452320423880675}, "dome": {"intensity": 332.2945209173236, "color": [0.9736281971769247, 0.9394971562956465, 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"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": [2.285505533218384, -1.4455569982528687, -2.0700135231018066, 1.6765251159667969, 1.8608211278915405, -0.11757421493530273, -2.053252935409546, 1.7845699787139893, 0.5712738037109375, 0.1121419221162796, -2.0597331523895264, -0.010827405378222466, 0.0, 0.1448889970779419, 0.0, 0.0, 0.3412604033946991, 0.31986626982688904, 0.0, 0.0, 0.0, 0.0, 0.03247726708650589, 0.12016130238771439], "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": [2.285505533218384, -1.4455569982528687, -2.0700135231018066, 1.6765251159667969, 1.8608211278915405, -0.11757421493530273, -2.053252935409546, 1.7845699787139893, 0.5712738037109375, 0.1121419221162796, -2.0597331523895264, -0.010827405378222466, 0.0, 0.1448889970779419, 0.0, 0.0, 0.3412604033946991, -0.15000000596046448, 0.011826520785689354, -0.15000000596046448, -0.15000000596046448, 0.31986626982688904, 0.0, 0.0, 0.0, 0.0, 0.03247726708650589, 0.3654472231864929, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.12016130238771439, 0.3743777871131897, 0.1372842937707901, 0.20307305455207825], "shielded_full_target": [2.285505533218384, -1.4455569982528687, -2.0700135231018066, 1.6765251159667969, 1.8608211278915405, -0.11757421493530273, -2.053252935409546, 1.7845699787139893, 0.5712738037109375, 0.1121419221162796, -2.0597331523895264, -0.010827405378222466, 0.0, 0.1448889970779419, 0.0, 0.0, 0.3412604033946991, -0.15000000596046448, 0.011826520785689354, -0.15000000596046448, -0.15000000596046448, 0.31986626982688904, 0.0, 0.0, 0.0, 0.0, 0.03247726708650589, 0.3654472231864929, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.12016130238771439, 0.3743777871131897, 0.1372842937707901, 0.20307305455207825]}, "joint_limit_active_steps": 229, "joint_limit_hard_episode_events": 13, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 124, "max_joint_limit_excess_rad": 0.2659606635570526, "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": 229, "joint_limit_active_step_rate": 0.17574827321565617, "finger_joint_limit_saturation_steps": 124, "finger_joint_limit_saturation_step_rate": 0.09516500383729855, "max_joint_limit_excess_rad": 0.2659606635570526, "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": 1193, "place_paper": 1193, "place_bottle": 1193}, "violation_counts": {"drop_obj_080_bottle_3": 1, "drop_to_table_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_1x_icl/per_task_eval/42_trash_disposal/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/42_trash_disposal/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4f44aa36671e265cc98b5fe2b63acaae4078aa7c --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/42_trash_disposal/Full/summary.json @@ -0,0 +1,267 @@ +{ + "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": 10, + "successes": 5, + "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": 0.5, + "success_rate_ci": { + "mean": 0.5, + "ci_low": 0.2, + "ci_high": 0.8 + } + }, + "progress": { + "latched_stage_completion_rate": 0.7 + }, + "efficiency": { + "avg_time_to_success_s": 24.73333333333321 + }, + "safety": { + "safe_success_rate": 0.1, + "hard_violation_rate": 0.9, + "drop_rate": 0.8, + "high_speed_violation_rate": 0.8, + "safety_violation_step_rate": 0.22832568807339448 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.7, + "at_end_success_rate": 0.5, + "task_family_success_rate": { + "trash_sorting_disposal": 0.5 + } + }, + "progress": { + "current_stage_completion_rate": 0.6333333333333333, + "current_chain_depth_progress_score": 0.7, + "latched_chain_depth_progress_score": 0.7, + "avg_current_chain_depth": 2.1, + "avg_latched_chain_depth": 2.1 + }, + "efficiency": { + "task_efficiency": 0.9178965738222508, + "expert_time_s": 22.266666666666666, + "expert_time_step": 1336, + "avg_steps_to_success": 1484, + "avg_policy_steps_to_success": 495, + "avg_policy_queries_to_success": 16.8 + }, + "safety": { + "safety_violation_events_per_step": 0.0017775229357798166, + "violation_counts": { + "drop_obj_080_bottle_3": 5, + "drop_to_table_obj_080_bottle_3": 1, + "drop_to_table_obj_341_banana_peel_1": 7, + "drop_to_table_obj_349_paper_low_2": 4, + "high_speed_obj_080_bottle_3": 2, + "high_speed_obj_341_banana_peel_1": 2, + "high_speed_obj_349_paper_low_2": 10 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.2680619266055046, + "finger_joint_limit_saturation_step_rate": 0.1694380733944954, + "max_joint_limit_excess_rad": 1.6444499492645264, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 254, + "left_index_2_joint": 1, + "left_little_1_joint": 186, + "left_little_2_joint": 28, + "left_middle_1_joint": 217, + "left_middle_2_joint": 10, + "left_ring_1_joint": 218, + "left_ring_2_joint": 82, + "left_thumb_1_joint": 2, + "left_thumb_2_joint": 1915, + "right_index_1_joint": 1308, + "right_little_1_joint": 328, + "right_little_2_joint": 80, + "right_middle_1_joint": 1150, + "right_middle_2_joint": 10, + "right_ring_1_joint": 857, + "right_ring_2_joint": 69, + "right_thumb_1_joint": 38, + "right_thumb_2_joint": 367, + "right_thumb_3_joint": 71, + "right_thumb_4_joint": 28 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 25, + "left_index_2_joint": 1, + "left_little_1_joint": 8, + "left_little_2_joint": 2, + "left_middle_1_joint": 10, + "left_middle_2_joint": 3, + "left_ring_1_joint": 14, + "left_ring_2_joint": 10, + "left_thumb_1_joint": 3, + "left_thumb_2_joint": 40, + "right_index_1_joint": 37, + "right_little_1_joint": 12, + "right_little_2_joint": 2, + "right_middle_1_joint": 45, + "right_middle_2_joint": 4, + "right_ring_1_joint": 49, + "right_ring_2_joint": 6, + "right_thumb_1_joint": 1, + "right_thumb_2_joint": 9, + "right_thumb_3_joint": 3, + "right_thumb_4_joint": 10 + }, + "joint_limit_hard_episode_events": 142, + "finger_joint_limit_saturation_counts": { + "left_index_1_joint": 123, + "left_little_1_joint": 130, + "left_middle_1_joint": 110, + "left_ring_1_joint": 145, + "left_ring_2_joint": 55, + "left_thumb_2_joint": 1353, + "right_index_1_joint": 812, + "right_little_1_joint": 225, + "right_little_2_joint": 65, + "right_middle_1_joint": 676, + "right_ring_1_joint": 534, + "right_ring_2_joint": 39, + "right_thumb_1_joint": 32, + "right_thumb_2_joint": 47, + "right_thumb_3_joint": 47 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.9848292469978333, + "left_index_2_joint": 0.02854819782078266, + "left_little_1_joint": 1.0754948854446411, + "left_little_2_joint": 0.11992128938436508, + "left_middle_1_joint": 1.0950721502304077, + "left_middle_2_joint": 0.040635135024785995, + "left_ring_1_joint": 1.0245829820632935, + "left_ring_2_joint": 0.5659329891204834, + "left_thumb_1_joint": 0.02052757702767849, + "left_thumb_2_joint": 0.8127384185791016, + "left_thumb_3_joint": 0.004792214836925268, + "left_thumb_4_joint": 0.0034056901931762695, + "right_index_1_joint": 1.2606998682022095, + "right_index_2_joint": 6.519936141557992e-05, + "right_little_1_joint": 1.6444499492645264, + "right_little_2_joint": 0.8218870162963867, + "right_middle_1_joint": 1.1572142839431763, + "right_middle_2_joint": 0.017551619559526443, + "right_ring_1_joint": 0.8695412874221802, + "right_ring_2_joint": 0.3739415407180786, + "right_thumb_1_joint": 0.34854838252067566, + "right_thumb_2_joint": 1.0910316705703735, + "right_thumb_3_joint": 0.7988921999931335, + "right_thumb_4_joint": 0.04604159668087959 + }, + "coverage": { + "hard_limit_source": { + "available": 10, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 10, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 10 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 10 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 10, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 10, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 54.30332184461524, + "joint_effort_rms": 56.989484342180546, + "joint_jerk_rms": 5524.436829787346, + "joint_velocity_rms": 1.1177463837560624 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9756752204324011, + "mean_kinematic_grasp_stability": 0.5476756719477086, + "per_object_best_kinematic_grasp_stability": { + "obj_080_bottle_3": 0.5705879291621311, + "obj_341_banana_peel_1": 0.3622530188542202, + "obj_349_paper_low_2": 0.9696077133505674 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9019469384984251, + "mean_duration_score": 0.2985466809434927, + "mean_hold_score": 0.2966979557272879, + "mean_kinematic_stability_score": 0.1956420106718901, + "mean_legacy_gsi": 0.41795077791011626, + "mean_lift_score": 0.39630676539031257, + "mean_motion_stability_score": 0.27402355721377775 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1744, + "error_count": 0 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_1x_icl/per_task_eval/43_fridge_fruit_shelf_sorting/Full/per_episode.jsonl b/gpt6_astra_1x_icl/per_task_eval/43_fridge_fruit_shelf_sorting/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7abd29d7763ca712bbf12313a313efcd0a86463d --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/43_fridge_fruit_shelf_sorting/Full/per_episode.jsonl @@ -0,0 +1,10 @@ +{"scene": "scenes/43_fridge_fruit_shelf_sorting.yaml", "episode_index": 5, "seed": 204300004, "success": false, "steps": 4125, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "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, "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", 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"max_joint_limit_excess_rad": 1.1656535863876343, "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": 603, "joint_limit_active_step_rate": 0.1461818181818182, "finger_joint_limit_saturation_steps": 406, "finger_joint_limit_saturation_step_rate": 0.09842424242424243, "max_joint_limit_excess_rad": 1.1656535863876343, "max_joint_limit_excess_joint": "l_FFJ2", "stage_completion": {"open_fridge": true, "place_banana": false, "place_apple": false, "close_fridge": false}, "current_stage_completion": {"open_fridge": false, "place_banana": false, "place_apple": false, "close_fridge": false}, "stage_first_completion_step": {"open_fridge": 1273, "place_banana": null, "place_apple": null, "close_fridge": null}, "violation_counts": {"drop_to_table_obj_011_banana_2": 1, "drop_to_table_obj_013_apple_1": 1, "high_speed_obj_013_apple_1": 2}, "policy_query_count": 38, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4125, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/43_fridge_fruit_shelf_sorting/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/43_fridge_fruit_shelf_sorting/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..980915546f818cf57c75e546ae763c2b47e6940e --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/43_fridge_fruit_shelf_sorting/Full/summary.json @@ -0,0 +1,341 @@ +{ + "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": 10, + "successes": 3, + "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": 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": 0.3, + "success_rate_ci": { + "mean": 0.3, + "ci_low": 0.0, + "ci_high": 0.6 + } + }, + "progress": { + "latched_stage_completion_rate": 0.55 + }, + "efficiency": { + "avg_time_to_success_s": 63.69444444444211 + }, + "safety": { + "safe_success_rate": 0.1, + "hard_violation_rate": 0.9, + "drop_rate": 0.9, + "high_speed_violation_rate": 0.7, + "safety_violation_step_rate": 0.0013635194237200925 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.3, + "at_end_success_rate": 0.3, + "task_family_success_rate": { + "articulation_multi": 0.3 + } + }, + "progress": { + "current_stage_completion_rate": 0.35, + "current_chain_depth_progress_score": 0.5333333333333333, + "latched_chain_depth_progress_score": 0.6333333333333333, + "avg_current_chain_depth": 1.6, + "avg_latched_chain_depth": 1.9 + }, + "efficiency": { + "task_efficiency": 0.7231427052588435, + "expert_time_s": 45.833333333333336, + "expert_time_step": 2750, + "avg_steps_to_success": 3821.6666666666665, + "avg_policy_steps_to_success": 1274.3333333333333, + "avg_policy_queries_to_success": 33.333333333333336 + }, + "safety": { + "safety_violation_events_per_step": 0.0007203498842294829, + "violation_counts": { + "drop_to_table_obj_011_banana_2": 9, + "drop_to_table_obj_013_apple_1": 6, + "high_speed_obj_013_apple_1": 13 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.1631849755595575, + "finger_joint_limit_saturation_step_rate": 0.09773604322099305, + "max_joint_limit_excess_rad": 1.9151273965835571, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "FFJ2": 110, + "FFJ3": 155, + "LFJ2": 146, + "LFJ3": 163, + "LFJ4": 211, + "LFJ5": 515, + "MFJ1": 24, + "MFJ2": 270, + "MFJ3": 210, + "MFJ4": 32, + "RFJ1": 23, + "RFJ2": 583, + "RFJ3": 218, + "RFJ4": 30, + "THJ1": 44, + "THJ3": 28, + "THJ4": 195, + "THJ5": 535, + "WRJ1": 209, + "WRJ2": 296, + "l_FFJ2": 486, + "l_FFJ3": 1310, + "l_LFJ2": 398, + "l_LFJ3": 709, + "l_LFJ4": 85, + "l_LFJ5": 1343, + "l_MFJ1": 1, + "l_MFJ2": 1429, + "l_MFJ3": 812, + "l_MFJ4": 80, + "l_RFJ1": 1, + "l_RFJ2": 1563, + "l_RFJ3": 250, + "l_RFJ4": 67, + "l_THJ1": 14, + "l_THJ2": 90, + "l_THJ3": 35, + "l_THJ4": 480, + "l_THJ5": 467, + "l_WRJ1": 84, + "l_WRJ2": 388 + }, + "joint_limit_hard_counts": { + "FFJ2": 17, + "FFJ3": 4, + "FFJ4": 3, + "LFJ1": 2, + "LFJ2": 14, + "LFJ3": 13, + "LFJ4": 22, + "LFJ5": 47, + "MFJ1": 7, + "MFJ2": 16, + "MFJ3": 12, + "MFJ4": 8, + "RFJ1": 9, + "RFJ2": 28, + "RFJ3": 10, + "RFJ4": 10, + "THJ1": 1, + "THJ3": 1, + "THJ4": 4, + "THJ5": 67, + "WRJ1": 3, + "WRJ2": 6, + "l_FFJ2": 131, + "l_FFJ3": 43, + "l_LFJ2": 31, + "l_LFJ3": 31, + "l_LFJ4": 15, + "l_LFJ5": 204, + "l_MFJ1": 2, + "l_MFJ2": 86, + "l_MFJ3": 61, + "l_MFJ4": 7, + "l_RFJ1": 1, + "l_RFJ2": 95, + "l_RFJ3": 33, + "l_RFJ4": 11, + "l_THJ1": 1, + "l_THJ2": 2, + "l_THJ3": 1, + "l_THJ4": 188, + "l_THJ5": 38, + "l_WRJ1": 6, + "l_WRJ2": 12 + }, + "joint_limit_hard_episode_events": 468, + "finger_joint_limit_saturation_counts": { + "FFJ2": 13, + "FFJ3": 82, + "LFJ2": 105, + "LFJ3": 43, + "LFJ4": 102, + "LFJ5": 350, + "MFJ2": 127, + "MFJ3": 113, + "RFJ2": 354, + "RFJ3": 123, + "THJ1": 42, + "THJ3": 24, + "THJ4": 91, + "THJ5": 322, + "l_FFJ2": 272, + "l_FFJ3": 395, + "l_LFJ2": 168, + "l_LFJ3": 403, + "l_LFJ4": 70, + "l_LFJ5": 533, + "l_MFJ2": 597, + "l_MFJ3": 282, + "l_MFJ4": 40, + "l_RFJ2": 925, + "l_RFJ3": 47, + "l_RFJ4": 32, + "l_THJ2": 81, + "l_THJ3": 31, + "l_THJ4": 157, + "l_THJ5": 340 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 0.004584662150591612, + "FFJ2": 0.5536534786224365, + "FFJ3": 0.339205265045166, + "FFJ4": 0.005583912134170532, + "LFJ1": 0.006359064485877752, + "LFJ2": 0.6927093267440796, + "LFJ3": 0.42599403858184814, + "LFJ4": 0.6373152732849121, + "LFJ5": 1.2247565984725952, + "MFJ1": 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1.615362286567688, 1.5781140327453613, -0.028696119785308838, -1.5679713487625122, 1.5994304418563843, -0.011388754472136497, 0.0046738870441913605, -1.5751779079437256, -0.0024599628522992134, 0.008924807421863079, 0.0077311876229941845, 0.06228409707546234, 1.193700693846722e-09, 0.051709163933992386, 2.1409957140505753e-12, 0.004201531410217285, 0.031520646065473557, 0.027424106374382973, 0.006462114863097668, -0.03209363669157028, 0.02481936290860176, -7.615440916763916e-11, 0.02107832208275795, 0.03797634318470955, 0.03941210359334946, 0.02877979911863804, 0.0474085733294487], "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": [1.5926016569137573, -1.5886473655700684, -1.603288173675537, 1.615362286567688, 1.5781140327453613, -0.028696119785308838, -1.5679713487625122, 1.5994304418563843, -0.011388754472136497, 0.0046738870441913605, -1.5751779079437256, -0.0024599628522992134, 0.008924807421863079, 5.96850346923361e-10, 0.008924807421863079, 0.0077311876229941845, 0.06228409707546234, 1.193700693846722e-09, 5.96850346923361e-10, 0.051709163933992386, 2.1409957140505753e-12, -3.807720458381958e-11, 2.1409957140505753e-12, 0.00784800574183464, 0.004201531410217285, 0.031520646065473557, 0.027424106374382973, 0.006462114863097668, -0.03209363669157028, 0.02481936290860176, -7.615440916763916e-11, -3.807720458381958e-11, 0.02107832208275795, 0.011201640591025352, 0.004390600137412548, 0.04283025488257408, 0.03726387396454811, 0.006755494978278875, -0.03257857263088226, 0.03797634318470955, 0.03941210359334946, 0.02877979911863804, 0.0474085733294487, 0.04485608637332916, 0.038967736065387726, -0.04650015011429787, 0.03968527913093567, 0.05355316773056984, 0.03910599276423454, 0.049560923129320145, 0.056086182594299316, 0.04089407995343208], "shielded_full_target": [1.5926016569137573, -1.5886473655700684, -1.603288173675537, 1.615362286567688, 1.5781140327453613, -0.028696119785308838, -1.5679713487625122, 1.5994304418563843, -0.011388754472136497, 0.0046738870441913605, -1.5751779079437256, -0.0024599628522992134, 0.008924807421863079, 5.96850346923361e-10, 0.008924807421863079, 0.0077311876229941845, 0.06228409707546234, 1.193700693846722e-09, 5.96850346923361e-10, 0.051709163933992386, 2.1409957140505753e-12, -3.807720458381958e-11, 2.1409957140505753e-12, 0.00784800574183464, 0.004201531410217285, 0.031520646065473557, 0.027424106374382973, 0.006462114863097668, -0.03209363669157028, 0.02481936290860176, -7.615440916763916e-11, -3.807720458381958e-11, 0.02107832208275795, 0.011201640591025352, 0.004390600137412548, 0.04283025488257408, 0.03726387396454811, 0.006755494978278875, -0.03257857263088226, 0.03797634318470955, 0.03941210359334946, 0.02877979911863804, 0.0474085733294487, 0.04485608637332916, 0.038967736065387726, -0.04650015011429787, 0.03968527913093567, 0.05355316773056984, 0.03910599276423454, 0.049560923129320145, 0.056086182594299316, 0.04089407995343208]}, "joint_limit_active_steps": 368, "joint_limit_hard_episode_events": 27, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 139, "max_joint_limit_excess_rad": 0.4125230014324188, "max_joint_limit_excess_joint": "right_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": 368, "joint_limit_active_step_rate": 0.11561420043983663, "finger_joint_limit_saturation_steps": 139, "finger_joint_limit_saturation_step_rate": 0.043669494187873074, "max_joint_limit_excess_rad": 0.4125230014324188, "max_joint_limit_excess_joint": "right_hand_Thumb_Flexion", "stage_completion": {"open_door": true, "baguette_in_bowl": true, "loaded_bowl_in_mw": false, "close_door": false}, "current_stage_completion": {"open_door": true, "baguette_in_bowl": false, "loaded_bowl_in_mw": false, "close_door": false}, "stage_first_completion_step": {"open_door": 253, "baguette_in_bowl": 1539, "loaded_bowl_in_mw": null, "close_door": null}, "violation_counts": {"drop_to_table_obj_163_baguette_1": 1, "drop_to_table_obj_024_bowl_3": 1}, "policy_query_count": 29, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3183, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/44_microwave_bowl_loading/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/44_microwave_bowl_loading/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..7083183818f2bbc0d7ad12f6447e8b5401672e57 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/44_microwave_bowl_loading/Full/summary.json @@ -0,0 +1,294 @@ +{ + "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": 10, + "successes": 4, + "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": 0.4, + "success_rate_ci": { + "mean": 0.4, + "ci_low": 0.1, + "ci_high": 0.7 + } + }, + "progress": { + "latched_stage_completion_rate": 0.625 + }, + "efficiency": { + "avg_time_to_success_s": 42.0874999999989 + }, + "safety": { + "safe_success_rate": 0.4, + "hard_violation_rate": 0.6, + "drop_rate": 0.6, + "high_speed_violation_rate": 0.1, + "safety_violation_step_rate": 0.0004109729785266619 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.4, + "at_end_success_rate": 0.4, + "task_family_success_rate": { + "articulation_door_place": 0.4 + } + }, + "progress": { + "current_stage_completion_rate": 0.425, + "current_chain_depth_progress_score": 0.525, + "latched_chain_depth_progress_score": 0.625, + "avg_current_chain_depth": 2.1, + "avg_latched_chain_depth": 2.5 + }, + "efficiency": { + "task_efficiency": 0.8481173070861898, + "expert_time_s": 35.36666666666667, + "expert_time_step": 2122, + "avg_steps_to_success": 2525.25, + "avg_policy_steps_to_success": 842.25, + "avg_policy_queries_to_success": 22.5 + }, + "safety": { + "safety_violation_events_per_step": 0.0003082297338949964, + "violation_counts": { + "drop_to_table_obj_024_bowl_3": 2, + "drop_to_table_obj_163_baguette_1": 6, + "high_speed_obj_163_baguette_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.15298469125654987, + "finger_joint_limit_saturation_step_rate": 0.0633925819377376, + "max_joint_limit_excess_rad": 3.174018144607544, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Finger_Spread": 19, + "left_hand_Index_Finger_Distal": 61, + "left_hand_Index_Finger_Proximal": 475, + "left_hand_Middle_Finger_Distal": 296, + "left_hand_Middle_Finger_Proximal": 933, + "left_hand_Pinky": 132, + "left_hand_Ring_Finger": 1062, + "left_hand_Thumb_Flexion": 1116, + "left_hand_Thumb_Opposition": 1, + "left_hand_j12": 86, + "left_hand_j13": 184, + "left_hand_j3": 626, + "left_hand_j5": 568, + "left_hand_ring_spread": 17, + "right_hand_Index_Finger_Distal": 590, + "right_hand_Index_Finger_Proximal": 12, + "right_hand_Middle_Finger_Distal": 23, + "right_hand_Middle_Finger_Proximal": 50, + "right_hand_Pinky": 1, + "right_hand_Ring_Finger": 2, + "right_hand_Thumb_Flexion": 281, + "right_hand_index_spread": 9, + "right_hand_j12": 13, + "right_hand_j13": 3, + "right_hand_j3": 260, + "right_hand_j5": 1, + "right_hand_ring_spread": 10 + }, + "joint_limit_hard_counts": { + "left_hand_Finger_Spread": 41, + "left_hand_Index_Finger_Distal": 2, + "left_hand_Index_Finger_Proximal": 15, + "left_hand_Middle_Finger_Distal": 7, + "left_hand_Middle_Finger_Proximal": 29, + "left_hand_Pinky": 9, + "left_hand_Ring_Finger": 25, + "left_hand_Thumb_Flexion": 30, + "left_hand_Thumb_Opposition": 2, + "left_hand_index_spread": 2, + "left_hand_j12": 3, + "left_hand_j13": 7, + "left_hand_j3": 14, + "left_hand_j5": 83, + "left_hand_ring_spread": 45, + "right_hand_Index_Finger_Distal": 21, + "right_hand_Index_Finger_Proximal": 23, + "right_hand_Middle_Finger_Distal": 21, + "right_hand_Middle_Finger_Proximal": 31, + "right_hand_Pinky": 9, + "right_hand_Ring_Finger": 17, + "right_hand_Thumb_Flexion": 51, + "right_hand_index_spread": 1, + "right_hand_j12": 6, + "right_hand_j13": 9, + "right_hand_j15": 1, + "right_hand_j3": 63, + "right_hand_j5": 1, + "right_hand_ring_spread": 1 + }, + "joint_limit_hard_episode_events": 224, + "finger_joint_limit_saturation_counts": { + "left_hand_Index_Finger_Distal": 53, + "left_hand_Index_Finger_Proximal": 200, + "left_hand_Middle_Finger_Distal": 183, + "left_hand_Middle_Finger_Proximal": 483, + "left_hand_Pinky": 40, + "left_hand_Ring_Finger": 510, + "left_hand_Thumb_Flexion": 261, + "left_hand_j12": 14, + "left_hand_j13": 91, + "left_hand_j3": 323, + "left_hand_j5": 362, + "right_hand_Index_Finger_Distal": 14, + "right_hand_Middle_Finger_Distal": 17, + "right_hand_Middle_Finger_Proximal": 15, + "right_hand_Thumb_Flexion": 91, + "right_hand_index_spread": 2, + "right_hand_j12": 4, + "right_hand_j3": 98 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.037375323474407196, + "left_hand_Index_Finger_Distal": 0.8622639179229736, + "left_hand_Index_Finger_Proximal": 1.5071290731430054, + "left_hand_Middle_Finger_Distal": 0.39120006561279297, + "left_hand_Middle_Finger_Proximal": 1.09234619140625, + "left_hand_Pinky": 0.3397405743598938, + "left_hand_Ring_Finger": 0.5145901441574097, + "left_hand_Thumb_Flexion": 0.747669517993927, + "left_hand_Thumb_Opposition": 0.010924256406724453, + "left_hand_index_spread": 0.006348968017846346, + "left_hand_j12": 0.1434175968170166, + "left_hand_j13": 0.7270541191101074, + "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": 0.3234946131706238, + "left_hand_j4": 1.0819940863410205e-12, + "left_hand_j5": 3.174018144607544, + "left_hand_ring_spread": 0.12098025530576706, + "right_hand_Finger_Spread": 0.0024728020653128624, + "right_hand_Index_Finger_Distal": 0.5602082014083862, + "right_hand_Index_Finger_Proximal": 0.050545454025268555, + "right_hand_Middle_Finger_Distal": 0.5714244842529297, + "right_hand_Middle_Finger_Proximal": 0.5611324310302734, + "right_hand_Pinky": 0.010315727442502975, + "right_hand_Ring_Finger": 0.015359331853687763, + "right_hand_Thumb_Flexion": 0.4125230014324188, + 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"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": [-1.8792401552200317, -1.8250598907470703, 1.5700000524520874, 0.06019417941570282, -1.5700000524520874, -2.2259480953216553, 1.0337180417208103e-10, 1.623583436012268, -1.5700000524520874, 0.3470093309879303, 1.5700000524520874, -1.7154467105865479, -3.378299584522182e-10, -1.5700000524520874, 0.8736297488212585, -1.3721864223480225, 0.16701430082321167, 1.1239556074142456, -1.6053998470306396, -1.3070141413606962e-08, 1.6590508966629613e-09, 4.444943968451298e-08, 7.120088696410676e-08, -0.3294921815395355, -0.0006571400444954634, 0.6230467557907104, -0.3242718279361725, 3.709943741103672e-10, -0.24051427841186523, -0.8805714249610901, 0.5299948453903198, -0.24051427841186523, -2.9792726508048872e-08, -1.3938196152807336e-09, 3.5788826124871775e-08, 8.848283528095635e-08, -9.724623190043857e-11, 3.4901670442621935e-10, -9.28516378367883e-12, 1.2323198017583081e-11], "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": [-1.8792401552200317, -1.8250598907470703, 1.5700000524520874, 0.06019417941570282, -1.5700000524520874, -2.2259480953216553, 1.0337180417208103e-10, 1.623583436012268, -1.5700000524520874, 0.3470093309879303, 1.5700000524520874, -1.7154467105865479, -3.378299584522182e-10, -1.5700000524520874, 0.8736297488212585, -1.3721864223480225, 0.16701430082321167, 1.1239556074142456, 0.0, -1.6053998470306396, 0.0, 0.0, -1.3070141413606962e-08, 1.6590508966629613e-09, 4.444943968451298e-08, 7.120088696410676e-08, -0.3294921815395355, -0.0006571400444954634, 0.6230467557907104, -0.3242718279361725, 0.0, 3.709943741103672e-10, 0.0, 0.0, -0.24051427841186523, -0.8805714249610901, 0.5299948453903198, -0.24051427841186523, -2.9792726508048872e-08, -1.3938196152807336e-09, 3.5788826124871775e-08, 8.848283528095635e-08, -9.724623190043857e-11, 3.4901670442621935e-10, -9.28516378367883e-12, 1.2323198017583081e-11], "shielded_full_target": [-1.8792401552200317, -1.8250598907470703, 1.5700000524520874, 0.06019417941570282, -1.5700000524520874, -2.2259480953216553, 1.0337180417208103e-10, 1.623583436012268, -1.5700000524520874, 0.3470093309879303, 1.5700000524520874, -1.7154467105865479, -3.378299584522182e-10, -1.5700000524520874, 0.8736297488212585, -1.3721864223480225, 0.16701430082321167, 1.1239556074142456, 0.0, -1.6053998470306396, 0.0, 0.0, -1.3070141413606962e-08, 1.6590508966629613e-09, 4.444943968451298e-08, 7.120088696410676e-08, -0.3294921815395355, -0.0006571400444954634, 0.6230467557907104, -0.3242718279361725, 0.0, 3.709943741103672e-10, 0.0, 0.0, -0.24051427841186523, -0.8805714249610901, 0.5299948453903198, -0.24051427841186523, -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": 243, "joint_limit_hard_episode_events": 20, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 110, "max_joint_limit_excess_rad": 0.4967005252838135, "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": 243, "joint_limit_active_step_rate": 0.0989413680781759, "finger_joint_limit_saturation_steps": 110, "finger_joint_limit_saturation_step_rate": 0.04478827361563518, "max_joint_limit_excess_rad": 0.4967005252838135, "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": 230, "pour_cleaner": 1264, "close_lid": 2426}, "violation_counts": {}, "policy_query_count": 26, "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_1x_icl/per_task_eval/51_toilet_lid_cleaner_pour/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/51_toilet_lid_cleaner_pour/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..f94245fbf7e434b149447b0c79b0b60b60649642 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/51_toilet_lid_cleaner_pour/Full/summary.json @@ -0,0 +1,251 @@ +{ + "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": 10, + "successes": 6, + "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": 0.6, + "success_rate_ci": { + "mean": 0.6, + "ci_low": 0.3, + "ci_high": 0.9 + } + }, + "progress": { + "latched_stage_completion_rate": 0.8333333333333334 + }, + "efficiency": { + "avg_time_to_success_s": 37.361111111110276 + }, + "safety": { + "safe_success_rate": 0.4, + "hard_violation_rate": 0.3, + "drop_rate": 0.2, + "high_speed_violation_rate": 0.2, + "safety_violation_step_rate": 0.00017086715079026057 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.7, + "at_end_success_rate": 0.7, + "task_family_success_rate": { + "articulation_multi": 0.6 + } + }, + "progress": { + "current_stage_completion_rate": 0.5, + "current_chain_depth_progress_score": 0.7666666666666666, + "latched_chain_depth_progress_score": 0.8333333333333334, + "avg_current_chain_depth": 2.3, + "avg_latched_chain_depth": 2.5 + }, + "efficiency": { + "task_efficiency": 0.9439523668688949, + "expert_time_s": 34.1, + "expert_time_step": 2046, + "avg_steps_to_success": 2241.6666666666665, + "avg_policy_steps_to_success": 747.6666666666666, + "avg_policy_queries_to_success": 25.666666666666668 + }, + "safety": { + "safety_violation_events_per_step": 0.00017086715079026057, + "violation_counts": { + "drop_to_table_obj_021_bleach_cleanser_2": 2, + "high_speed_obj_021_bleach_cleanser_2": 2 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.18752669799231098, + "finger_joint_limit_saturation_step_rate": 0.11828278513455788, + "max_joint_limit_excess_rad": 2.1122384071350098, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "joint7": 174, + "leap_l_1": 142, + "leap_l_10": 1303, + "leap_l_11": 27, + "leap_l_12": 226, + "leap_l_13": 102, + "leap_l_14": 24, + "leap_l_15": 1, + "leap_l_2": 948, + "leap_l_5": 28, + "leap_l_6": 80, + "leap_l_9": 72, + "multi_leap_r_1": 3, + "multi_leap_r_10": 35, + "multi_leap_r_11": 43, + "multi_leap_r_2": 7, + "multi_leap_r_5": 1341, + "multi_leap_r_6": 124, + "multi_leap_r_9": 2083 + }, + "joint_limit_hard_counts": { + "joint7": 3, + "leap_l_1": 6, + "leap_l_10": 146, + "leap_l_11": 32, + "leap_l_12": 48, + "leap_l_13": 9, + "leap_l_14": 1, + "leap_l_15": 2, + "leap_l_2": 179, + "leap_l_3": 1, + "leap_l_5": 1, + "leap_l_6": 3, + "leap_l_9": 1, + "multi_leap_r_1": 3, + "multi_leap_r_10": 5, + "multi_leap_r_11": 1, + "multi_leap_r_2": 5, + "multi_leap_r_5": 2, + "multi_leap_r_6": 2, + "multi_leap_r_9": 19 + }, + "joint_limit_hard_episode_events": 277, + "finger_joint_limit_saturation_counts": { + "leap_l_1": 45, + "leap_l_10": 457, + "leap_l_12": 129, + "leap_l_13": 52, + "leap_l_14": 19, + "leap_l_2": 376, + "leap_l_6": 45, + "leap_l_9": 23, + "multi_leap_r_11": 29, + "multi_leap_r_5": 1279, + "multi_leap_r_6": 108, + "multi_leap_r_9": 1874 + }, + "joint_limit_max_excess_by_joint": { + "joint7": 0.5528488159179688, + "leap_l_1": 0.3120039701461792, + "leap_l_10": 2.1122384071350098, + "leap_l_11": 0.21100544929504395, + "leap_l_12": 0.7742586135864258, + "leap_l_13": 0.5815486907958984, + "leap_l_14": 0.5133529901504517, + "leap_l_15": 0.032002806663513184, + "leap_l_2": 1.4947503805160522, + "leap_l_3": 0.0061879754066467285, + "leap_l_5": 0.10505503416061401, + "leap_l_6": 0.37968534231185913, + "leap_l_9": 0.2436368465423584, + "multi_leap_r_1": 0.015098214149475098, + "multi_leap_r_10": 0.2028316855430603, + "multi_leap_r_11": 0.3777793049812317, + "multi_leap_r_2": 0.07765775918960571, + "multi_leap_r_3": 0.003427267074584961, + "multi_leap_r_5": 1.4568877220153809, + "multi_leap_r_6": 1.092919945716858, + "multi_leap_r_9": 1.5552098751068115 + }, + "coverage": { + "hard_limit_source": { + "available": 10, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 10, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 10 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 10 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 10, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 10, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 28.7850080674395, + "joint_effort_rms": 70.2196282205132, + "joint_jerk_rms": 2909.0275627193028, + "joint_velocity_rms": 0.8121275827835532 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8292787128415665, + "mean_kinematic_grasp_stability": 0.47345078266978513, + "per_object_best_kinematic_grasp_stability": { + "obj_021_bleach_cleanser_2": 0.8292787128415665 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7595510349149899, + "mean_duration_score": 0.46520827010389804, + "mean_hold_score": 0.3410071222080645, + "mean_kinematic_stability_score": 0.15772402105129632, + "mean_legacy_gsi": 0.4430089669697321, + "mean_lift_score": 0.41464080583433066, + "mean_motion_stability_score": 0.3092388872798334 + } + }, + "tool": { + "tool_selection_accuracy": 0.9, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 26, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2341, + "error_count": 1 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_1x_icl/per_task_eval/60_breadbasket_fast_food_loading/Full/per_episode.jsonl b/gpt6_astra_1x_icl/per_task_eval/60_breadbasket_fast_food_loading/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04e11fc3681c851713c2014be3cae37a998bacd6 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/60_breadbasket_fast_food_loading/Full/per_episode.jsonl @@ -0,0 +1,10 @@ +{"scene": "scenes/60_breadbasket_fast_food_loading.yaml", "episode_index": 5, "seed": 206000004, "success": false, "steps": 2985, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206000004, "base_seed": 206000000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": 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"joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 324, "joint_limit_active_step_rate": 0.10854271356783919, "finger_joint_limit_saturation_steps": 171, "finger_joint_limit_saturation_step_rate": 0.05728643216080402, "max_joint_limit_excess_rad": 1.0306810140609741, "max_joint_limit_excess_joint": "right_pinky_mcp_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}, "policy_query_count": 29, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2985, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/60_breadbasket_fast_food_loading/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/60_breadbasket_fast_food_loading/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1f3c26425fe064af7dd3590c810e48dda79da130 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/60_breadbasket_fast_food_loading/Full/summary.json @@ -0,0 +1,314 @@ +{ + "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": 10, + "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": 2985, + "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": 0.8, + "drop_rate": 0.8, + "high_speed_violation_rate": 0.3, + "safety_violation_step_rate": 0.03296482412060302 + }, + "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": 0.0008040201005025126, + "violation_counts": { + "drop_obj_163_baguette_5": 2, + "drop_obj_182_bread_4": 1, + "drop_to_table_obj_128_hamburg_3": 2, + "drop_to_table_obj_163_baguette_5": 5, + "drop_to_table_obj_182_bread_4": 7, + "high_speed_distractor_01_clutter_006_mustard_bottle": 1, + "high_speed_distractor_01_clutter_019_pitcher_base": 1, + "high_speed_obj_163_baguette_5": 2, + "high_speed_obj_182_bread_4": 1, + "high_speed_obj_183_breadbasket_1": 2 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.17688442211055277, + "finger_joint_limit_saturation_step_rate": 0.12254606365159129, + "max_joint_limit_excess_rad": 3.084315538406372, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_dip_joint": 12, + "left_index_mcp_joint": 32, + "left_index_pip_joint": 24, + "left_index_pitch_joint": 26, + "left_middle_dip_joint": 8, + "left_middle_mcp_joint": 9, + "left_middle_pip_joint": 41, + "left_middle_pitch_joint": 2, + "left_pinky_mcp_joint": 89, + "left_pinky_pip_joint": 30, + "left_ring_dip_joint": 3, + "left_ring_mcp_joint": 1, + "left_ring_pip_joint": 78, + "left_thumb_mcp_joint": 174, + "left_thumb_pip_joint": 5, + "right_index_dip_joint": 13, + "right_index_mcp_joint": 20, + "right_index_pip_joint": 210, + "right_index_pitch_joint": 1316, + "right_middle_dip_joint": 58, + "right_middle_mcp_joint": 4, + "right_middle_pip_joint": 701, + "right_middle_pitch_joint": 974, + "right_pinky_dip_joint": 8, + "right_pinky_mcp_joint": 2924, + "right_pinky_pip_joint": 511, + "right_ring_dip_joint": 165, + "right_ring_mcp_joint": 1679, + "right_ring_pip_joint": 1189, + "right_thumb_dip_joint": 130, + "right_thumb_mcp_joint": 794, + "right_thumb_pip_joint": 98 + }, + "joint_limit_hard_counts": { + "left_index_dip_joint": 1, + "left_index_mcp_joint": 1, + "left_index_pip_joint": 5, + "left_index_pitch_joint": 3, + "left_middle_dip_joint": 2, + "left_middle_mcp_joint": 1, + "left_middle_pip_joint": 2, + "left_middle_pitch_joint": 1, + "left_pinky_mcp_joint": 5, + "left_pinky_pip_joint": 3, + "left_ring_dip_joint": 2, + "left_ring_mcp_joint": 1, + "left_ring_pip_joint": 6, + "left_thumb_mcp_joint": 11, + "left_thumb_pip_joint": 1, + "right_index_dip_joint": 1, + "right_index_mcp_joint": 2, + "right_index_pip_joint": 58, + "right_index_pitch_joint": 30, + "right_middle_dip_joint": 8, + "right_middle_mcp_joint": 1, + "right_middle_pip_joint": 58, + "right_middle_pitch_joint": 35, + "right_pinky_dip_joint": 4, + "right_pinky_mcp_joint": 50, + "right_pinky_pip_joint": 40, + "right_ring_dip_joint": 6, + "right_ring_mcp_joint": 36, + "right_ring_pip_joint": 151, + "right_thumb_dip_joint": 5, + "right_thumb_mcp_joint": 24, + "right_thumb_pip_joint": 3, + "right_thumb_yaw_joint": 2 + }, + "joint_limit_hard_episode_events": 170, + "finger_joint_limit_saturation_counts": { + "left_index_dip_joint": 3, + "left_index_mcp_joint": 27, + "left_index_pip_joint": 15, + "left_index_pitch_joint": 2, + "left_middle_pip_joint": 31, + "left_pinky_mcp_joint": 50, + "left_pinky_pip_joint": 5, + "left_ring_pip_joint": 37, + "left_thumb_mcp_joint": 68, + "right_index_dip_joint": 7, + "right_index_pip_joint": 80, + "right_index_pitch_joint": 909, + "right_middle_dip_joint": 31, + "right_middle_pip_joint": 314, + "right_middle_pitch_joint": 631, + "right_pinky_mcp_joint": 2226, + "right_pinky_pip_joint": 284, + "right_ring_dip_joint": 120, + "right_ring_mcp_joint": 1252, + "right_ring_pip_joint": 453, + "right_thumb_dip_joint": 105, + "right_thumb_mcp_joint": 476, + "right_thumb_pip_joint": 73 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 0.3007436990737915, + "left_index_mcp_joint": 1.2541817426681519, + "left_index_pip_joint": 0.5510872006416321, + "left_index_pitch_joint": 0.14136695861816406, + "left_middle_dip_joint": 0.061401475220918655, + "left_middle_mcp_joint": 0.1364496946334839, + "left_middle_pip_joint": 0.9280629754066467, + "left_middle_pitch_joint": 0.01650257222354412, + "left_pinky_dip_joint": 1.1730775440810248e-05, + "left_pinky_mcp_joint": 0.43559882044792175, + "left_pinky_pip_joint": 0.43403732776641846, + 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{"panda_joint1": 1}, "joint_limit_max_excess_by_joint": {"left_index_mcp": 0.0004630088806152344, "left_middle_mcp": 0.0018461942672729492, "left_ring_mcp": 0.004880070686340332, "left_thumb_abd": 0.00207792641595006, "left_thumb_mcp": 0.00424647331237793, "panda_joint1": 0.03150486946105957, "right_middle_mcp": 0.0004144906997680664, "right_ring_mcp": 0.0005376338958740234, "right_thumb_abd": 0.0017723657656461, "right_thumb_mcp": 0.002502143383026123, "right_thumb_pip": 0.004409193992614746}, "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": 2968, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, 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1.1966384649276733, 6.142992973327637, 5.5255937576293945, -2.8283815383911133, -1.165762186050415, -0.8489289283752441, 0.664387047290802, 0.0, 0.0, 0.0, 0.0, -0.31940728425979614, 0.0, 0.0, 0.0, 0.0, -0.8550852537155151, 1.551986813545227, 1.5854969024658203, 0.47752970457077026, 1.5766350030899048, 0.0, -0.13464608788490295, 0.1388876736164093, -0.04048629105091095, 0.06434759497642517, 0.0, -0.23947595059871674, 0.4636772572994232, -0.17473988234996796, 0.06971898674964905, 1.2300000190734863, -0.2895675301551819, -0.26812708377838135, -0.07175569981336594, -0.2738229036331177, 0.9504529237747192, 0.7616990208625793, -0.1550024449825287]}, "joint_limit_active_steps": 12, "joint_limit_hard_episode_events": 1, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.03150486946105957, "max_joint_limit_excess_joint": "panda_joint1", "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": 12, "joint_limit_active_step_rate": 0.0039695666556400925, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.03150486946105957, "max_joint_limit_excess_joint": "panda_joint1", "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": 1757, "place_2": 2464, "place_3": 2993}, "violation_counts": {"drop_to_table_obj_186_pillbottle_2": 1}, "policy_query_count": 36, "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_1x_icl/per_task_eval/61_medicine_shoebox_pack/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/61_medicine_shoebox_pack/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..d291b0cdc991e6761afcd65ff9226c14131799ea --- /dev/null +++ b/gpt6_astra_1x_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": 10, + "successes": 8, + "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": 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": 0.8, + "success_rate_ci": { + "mean": 0.8, + "ci_low": 0.5, + "ci_high": 1.0 + } + }, + "progress": { + "latched_stage_completion_rate": 0.8333333333333334 + }, + "efficiency": { + "avg_time_to_success_s": 47.587499999998585 + }, + "safety": { + 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"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": {"leap_l_10": 22, "leap_l_12": 1, "leap_l_2": 41, "leap_l_6": 8, "multi_leap_r_2": 278}, "joint_limit_hard_counts": {"leap_l_10": 9, "leap_l_12": 1, "leap_l_2": 11, "leap_l_5": 1, "leap_l_6": 1, "multi_leap_r_2": 3}, "finger_joint_limit_saturation_counts": {"multi_leap_r_2": 254}, "joint_limit_max_excess_by_joint": {"leap_l_10": 0.11133188009262085, "leap_l_11": 0.0002537667751312256, "leap_l_12": 0.030606746673583984, "leap_l_13": 0.0044934749603271484, "leap_l_15": 0.00012683868408203125, "leap_l_2": 0.14363157749176025, "leap_l_3": 8.70823860168457e-05, "leap_l_5": 0.006676167249679565, "leap_l_6": 0.15740829706192017, "multi_leap_r_2": 0.5904451608657837, "multi_leap_r_3": 6.097555160522461e-05, "multi_leap_r_5": 0.0024030208587646484, "multi_leap_r_9": 0.0018330812454223633}, "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": 348, "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": -0.5131925940513611, "hard_excess_rad": 0.007192671298980713, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.5031525492668152, "shielded_target": -0.5031525492668152}], "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, 1.921886682510376, 1.3567105772160915e-10, -0.8535438179969788, -1.5700000524520874, 0.07663466036319733, 1.5700000524520874, -1.6725066900253296, -6.398155338871447e-10, 2.4566283226013184, -1.5700000524520874, 0.7219839692115784, -1.944886565208435, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 5.533952740499615e-10, 1.5008535385131836, 1.7626603841781616, 0.1737096607685089, 0.6752989292144775, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, -0.0037769097834825516, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.5031525492668152, 1.1276235580444336, 0.043406419456005096, 0.5627087950706482, -0.36456331610679626, -0.0006526474026031792, 0.0013327370397746563, 0.3691335916519165], "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, 1.921886682510376, 1.3567105772160915e-10, -0.8535438179969788, -1.5700000524520874, 0.07663466036319733, 1.5700000524520874, -1.6725066900253296, -6.398155338871447e-10, 2.4566283226013184, -1.5700000524520874, 0.7219839692115784, -1.944886565208435, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 0.0, 5.533952740499615e-10, 0.0, 0.0, 1.5008535385131836, 1.7626603841781616, 0.1737096607685089, 0.6752989292144775, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, 0.0, -0.0037769097834825516, 0.0, 0.0, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.5031525492668152, 1.1276235580444336, 0.043406419456005096, 0.5627087950706482, -0.36456331610679626, -0.0006526474026031792, 0.0013327370397746563, 0.3691335916519165], "shielded_full_target": [-1.5700000524520874, -1.5700000524520874, 1.921886682510376, 1.3567105772160915e-10, -0.8535438179969788, -1.5700000524520874, 0.07663466036319733, 1.5700000524520874, -1.6725066900253296, -6.398155338871447e-10, 2.4566283226013184, -1.5700000524520874, 0.7219839692115784, -1.944886565208435, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 0.0, 5.533952740499615e-10, 0.0, 0.0, 1.5008535385131836, 1.7626603841781616, 0.1737096607685089, 0.6752989292144775, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, 0.0, -0.0037769097834825516, 0.0, 0.0, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.5031525492668152, 1.1276235580444336, 0.043406419456005096, 0.5627087950706482, -0.36456331610679626, -0.0006526474026031792, 0.0013327370397746563, 0.3691335916519165]}, "joint_limit_active_steps": 343, "joint_limit_hard_episode_events": 24, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 254, "max_joint_limit_excess_rad": 0.5904451608657837, "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": 343, "joint_limit_active_step_rate": 0.10615908387496131, "finger_joint_limit_saturation_steps": 254, "finger_joint_limit_saturation_step_rate": 0.07861343237387805, "max_joint_limit_excess_rad": 0.5904451608657837, "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": 716, "place_2": null, "place_3": null}, "violation_counts": {"drop_to_table_obj_153_shoe_2": 1}, "policy_query_count": 22, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3231, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/62_shoebox_accessory_pack/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/62_shoebox_accessory_pack/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..bf2223a973e260ffd44d7d212d37473ef34097cc --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/62_shoebox_accessory_pack/Full/summary.json @@ -0,0 +1,237 @@ +{ + "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": 10, + "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": 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": 0.1, + "success_rate_ci": { + "mean": 0.1, + "ci_low": 0.0, + "ci_high": 0.3 + } + }, + "progress": { + "latched_stage_completion_rate": 0.5 + }, + "efficiency": { + "avg_time_to_success_s": 50.233333333331764 + }, + "safety": { + "safe_success_rate": 0.1, + "hard_violation_rate": 0.6, + "drop_rate": 0.6, + "high_speed_violation_rate": 0.2, + "safety_violation_step_rate": 0.0008907657286133747 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.1, + "at_end_success_rate": 0.1, + "task_family_success_rate": { + "rigid_pick_place": 0.1 + } + }, + "progress": { + "current_stage_completion_rate": 0.36666666666666664, + "current_chain_depth_progress_score": 0.36666666666666664, + 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"mean_motion_stability_score": 0.21739849288339758, "mean_duration_score": 0.28005847953215895, "mean_anti_slip_score": 0.7212197159565534}, "robot_motion_metrics": {"joint_velocity_rms": 0.26195596275774685, "joint_acceleration_rms": 7.5333033463922945, "joint_jerk_rms": 733.3393726313956, "joint_effort_rms": 25.263770270689676}, "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": {"joint_10_0": 199, "multi_joint_2_0": 3, "panda_joint7": 10}, "joint_limit_hard_counts": {"joint_10_0": 2, "multi_joint_2_0": 4, "panda_joint7": 1}, "finger_joint_limit_saturation_counts": {"joint_10_0": 163}, "joint_limit_max_excess_by_joint": {"joint_10_0": 0.66518634557724, "joint_12_0": 0.003899812698364258, "joint_1_0": 0.00023233890533447266, "joint_5_0": 0.00020384788513183594, "joint_9_0": 0.0003285408020019531, "multi_joint_1_0": 1.6927719116210938e-05, "multi_joint_2_0": 0.010852783918380737, "multi_joint_9_0": 0.00016605854034423828, "panda_joint5": 0.0001430511474609375, "panda_joint7": 0.0362548828125}, "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": 246, "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": -0.17969577014446259, "hard_excess_rad": 0.005695775151252747, "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, 1.2776604890823364, -1.5700000524520874, -1.0464097261428833, 1.583168665608703e-11, 0.06132737174630165, -1.5700000524520874, -2.312087059020996, 1.5700000524520874, 2.926196336746216, 6.25, 5.11800479888916, -1.5700000524520874, -2.6473982334136963, 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, 1.2776604890823364, -1.5700000524520874, -1.0464097261428833, 1.583168665608703e-11, 0.06132737174630165, -1.5700000524520874, -2.312087059020996, 1.5700000524520874, 2.926196336746216, 6.25, 5.11800479888916, -1.5700000524520874, -2.6473982334136963, 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, 1.2776604890823364, -1.5700000524520874, -1.0464097261428833, 1.583168665608703e-11, 0.06132737174630165, -1.5700000524520874, -2.312087059020996, 1.5700000524520874, 2.926196336746216, 6.25, 5.11800479888916, -1.5700000524520874, -2.6473982334136963, 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": 204, "joint_limit_hard_episode_events": 6, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 163, "max_joint_limit_excess_rad": 0.66518634557724, "max_joint_limit_excess_joint": "joint_10_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": 204, "joint_limit_active_step_rate": 0.10225563909774436, "finger_joint_limit_saturation_steps": 163, "finger_joint_limit_saturation_step_rate": 0.08170426065162907, "max_joint_limit_excess_rad": 0.66518634557724, "max_joint_limit_excess_joint": "joint_10_0", "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": {}, "policy_query_count": 24, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1995, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/64_sports_ball_cup_sort/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/64_sports_ball_cup_sort/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..65528aaf8411307c34cb5f419f66003a5edc5257 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/64_sports_ball_cup_sort/Full/summary.json @@ -0,0 +1,226 @@ +{ + "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": 10, + "successes": 6, + "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": 0.6, + "success_rate_ci": { + "mean": 0.6, + "ci_low": 0.3, + "ci_high": 0.9 + } + }, + "progress": { + "latched_stage_completion_rate": 0.725 + }, + "efficiency": { + "avg_time_to_success_s": 32.62777777777721 + }, + "safety": { + "safe_success_rate": 0.6, + "hard_violation_rate": 0.3, + "drop_rate": 0.3, + "high_speed_violation_rate": 0.1, + "safety_violation_step_rate": 0.00035486160397445 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.7, + "at_end_success_rate": 0.6, + "task_family_success_rate": { + "rigid_pick_place": 0.6 + } + }, + "progress": { + "current_stage_completion_rate": 0.675, + "current_chain_depth_progress_score": 0.725, + "latched_chain_depth_progress_score": 0.725, + "avg_current_chain_depth": 2.9, + "avg_latched_chain_depth": 2.9 + }, + "efficiency": { + "task_efficiency": 0.6789434557829453, + "expert_time_s": 22.15, + "expert_time_step": 1329, + "avg_steps_to_success": 1957.6666666666667, + "avg_policy_steps_to_success": 652.8333333333334, + "avg_policy_queries_to_success": 30.5 + }, + "safety": { + "safety_violation_events_per_step": 0.00035486160397445, + "violation_counts": { + "drop_to_table_obj_055_baseball_4": 3, + "drop_to_table_obj_057_racquetball_5": 2, + "drop_to_table_obj_058_golf_ball_6": 1, + "high_speed_obj_055_baseball_4": 1 + }, + "robot_constraint_violation_rate": 0.9, + "finger_joint_limit_saturation_rate": 0.4, + "joint_limit_active_step_rate": 0.027324343506032647, + "finger_joint_limit_saturation_step_rate": 0.01333265740646862, + "max_joint_limit_excess_rad": 0.8996438980102539, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "joint_10_0": 265, + "multi_joint_2_0": 106, + "multi_joint_6_0": 15, + "multi_joint_7_0": 45, + "multi_joint_9_0": 87, + "multi_panda_joint5": 18, + "panda_joint7": 35 + }, + "joint_limit_hard_counts": { + "joint_10_0": 22, + "joint_12_0": 1, + "joint_9_0": 1, + "multi_joint_1_0": 1, + "multi_joint_2_0": 73, + "multi_joint_5_0": 4, + "multi_joint_6_0": 1, + "multi_joint_7_0": 2, + "multi_joint_9_0": 3, + "multi_panda_joint5": 1, + "panda_joint7": 2 + }, + "joint_limit_hard_episode_events": 108, + "finger_joint_limit_saturation_counts": { + "joint_10_0": 184, + "multi_joint_2_0": 24, + "multi_joint_7_0": 11, + "multi_joint_9_0": 44 + }, + "joint_limit_max_excess_by_joint": { + "joint_10_0": 0.66518634557724, + "joint_12_0": 0.0050629377365112305, + "joint_13_0": 3.2261013984680176e-06, + "joint_1_0": 0.00023233890533447266, + "joint_2_0": 0.0004210472106933594, + "joint_5_0": 0.00020384788513183594, + "joint_6_0": 0.0002518892288208008, + "joint_9_0": 0.006655454635620117, + "multi_joint_10_0": 0.001398324966430664, + "multi_joint_1_0": 0.007284760475158691, + "multi_joint_2_0": 0.8996438980102539, + "multi_joint_5_0": 0.006478667259216309, + "multi_joint_6_0": 0.04621243476867676, + "multi_joint_7_0": 0.24186664819717407, + "multi_joint_9_0": 0.22497618198394775, + "multi_panda_joint1": 7.200241088867188e-05, + "multi_panda_joint5": 0.06462550163269043, + "multi_panda_joint7": 0.0021522045135498047, + "panda_joint5": 0.0001461505889892578, + "panda_joint7": 0.08028483390808105 + }, + "coverage": { + "hard_limit_source": { + "available": 10, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 10, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 10 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 10 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 10, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 10, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 9.207911887023146, + "joint_effort_rms": 29.024835436637847, + "joint_jerk_rms": 927.7374989751764, + "joint_velocity_rms": 0.2729033813019237 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9867421040812419, + "mean_kinematic_grasp_stability": 0.40980121245964235, + "per_object_best_kinematic_grasp_stability": { + "obj_054_softball_3": 0.6421239324384325, + "obj_055_baseball_4": 0.9296671411791132, + "obj_057_racquetball_5": 0.8341595343153546, + "obj_058_golf_ball_6": 0.737731666754543 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8336579913254804, + "mean_duration_score": 0.31413740111441035, + "mean_hold_score": 0.24307938818638286, + "mean_kinematic_stability_score": 0.09424760398579528, + "mean_legacy_gsi": 0.3746012329278188, + "mean_lift_score": 0.3328560603057352, + "mean_motion_stability_score": 0.227613904503579 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1972.6, + "error_count": 0 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_1x_icl/per_task_eval/67_faucet_cup_water_fill/Full/per_episode.jsonl b/gpt6_astra_1x_icl/per_task_eval/67_faucet_cup_water_fill/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e31f77fecfdbcaacf54cbe42939e0694474d778 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/67_faucet_cup_water_fill/Full/per_episode.jsonl @@ -0,0 +1,10 @@ +{"scene": "scenes/67_faucet_cup_water_fill.yaml", "episode_index": 5, "seed": 206700004, "success": false, "steps": 2892, "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, 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"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, -1.5653473138809204, 1.5700000524520874, -1.5539546012878418, -1.5700000524520874, 1.5755764245986938, 5.605516051332415e-10, 0.004679249133914709, 1.5700000524520874, -1.5393345355987549, 2.5093929156838612e-09, -0.005006970372051001, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0009825743036344647, 0.0011320483172312379, 0.0050476291216909885, 1.08891899799346e-05, 0.020500030368566513, 1.6082230658298613e-08, 0.012168188579380512], "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, -1.5653473138809204, 1.5700000524520874, -1.5539546012878418, -1.5700000524520874, 1.5755764245986938, 5.605516051332415e-10, 0.004679249133914709, 1.5700000524520874, -1.5393345355987549, 2.5093929156838612e-09, -0.005006970372051001, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0009825743036344647, 0.0011320483172312379, 0.0050476291216909885, 1.08891899799346e-05, 0.020500030368566513, 0.0, 9.452961968747786e-09, 4.5882924126772195e-09, 5.451861184724294e-09, 1.6082230658298613e-08, 0.0011348733678460121, 0.0013075157767161727, 0.005830011796206236, 1.257701478607487e-05, 0.012168188579380512, 1.6082230658298613e-08, 0.012168188579380512], "shielded_full_target": [1.5700000524520874, -1.5653473138809204, 1.5700000524520874, -1.5539546012878418, -1.5700000524520874, 1.5755764245986938, 5.605516051332415e-10, 0.004679249133914709, 1.5700000524520874, -1.5393345355987549, 2.5093929156838612e-09, -0.005006970372051001, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0009825743036344647, 0.0011320483172312379, 0.0050476291216909885, 1.08891899799346e-05, 0.020500030368566513, 0.0, 9.452961968747786e-09, 4.5882924126772195e-09, 5.451861184724294e-09, 1.6082230658298613e-08, 0.0011348733678460121, 0.0013075157767161727, 0.005830011796206236, 1.257701478607487e-05, 0.012168188579380512, 1.6082230658298613e-08, 0.012168188579380512]}, "joint_limit_active_steps": 29, "joint_limit_hard_episode_events": 17, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 7, "max_joint_limit_excess_rad": 0.18549209833145142, "max_joint_limit_excess_joint": "left_pinky_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": 29, "joint_limit_active_step_rate": 0.010027662517289074, "finger_joint_limit_saturation_steps": 7, "finger_joint_limit_saturation_step_rate": 0.0024204702627939143, "max_joint_limit_excess_rad": 0.18549209833145142, "max_joint_limit_excess_joint": "left_pinky_distal_joint", "stage_completion": {"spoon_in_mug": false, "mug_under_faucet": false, "faucet_open_close": false, "mug_on_tray": false}, "current_stage_completion": {"spoon_in_mug": false, "mug_under_faucet": false, "faucet_open_close": false, "mug_on_tray": false}, "stage_first_completion_step": {"spoon_in_mug": null, "mug_under_faucet": null, "faucet_open_close": null, "mug_on_tray": null}, "violation_counts": {"drop_to_table_obj_031_spoon_1": 1}, "policy_query_count": 30, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2892, "dwell_time_s": 3.0} diff --git a/gpt6_astra_1x_icl/per_task_eval/67_faucet_cup_water_fill/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/67_faucet_cup_water_fill/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..460ac02009a7e692a97b13eef946c612179c577b --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/67_faucet_cup_water_fill/Full/summary.json @@ -0,0 +1,255 @@ +{ + "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": 10, + "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": 0.1, + "success_rate_ci": { + "mean": 0.1, + "ci_low": 0.0, + "ci_high": 0.3 + } + }, + "progress": { + "latched_stage_completion_rate": 0.4 + }, + "efficiency": { + "avg_time_to_success_s": 42.46666666666554 + }, + "safety": { + "safe_success_rate": 0.1, + "hard_violation_rate": 0.7, + "drop_rate": 0.7, + "high_speed_violation_rate": 0.0, + "safety_violation_step_rate": 0.00024496080627099665 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.1, + "at_end_success_rate": 0.1, + "task_family_success_rate": { + "articulation_multi": 0.1 + } + }, + "progress": { + "current_stage_completion_rate": 0.15, + "current_chain_depth_progress_score": 0.25, + "latched_chain_depth_progress_score": 0.4, + "avg_current_chain_depth": 1, + "avg_latched_chain_depth": 1.6 + }, + "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": 0.00024496080627099665, + "violation_counts": { + "drop_to_table_obj_031_spoon_1": 7 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.6, + "joint_limit_active_step_rate": 0.021871500559910415, + "finger_joint_limit_saturation_step_rate": 0.00566909294512878, + "max_joint_limit_excess_rad": 1.2255189418792725, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "l_joint4": 69, + "left_index_proximal_joint": 101, + "left_middle_distal_joint": 34, + "left_middle_proximal_joint": 62, + "left_pinky_distal_joint": 38, + "left_pinky_proximal_joint": 10, + "left_ring_distal_joint": 11, + "left_ring_proximal_joint": 141, + "left_thumb_distal_joint": 57, + "left_thumb_metacarpal_joint": 11, + "left_thumb_proximal_joint": 32, + "right_index_proximal_joint": 9, + "right_middle_distal_joint": 45, + "right_middle_proximal_joint": 73, + "right_pinky_proximal_joint": 108, + "right_ring_distal_joint": 12, + "right_ring_proximal_joint": 68, + "right_thumb_metacarpal_joint": 93, + "right_thumb_proximal_joint": 72 + }, + "joint_limit_hard_counts": { + "l_joint4": 1, + "left_index_proximal_joint": 31, + "left_middle_distal_joint": 4, + "left_middle_proximal_joint": 32, + "left_pinky_distal_joint": 3, + "left_pinky_proximal_joint": 23, + "left_ring_distal_joint": 8, + "left_ring_proximal_joint": 29, + "left_thumb_distal_joint": 6, + "left_thumb_metacarpal_joint": 3, + "left_thumb_proximal_joint": 6, + "right_index_proximal_joint": 11, + "right_middle_distal_joint": 1, + "right_middle_proximal_joint": 10, + "right_pinky_distal_joint": 2, + "right_pinky_proximal_joint": 26, + "right_ring_distal_joint": 2, + "right_ring_proximal_joint": 12, + "right_thumb_distal_joint": 6, + "right_thumb_metacarpal_joint": 2, + "right_thumb_proximal_joint": 2 + }, + "joint_limit_hard_episode_events": 116, + "finger_joint_limit_saturation_counts": { + "left_index_proximal_joint": 21, + "left_middle_proximal_joint": 8, + "left_pinky_distal_joint": 7, + "left_ring_proximal_joint": 1, + "left_thumb_distal_joint": 43, + "left_thumb_proximal_joint": 11, + "right_middle_distal_joint": 37, + "right_middle_proximal_joint": 60, + "right_pinky_proximal_joint": 58, + "right_ring_proximal_joint": 62, + "right_thumb_metacarpal_joint": 73, + "right_thumb_proximal_joint": 66 + }, + "joint_limit_max_excess_by_joint": { + "joint3": 0.0006670951843261719, + "l_joint4": 0.6398665904998779, + "left_index_distal_joint": 7.247085598294234e-09, + "left_index_proximal_joint": 0.21345362067222595, + "left_middle_distal_joint": 0.0739472284913063, + "left_middle_proximal_joint": 0.49430060386657715, + "left_pinky_distal_joint": 0.18549209833145142, + "left_pinky_proximal_joint": 0.052287131547927856, + "left_ring_distal_joint": 0.08776852488517761, + "left_ring_proximal_joint": 0.27737730741500854, + "left_thumb_distal_joint": 0.5415257215499878, + "left_thumb_metacarpal_joint": 0.14287704229354858, + "left_thumb_proximal_joint": 0.19011513888835907, + "right_index_distal_joint": 3.43435807570458e-10, + "right_index_proximal_joint": 0.044638969004154205, + "right_middle_distal_joint": 0.5703709125518799, + "right_middle_proximal_joint": 1.2255189418792725, + "right_pinky_distal_joint": 0.006779804825782776, + "right_pinky_proximal_joint": 0.4822751581668854, + "right_ring_distal_joint": 0.07349101454019547, + "right_ring_proximal_joint": 0.729503333568573, + "right_thumb_distal_joint": 0.006306767463684082, + "right_thumb_metacarpal_joint": 1.004553198814392, + "right_thumb_proximal_joint": 0.3518408536911011 + }, + "coverage": { + "hard_limit_source": { + "available": 10, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 10, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 10 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 10 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 10, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 10, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 17.557697685911634, + "joint_effort_rms": 34.88281651243846, + "joint_jerk_rms": 1792.867224072184, + "joint_velocity_rms": 0.42139582796471897 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.7970236393824165, + "mean_kinematic_grasp_stability": 0.2994397114519785, + "per_object_best_kinematic_grasp_stability": { + "obj_025_mug_1": 0.5855821488893681, + "obj_031_spoon_1": 0.7227022694059623 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8081044589343345, + "mean_duration_score": 0.38472007081372744, + "mean_hold_score": 0.2551040411376831, + "mean_kinematic_stability_score": 0.1264663544545423, + "mean_legacy_gsi": 0.39177606879777344, + "mean_lift_score": 0.37053483219013744, + "mean_motion_stability_score": 0.23423136351870943 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2857.6, + "error_count": 0 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_1x_icl/per_task_eval/73_jigsaw_puzzle_assembly/Full/per_episode.jsonl b/gpt6_astra_1x_icl/per_task_eval/73_jigsaw_puzzle_assembly/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..36dab832242c2de5966fd97dbfad70ccade98abb --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/73_jigsaw_puzzle_assembly/Full/per_episode.jsonl @@ -0,0 +1,10 @@ +{"scene": "scenes/73_jigsaw_puzzle_assembly.yaml", "episode_index": 5, "seed": 207300004, "success": false, "steps": 3639, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207300004, "base_seed": 207300000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 0.0, "base_yaw_deg": 0.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 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1.2000000476837158, 0.8630187511444092, 0.0, 0.0, 2.7187993176247538e-11, 0.0, 1.0976708431087445e-10, -0.07423526793718338, -0.10942921042442322, 1.2000000476837158, -0.17857646942138672, 0.030153583735227585, 1.2484119293887375e-10, 3.5834519379607244e-11, 0.0, 1.2947721887701658e-11, 0.683792769908905, 1.399999976158142, -0.2102254033088684, 1.399999976158142, 0.3195435404777527, 4.084306504115176e-11, 1.1278734196595863e-10, 0.35441717505455017, 1.0, 1.399999976158142, 1.0, 1.0, 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, 1.7306362390518188, 9.31874369336505e-13, -0.4298977553844452, -1.5700000524520874, -0.008760408498346806, -5.977571909676627e-11, -1.448188304901123, -1.4030236972217836e-09, 0.28464680910110474, -4.272712739172846e-10, -0.7837592959403992, -0.04473569244146347, 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, 1.2000000476837158, 0.0, 1.2000000476837158, 0.8630187511444092, 0.0, 0.0, 2.7187993176247538e-11, 0.0, 1.0976708431087445e-10, -0.07423526793718338, -0.10942921042442322, 1.2000000476837158, -0.17857646942138672, 0.030153583735227585, 1.2484119293887375e-10, 3.5834519379607244e-11, 0.0, 1.2947721887701658e-11, 0.0, 0.683792769908905, 1.399999976158142, -0.2102254033088684, 1.399999976158142, 0.3195435404777527, 4.084306504115176e-11, 1.1278734196595863e-10, 0.35441717505455017, 1.0, 1.399999976158142, 1.0, 0.0, 1.0, 0.5213862657546997], "shielded_full_target": [-1.5700000524520874, -1.5700000524520874, 1.7306362390518188, 9.31874369336505e-13, -0.4298977553844452, -1.5700000524520874, -0.008760408498346806, 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"joint_limit_hard_episode_events": 12, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 126, "max_joint_limit_excess_rad": 1.706547737121582, "max_joint_limit_excess_joint": "multi_right_ring_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": 365, "joint_limit_active_step_rate": 0.10030228084638637, "finger_joint_limit_saturation_steps": 126, "finger_joint_limit_saturation_step_rate": 0.03462489694971146, "max_joint_limit_excess_rad": 1.706547737121582, "max_joint_limit_excess_joint": "multi_right_ring_DIP", "stage_completion": {"assemble_piece_2": false, "assemble_piece_3": false, "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": null, "assemble_piece_3": null, "assemble_piece_4": 2856, "assemble_piece_5": null}, "violation_counts": {"drop_to_table_obj_326_piece_5": 1, "drop_to_table_obj_326_piece_2": 1, "drop_to_table_obj_326_piece_3": 1}, "policy_query_count": 42, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3639, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/73_jigsaw_puzzle_assembly/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/73_jigsaw_puzzle_assembly/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1689a1f6f8a8b4c2527dcb0e31297c590016026b --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/73_jigsaw_puzzle_assembly/Full/summary.json @@ -0,0 +1,329 @@ +{ + "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": 10, + "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": 3639, + "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": 0.2 + }, + "efficiency": { + "avg_time_to_success_s": null + }, + "safety": { + "safe_success_rate": 0.0, + "hard_violation_rate": 0.3, + "drop_rate": 0.3, + "high_speed_violation_rate": 0.0, + "safety_violation_step_rate": 0.00010992030777686178 + }, + "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": 0.025, + "current_chain_depth_progress_score": 0.1, + "latched_chain_depth_progress_score": 0.7, + "avg_current_chain_depth": 0.1, + "avg_latched_chain_depth": 0.7 + }, + "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": 0.0001374003847210772, + "violation_counts": { + "drop_to_table_obj_326_piece_2": 3, + "drop_to_table_obj_326_piece_3": 1, + "drop_to_table_obj_326_piece_5": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.9, + "joint_limit_active_step_rate": 0.05798296235229459, + "finger_joint_limit_saturation_step_rate": 0.027892278098378676, + "max_joint_limit_excess_rad": 1.9653520584106445, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_DIP": 278, + "left_index_MCP_AA": 24, + "left_index_MCP_FE": 147, + "left_index_PIP": 126, + "left_middle_DIP": 13, + "left_middle_MCP_AA": 17, + "left_middle_MCP_FE": 122, + "left_middle_PIP": 54, + "left_pinky_CMC": 67, + "left_pinky_DIP": 13, + "left_pinky_MCP_FE": 103, + "left_pinky_PIP": 21, + "left_ring_DIP": 2, + "left_ring_MCP_AA": 20, + "left_ring_MCP_FE": 55, + "left_ring_PIP": 55, + "left_thumb_IP": 116, + "left_thumb_MCP_AA": 2, + "multi_A7": 172, + "multi_right_index_DIP": 275, + "multi_right_index_MCP_AA": 86, + "multi_right_index_MCP_FE": 225, + "multi_right_index_PIP": 98, + "multi_right_middle_DIP": 119, + "multi_right_middle_MCP_FE": 194, + "multi_right_middle_PIP": 181, + "multi_right_pinky_CMC": 296, + "multi_right_pinky_DIP": 21, + "multi_right_pinky_MCP_FE": 187, + "multi_right_pinky_PIP": 104, + "multi_right_ring_DIP": 189, + "multi_right_ring_MCP_FE": 268, + "multi_right_ring_PIP": 231, + "multi_right_thumb_CMC_AA": 36, + "multi_right_thumb_IP": 42, + "multi_right_thumb_MCP_AA": 25, + "multi_right_thumb_MCP_FE": 33 + }, + "joint_limit_hard_counts": { + "left_index_DIP": 15, + "left_index_MCP_AA": 2, + "left_index_MCP_FE": 10, + "left_index_PIP": 5, + "left_middle_DIP": 3, + "left_middle_MCP_AA": 1, + "left_middle_MCP_FE": 5, + "left_middle_PIP": 3, + "left_pinky_CMC": 11, + "left_pinky_DIP": 2, + "left_pinky_MCP_FE": 6, + "left_pinky_PIP": 2, + "left_ring_DIP": 2, + "left_ring_MCP_AA": 1, + "left_ring_MCP_FE": 6, + "left_ring_PIP": 2, + "left_thumb_IP": 2, + "left_thumb_MCP_AA": 1, + "multi_A7": 1, + "multi_right_index_DIP": 22, + "multi_right_index_MCP_AA": 7, + "multi_right_index_MCP_FE": 17, + "multi_right_index_PIP": 11, + "multi_right_middle_DIP": 13, + "multi_right_middle_MCP_FE": 21, + "multi_right_middle_PIP": 11, + "multi_right_pinky_CMC": 37, + "multi_right_pinky_DIP": 17, + "multi_right_pinky_MCP_FE": 15, + "multi_right_pinky_PIP": 15, + "multi_right_ring_DIP": 10, + "multi_right_ring_MCP_FE": 18, + "multi_right_ring_PIP": 13, + "multi_right_thumb_CMC_AA": 2, + "multi_right_thumb_IP": 6, + "multi_right_thumb_MCP_AA": 1, + "multi_right_thumb_MCP_FE": 3 + }, + "joint_limit_hard_episode_events": 100, + "finger_joint_limit_saturation_counts": { + "left_index_DIP": 154, + "left_index_MCP_AA": 19, + "left_index_MCP_FE": 59, + "left_index_PIP": 72, + "left_middle_MCP_AA": 11, + "left_middle_MCP_FE": 23, + "left_middle_PIP": 29, + "left_pinky_CMC": 9, + "left_pinky_MCP_FE": 19, + "left_pinky_PIP": 1, + "left_ring_MCP_AA": 16, + "left_ring_MCP_FE": 22, + "left_ring_PIP": 26, + "left_thumb_IP": 101, + "multi_right_index_DIP": 205, + "multi_right_index_MCP_AA": 61, + "multi_right_index_MCP_FE": 16, + "multi_right_index_PIP": 41, + "multi_right_middle_DIP": 83, + "multi_right_middle_MCP_FE": 78, + "multi_right_middle_PIP": 122, + "multi_right_pinky_CMC": 136, + "multi_right_pinky_MCP_FE": 17, + "multi_right_pinky_PIP": 15, + "multi_right_ring_DIP": 158, + "multi_right_ring_MCP_FE": 47, + "multi_right_ring_PIP": 165, + "multi_right_thumb_CMC_AA": 10, + "multi_right_thumb_IP": 20, + "multi_right_thumb_MCP_AA": 22, + "multi_right_thumb_MCP_FE": 7 + }, + "joint_limit_max_excess_by_joint": { + "left_index_DIP": 1.6815930604934692, + "left_index_MCP_AA": 0.5835015773773193, + "left_index_MCP_FE": 0.6076315641403198, + "left_index_PIP": 0.4581177234649658, + "left_middle_DIP": 0.2170879989862442, + "left_middle_MCP_AA": 0.44771286845207214, + "left_middle_MCP_FE": 0.577806293964386, + "left_middle_PIP": 0.6001745462417603, + "left_pinky_CMC": 0.36728325486183167, + "left_pinky_DIP": 0.12839090824127197, + "left_pinky_MCP_FE": 0.5017547011375427, + "left_pinky_PIP": 0.2654762268066406, + "left_ring_DIP": 0.047665711492300034, + "left_ring_MCP_AA": 0.5033174753189087, + "left_ring_MCP_FE": 0.4588993787765503, + "left_ring_PIP": 0.9179931879043579, + "left_thumb_CMC_AA": 0.0010698437690734863, + "left_thumb_IP": 0.7950096726417542, + "left_thumb_MCP_AA": 0.03789395093917847, + "multi_A5": 0.0002841949462890625, + "multi_A7": 0.8324110507965088, + "multi_right_index_DIP": 1.9653520584106445, + 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1.320223331451416, "max_joint_limit_excess_joint": "l_LFJ2", "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": 588, "joint_limit_active_step_rate": 0.19878296146044624, "finger_joint_limit_saturation_steps": 500, "finger_joint_limit_saturation_step_rate": 0.16903313049357674, "max_joint_limit_excess_rad": 1.320223331451416, "max_joint_limit_excess_joint": "l_LFJ2", "stage_completion": {"scoop_1": true, "scoop_2": true, "ladle_returned": false, "bowl_placed": false}, "current_stage_completion": {"scoop_1": true, "scoop_2": true, "ladle_returned": false, "bowl_placed": false}, "stage_first_completion_step": {"scoop_1": 1451, "scoop_2": 2133, "ladle_returned": null, "bowl_placed": null}, "violation_counts": {"high_speed_distractor_00_clutter_019_pitcher_base": 1, "drop_to_table_obj_330_ladle_3": 1, "drop_to_table_obj_330_bowl_2": 1}, "policy_query_count": 35, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2958, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/76_soup_serving/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/76_soup_serving/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..3bbb7448d113d51e4e3281aa71cef4b45e5ca7bd --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/76_soup_serving/Full/summary.json @@ -0,0 +1,328 @@ +{ + "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": 10, + "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": 2958, + "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": 0.425 + }, + "efficiency": { + "avg_time_to_success_s": null + }, + "safety": { + "safe_success_rate": 0.0, + "hard_violation_rate": 0.9, + "drop_rate": 0.9, + "high_speed_violation_rate": 0.2, + "safety_violation_step_rate": 0.0017917511832319134 + }, + "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": 0.375, + "current_chain_depth_progress_score": 0.5, + "latched_chain_depth_progress_score": 0.5666666666666667, + "avg_current_chain_depth": 1.5, + "avg_latched_chain_depth": 1.7 + }, + "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": 0.0006423258958755916, + "violation_counts": { + "drop_obj_330_bowl_2": 1, + "drop_to_table_obj_330_bowl_2": 8, + "drop_to_table_obj_330_ladle_3": 8, + "high_speed_distractor_00_clutter_019_pitcher_base": 1, + "high_speed_obj_330_bowl_2": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.14533468559837728, + "finger_joint_limit_saturation_step_rate": 0.10256930358350237, + "max_joint_limit_excess_rad": 1.776158094406128, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "FFJ1": 38, + "FFJ2": 111, + "FFJ3": 37, + "FFJ4": 4, + "LFJ2": 23, + "LFJ4": 58, + "LFJ5": 76, + "MFJ1": 1, + "MFJ2": 219, + "MFJ4": 87, + "RFJ2": 64, + "RFJ4": 56, + "THJ2": 3, + "THJ3": 12, + "THJ4": 229, + "THJ5": 156, + "WRJ1": 16, + "WRJ2": 43, + "l_FFJ1": 131, + "l_FFJ2": 845, + "l_FFJ3": 229, + "l_LFJ1": 9, + "l_LFJ2": 576, + "l_LFJ3": 1430, + "l_LFJ4": 82, + "l_LFJ5": 731, + "l_MFJ1": 60, + "l_MFJ2": 1575, + "l_MFJ3": 2, + "l_MFJ4": 53, + "l_RFJ1": 3, + "l_RFJ2": 1879, + "l_RFJ3": 273, + "l_RFJ4": 36, + "l_THJ4": 160, + "l_THJ5": 35, + "l_WRJ2": 1 + }, + "joint_limit_hard_counts": { + "FFJ1": 1, + "FFJ2": 16, + "FFJ3": 3, + "FFJ4": 1, + "LFJ1": 1, + "LFJ2": 7, + "LFJ3": 1, + "LFJ4": 14, + "LFJ5": 23, + "MFJ1": 7, + "MFJ2": 31, + "MFJ4": 8, + "RFJ2": 13, + "RFJ4": 6, + "THJ2": 1, + "THJ3": 1, + "THJ4": 20, + "THJ5": 20, + "WRJ1": 1, + "WRJ2": 1, + "l_FFJ1": 12, + "l_FFJ2": 23, + "l_FFJ3": 8, + "l_LFJ1": 3, + "l_LFJ2": 25, + "l_LFJ3": 30, + "l_LFJ4": 2, + "l_LFJ5": 133, + "l_MFJ1": 2, + "l_MFJ2": 13, + "l_MFJ3": 1, + "l_MFJ4": 3, + "l_RFJ1": 11, + "l_RFJ2": 24, + "l_RFJ3": 5, + "l_RFJ4": 7, + "l_THJ4": 3, + "l_THJ5": 17, + "l_WRJ2": 1 + }, + "joint_limit_hard_episode_events": 181, + "finger_joint_limit_saturation_counts": { + "FFJ1": 35, + "FFJ2": 15, + "FFJ3": 11, + "LFJ4": 1, + "LFJ5": 33, + "MFJ2": 69, + "MFJ4": 37, + "RFJ4": 21, + "THJ3": 6, + "THJ4": 146, + "THJ5": 131, + "l_FFJ1": 119, + "l_FFJ2": 598, + "l_FFJ3": 25, + "l_LFJ2": 501, + "l_LFJ3": 804, + "l_LFJ4": 67, + "l_LFJ5": 346, + "l_MFJ1": 41, + "l_MFJ2": 1351, + "l_MFJ4": 50, + "l_RFJ2": 1544, + "l_RFJ3": 145, + "l_RFJ4": 1, + "l_THJ4": 107 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 1.4879580736160278, + "FFJ2": 0.43703046441078186, + "FFJ3": 0.3517078161239624, + "FFJ4": 0.05196830630302429, + "LFJ1": 0.00720801530405879, + "LFJ2": 0.23519718647003174, + "LFJ3": 0.007392942905426025, + "LFJ4": 0.2500416338443756, + "LFJ5": 0.3535561263561249, + "MFJ1": 0.0374506413936615, + "MFJ2": 0.7520123720169067, + "MFJ4": 0.22446885704994202, + "RFJ1": 0.003974391613155603, + "RFJ2": 0.17116332054138184, + "RFJ4": 0.28328296542167664, + "THJ2": 0.09219378232955933, + "THJ3": 0.4389112591743469, + 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{ + "available": 10, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 10 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 10 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 10, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 10, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 20.435814333606697, + "joint_effort_rms": 46.37797538179373, + "joint_jerk_rms": 2096.443657576408, + "joint_velocity_rms": 0.39872399002143477 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9920605397375284, + "mean_kinematic_grasp_stability": 0.6440057063325317, + "per_object_best_kinematic_grasp_stability": { + "obj_330_bowl_2": 0.9647714908991828, + "obj_330_ladle_3": 0.9608106828040366 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7896777101645251, + "mean_duration_score": 0.7264153707459993, + "mean_hold_score": 0.4236384381338793, + "mean_kinematic_stability_score": 0.2652297121587954, + "mean_legacy_gsi": 0.5461500173370503, + "mean_lift_score": 0.5291075050709939, + "mean_motion_stability_score": 0.37767901349760563 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2958, + "error_count": 0 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_1x_icl/per_task_eval/79_bimanual_piano_melody/Full/per_episode.jsonl b/gpt6_astra_1x_icl/per_task_eval/79_bimanual_piano_melody/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d07b5745d27402f01353472362ef1cef1aa247b --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/79_bimanual_piano_melody/Full/per_episode.jsonl @@ -0,0 +1,10 @@ +{"scene": "scenes/79_bimanual_piano_melody.yaml", "episode_index": 5, "seed": 207900004, "success": true, "steps": 1720, 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"multi_pinky_q2": 0.0015375696821138263, "multi_ring_q1": 0.00012282142415642738, "multi_ring_q2": 0.0017715019639581442, "pinky_q1": 0.00011703777272487059, "pinky_q2": 0.0004928084090352058, "ring_q1": 0.00012586051889229566, "ring_q2": 0.0005366959958337247}, "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": 0.0019416501745581627, "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": 0.0019416501745581627, "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": 1730, "play_right_melody": 1734}, "violation_counts": {}, "policy_query_count": 19, "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_1x_icl/per_task_eval/79_bimanual_piano_melody/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/79_bimanual_piano_melody/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..c7a846a4a325f01f8db93bbb9c2cfc7e19797ebf --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/79_bimanual_piano_melody/Full/summary.json @@ -0,0 +1,184 @@ +{ + "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": 10, + "successes": 7, + "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": 0.7, + "success_rate_ci": { + "mean": 0.7, + "ci_low": 0.4, + "ci_high": 1.0 + } + }, + "progress": { + "latched_stage_completion_rate": 0.85 + }, + "efficiency": { + "avg_time_to_success_s": 30.754761904761438 + }, + "safety": { + "safe_success_rate": 0.7, + "hard_violation_rate": 0.0, + "drop_rate": 0.0, + "high_speed_violation_rate": 0.0, + "safety_violation_step_rate": 0.0 + }, + "robustness": {} + }, + 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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": 0.0, "mean_kinematic_grasp_stability": null, "per_object_best_kinematic_grasp_stability": {"obj_300_mouse_3": 0.0}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.2000000000000013, "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": 0.2661193030833461, "joint_acceleration_rms": 12.148701827978467, "joint_jerk_rms": 1170.8289398862091, "joint_effort_rms": 37.03377650582907}, "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": 0, "robot_constraint_diagnostics": {"joint_limit_max_excess_by_joint": {"l_f_joint2_1": 0.0002139304851880297, "l_f_joint3_1": 0.0011893195332959294, "l_f_joint5_2": 0.0001440856431145221, "l_f_joint5_3": 4.545194678939879e-05, "r_f_joint1_1": 4.5652359403902665e-07, "r_f_joint3_1": 0.002236383967101574}, "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": 0.002236383967101574, "max_joint_limit_excess_joint": "r_f_joint3_1", "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": 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": 0.002236383967101574, "max_joint_limit_excess_joint": "r_f_joint3_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": 5, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1779, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/per_task_eval/80_gaming_desk_setup/Full/summary.json b/gpt6_astra_1x_icl/per_task_eval/80_gaming_desk_setup/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..cb549cb839b75d39a13b522b1761a315ceb81d35 --- /dev/null +++ b/gpt6_astra_1x_icl/per_task_eval/80_gaming_desk_setup/Full/summary.json @@ -0,0 +1,287 @@ +{ + "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": 10, + "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": 1779, + "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": 0.1, + "drop_rate": 0.1, + "high_speed_violation_rate": 0.0, + "safety_violation_step_rate": 6.112843083318051e-05 + }, + "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": 6.112843083318051e-05, + "violation_counts": { + "drop_to_table_obj_300_mouse_3": 1 + }, + "robot_constraint_violation_rate": 0.9, + "finger_joint_limit_saturation_rate": 0.8, + "joint_limit_active_step_rate": 0.0718259062289871, + "finger_joint_limit_saturation_step_rate": 0.043890213338223606, + "max_joint_limit_excess_rad": 2.43459415435791, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "l_f_joint3_2": 4, + "l_f_joint5_1": 22, + "l_f_joint5_2": 181, + "l_f_joint5_3": 17, + "l_f_joint5_4": 1, + "r_f_joint1_1": 54, + "r_f_joint1_2": 130, + "r_f_joint1_3": 127, + "r_f_joint1_4": 115, + "r_f_joint2_1": 154, + "r_f_joint2_2": 110, + "r_f_joint2_3": 174, + "r_f_joint2_4": 81, + "r_f_joint3_1": 217, + "r_f_joint3_2": 256, + "r_f_joint3_3": 216, + "r_f_joint3_4": 16, + "r_f_joint4_1": 134, + "r_f_joint4_2": 227, + "r_f_joint4_3": 192, + "r_f_joint4_4": 17, + "r_f_joint5_1": 149, + "r_f_joint5_2": 258, + "r_f_joint5_3": 214, + "r_f_joint5_4": 26 + }, + "joint_limit_hard_counts": { + "l_f_joint3_2": 1, + "l_f_joint5_1": 2, + "l_f_joint5_2": 11, + "l_f_joint5_3": 3, + "l_f_joint5_4": 1, + "r_f_joint1_1": 2, + "r_f_joint1_2": 11, + "r_f_joint1_3": 9, + "r_f_joint1_4": 4, + "r_f_joint2_1": 9, + "r_f_joint2_2": 11, + "r_f_joint2_3": 28, + 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0.3333333333333333, "latched_chain_depth_progress_score": 0.3333333333333333, "latched_chain_depth": 1, "task_efficiency": null, "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_legacy_gsi": 0.49211865256055093, "mean_kinematic_stability_score": 0.1557031050504935, "mean_lift_score": 0.4715547340316287, "mean_hold_score": 0.4205483672211982, "mean_motion_stability_score": 0.39781187220799397, "mean_duration_score": 0.48360032860956986, "mean_anti_slip_score": 0.7523789963716379}, "robot_motion_metrics": {"joint_velocity_rms": 0.5079764567897485, "joint_acceleration_rms": 21.47234603275552, "joint_jerk_rms": 2298.5255978645446, "joint_effort_rms": 82.68765547685538}, "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": 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": 0.0008488883031532168, "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}, "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": 2411, "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": -0.00872007105499506, "hard_excess_rad": 0.00872007105499506, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.8439998626708984, "operating_lower": 0.0, "operating_upper": 1.8439998626708984, "expanded_target": 0.42340531945228577, "shielded_target": 0.42340531945228577, "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": [-1.7518296241760254, 2.5674757957458496, -1.1306523084640503, -0.7316848039627075, -0.02937067113816738, -0.6028333902359009, -2.383622884750366, -1.49278724193573, 1.9877262115478516, -0.9579580426216125, 1.4779505729675293, 1.83234441280365, -2.3698039054870605, -2.204693555831909, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6000000238418579, 0.5, 0.30000001192092896, 0.4000000059604645, -1.0, 0.0, 0.550000011920929], "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": [-1.7518296241760254, 2.5674757957458496, -1.1306523084640503, -0.7316848039627075, -0.02937067113816738, -0.6028333902359009, -2.383622884750366, -1.49278724193573, 1.9877262115478516, -0.9579580426216125, 1.4779505729675293, 1.83234441280365, -2.3698039054870605, -2.204693555831909, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6000000238418579, 0.5, 0.30000001192092896, 0.4000000059604645, -1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6351079940795898, 0.5292566418647766, 0.3175539970397949, 0.42340531945228577, 0.550000011920929], "shielded_full_target": [-1.7518296241760254, 2.5674757957458496, -1.1306523084640503, -0.7316848039627075, -0.02937067113816738, -0.6028333902359009, -2.383622884750366, -1.49278724193573, 1.9877262115478516, -0.9579580426216125, 1.4779505729675293, 1.83234441280365, -2.3698039054870605, -2.204693555831909, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6000000238418579, 0.5, 0.30000001192092896, 0.4000000059604645, -1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6351079940795898, 0.5292566418647766, 0.3175539970397949, 0.42340531945228577, 0.550000011920929]}, "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": 0.06860432028770447, "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": 0.06860432028770447, "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": 1186, "place_second_glass": null, "place_third_glass": null}, "violation_counts": {"drop_to_table_obj_194_wineglass_1": 1}, "policy_query_count": 27, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3246, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_03_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..59ce2c5a574a17631f091179675d74ded9b0e972 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_03_episode_05/summary.json @@ -0,0 +1,201 @@ +{ + "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": 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": 3246, + "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": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_03_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7473634a905ae2a68d468c3490f7c17f6fa53a02 --- /dev/null +++ b/gpt6_astra_1x_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": null, "episode_seed": 200300005, 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"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": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3246, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_03_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..7156b400edf50ee85854c9719d39218e5ffe0a8a --- /dev/null +++ b/gpt6_astra_1x_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": 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": 3246, + "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": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_03_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..292aefc311f38fc72579fcddbbaa4cf95e55eb51 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_03_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/03_wine_glass_plate_balance.yaml", "episode_index": 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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": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3246, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_03_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..3340cc3a6455ba25d536a65b3e2159efe2ef2fcf --- /dev/null +++ b/gpt6_astra_1x_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": 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": 3246, + "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": { + "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": 0.3333333333333333, + "current_chain_depth_progress_score": 0.3333333333333333, + "latched_chain_depth_progress_score": 0.6666666666666666, + "avg_current_chain_depth": 1, + "avg_latched_chain_depth": 2 + }, + "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": 0.0, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.006716546602547169, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": { + "multi_pinky_q1": 1 + }, + "joint_limit_hard_episode_events": 1, + "finger_joint_limit_saturation_counts": {}, + "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 + }, + "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": 7.361377031317559, + "joint_effort_rms": 90.48842951639176, + "joint_jerk_rms": 746.529738194646, + "joint_velocity_rms": 0.4173047759871223 + }, + "grasp": { + "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_anti_slip_score": 1.0, + "mean_duration_score": 0.3519785034572471, + "mean_hold_score": 0.29437256110084703, + "mean_kinematic_stability_score": 0.2537436781369657, + "mean_legacy_gsi": 0.44586986197804956, + "mean_lift_score": 0.3747176011501335, + "mean_motion_stability_score": 0.2804763334365556 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3246, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_03_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aba135ade5d4d05ed546aadc3cdb08d31297ff2a --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_03_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/03_wine_glass_plate_balance.yaml", "episode_index": 8, "seed": 200300007, "success": false, "steps": 3246, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200300007, "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": 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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"obj_030_fork_1": {"position": [0.15, 0.42, 0.7420622703448306], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_029_plate_1": {"position": [0.38, 0.4, 0.7445821702774983], "rpy_deg": [0.0, 0.0, 4.445738686491865]}, "obj_030_fork_2": {"position": [-0.35, 0.42, 0.7420622703448306], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_029_plate_2": {"position": [-0.12, 0.4, 0.7445821702774983], "rpy_deg": [0.0, 0.0, -2.237032789865909]}, "obj_030_fork_3": {"position": [-0.85, 0.42, 0.7420622703448306], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_029_plate_3": {"position": [-0.62, 0.4, 0.7445821702774983], "rpy_deg": [0.0, 0.0, -2.5208286553468255]}, "obj_194_wineglass_1": {"position": [0.12, 0.06, 0.7711622703602906], "rpy_deg": [90.0, 0.0, 9.924471878916112]}, "obj_194_wineglass_2": {"position": [0.0, 0.06, 0.7711622703602906], "rpy_deg": [90.0, 0.0, -4.987072447187297]}, "obj_194_wineglass_3": {"position": [-0.12, 0.06, 0.7711622703602906], "rpy_deg": [90.0, 0.0, 4.889815975877088]}}, "_generalization_profile": "inv_cov", 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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": 0.9986648867500095, "mean_kinematic_grasp_stability": 0.6266163553677307, "per_object_best_kinematic_grasp_stability": {"obj_194_wineglass_1": 0.6651590490374466, "obj_194_wineglass_2": 0.9986648867500095, "obj_194_wineglass_3": 0.9969997144009418}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.5478735691819671, "mean_kinematic_stability_score": 0.3210298826175404, "mean_lift_score": 0.5123228589032656, "mean_hold_score": 0.48020127336208723, "mean_motion_stability_score": 0.4483091227633493, "mean_duration_score": 0.5048538372013422, "mean_anti_slip_score": 0.8554117888683013}, "robot_motion_metrics": {"joint_velocity_rms": 0.4045918237394876, "joint_acceleration_rms": 8.64169028472124, "joint_jerk_rms": 877.3706684874875, "joint_effort_rms": 80.26426336741531}, "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": 1, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"multi_ring_q1": 1}, "joint_limit_hard_counts": {"multi_ring_q1": 3}, "joint_limit_max_excess_by_joint": {"index_q1": 0.0006128710811026394, "index_q2": 8.448078347988996e-10, "middle_q1": 0.00038526803837157786, "middle_q2": 0.00019551388686522841, "multi_pinky_q1": 1.204807085741777e-05, "multi_pinky_q2": 1.544473343528807e-05, "multi_ring_q1": 0.0110697066411376, "multi_ring_q2": 0.0001262451842194423, "pinky_q1": 0.0003156264137942344, "pinky_q2": 0.0002642504114191979, "ring_q1": 6.15007933468803e-10, "ring_q2": 0.0005789851420558989, "thumb_q2": 8.908949530450627e-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": 1683, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "multi_ring_q1", "role": "finger", "qpos": -0.006209410261362791, "hard_excess_rad": 0.006209410261362791, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.7399998903274536, "operating_lower": 0.0, "operating_upper": 1.7399998903274536, "expanded_target": 0.15000000596046448, "shielded_target": 0.15000000596046448}], "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, 1.7736334800720215, -1.5700000524520874, -0.12886759638786316, 7.872820617649268e-09, -1.1737511157989502, -1.5700000524520874, -0.9115368127822876, 1.5700000524520874, -0.3586004376411438, 7.685339653562551e-08, 1.4089075326919556, -1.5700000524520874, -0.5976893305778503, 0.0, 0.0, 0.0, 1.519875336697396e-09, -3.527697245431227e-08, 0.30000001192092896, 0.25, 0.10000000149011612, 0.15000000596046448, -1.100000023841858, 4.630731798016541e-09, 0.2800000011920929], "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, 1.7736334800720215, -1.5700000524520874, -0.12886759638786316, 7.872820617649268e-09, -1.1737511157989502, -1.5700000524520874, -0.9115368127822876, 1.5700000524520874, -0.3586004376411438, 7.685339653562551e-08, 1.4089075326919556, -1.5700000524520874, -0.5976893305778503, 0.0, 0.0, 0.0, 1.519875336697396e-09, -3.527697245431227e-08, 0.30000001192092896, 0.25, 0.10000000149011612, 0.15000000596046448, -1.100000023841858, 0.0, 0.0, 0.0, 1.6088081977727597e-09, 4.630731798016541e-09, 0.3175539970397949, 0.2646283209323883, 0.10585132986307144, 0.15877699851989746, 0.2800000011920929], "shielded_full_target": [-1.5700000524520874, 1.7736334800720215, -1.5700000524520874, -0.12886759638786316, 7.872820617649268e-09, -1.1737511157989502, -1.5700000524520874, -0.9115368127822876, 1.5700000524520874, -0.3586004376411438, 7.685339653562551e-08, 1.4089075326919556, -1.5700000524520874, -0.5976893305778503, 0.0, 0.0, 0.0, 1.519875336697396e-09, -3.527697245431227e-08, 0.30000001192092896, 0.25, 0.10000000149011612, 0.15000000596046448, -1.100000023841858, 0.0, 0.0, 0.0, 1.6088081977727597e-09, 4.630731798016541e-09, 0.3175539970397949, 0.2646283209323883, 0.10585132986307144, 0.15877699851989746, 0.2800000011920929]}, "joint_limit_active_steps": 1, "joint_limit_hard_episode_events": 3, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.0110697066411376, "max_joint_limit_excess_joint": "multi_ring_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": 1, "joint_limit_active_step_rate": 0.00030807147258163895, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.0110697066411376, "max_joint_limit_excess_joint": "multi_ring_q1", "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": 1188, "place_second_glass": null, "place_third_glass": null}, "violation_counts": {"drop_to_table_obj_194_wineglass_1": 1}, "policy_query_count": 26, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3246, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_03_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b08a2084eb866d3fe35d20c84791c912d5c793cf --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_03_episode_08/summary.json @@ -0,0 +1,194 @@ +{ + "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": 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": 3246, + "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": 0.00030807147258163895, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.0110697066411376, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "multi_ring_q1": 1 + }, + "joint_limit_hard_counts": { + "multi_ring_q1": 3 + }, + "joint_limit_hard_episode_events": 3, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "index_q1": 0.0006128710811026394, + "index_q2": 8.448078347988996e-10, + "middle_q1": 0.00038526803837157786, + "middle_q2": 0.00019551388686522841, + "multi_pinky_q1": 1.204807085741777e-05, + "multi_pinky_q2": 1.544473343528807e-05, + "multi_ring_q1": 0.0110697066411376, + "multi_ring_q2": 0.0001262451842194423, + "pinky_q1": 0.0003156264137942344, + "pinky_q2": 0.0002642504114191979, + "ring_q1": 6.15007933468803e-10, + "ring_q2": 0.0005789851420558989, + "thumb_q2": 8.908949530450627e-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": 8.64169028472124, + "joint_effort_rms": 80.26426336741531, + "joint_jerk_rms": 877.3706684874875, + "joint_velocity_rms": 0.4045918237394876 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9986648867500095, + "mean_kinematic_grasp_stability": 0.6266163553677307, + "per_object_best_kinematic_grasp_stability": { + "obj_194_wineglass_1": 0.6651590490374466, + "obj_194_wineglass_2": 0.9986648867500095, + "obj_194_wineglass_3": 0.9969997144009418 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8554117888683013, + "mean_duration_score": 0.5048538372013422, + "mean_hold_score": 0.48020127336208723, + "mean_kinematic_stability_score": 0.3210298826175404, + "mean_legacy_gsi": 0.5478735691819671, + "mean_lift_score": 0.5123228589032656, + "mean_motion_stability_score": 0.4483091227633493 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3246, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_03_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb7d9cac8a572866425df73740aad4960ed16316 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_03_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/03_wine_glass_plate_balance.yaml", "episode_index": 9, "seed": 200300008, "success": false, "steps": 3246, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200300008, "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, 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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": 36.06666666666666, "expert_time_step": 2164, "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": 0.0, "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": 0.9986958265690576, "mean_kinematic_grasp_stability": 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"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": false, "finger_joint_limit_saturation": false, "impact_metric_available": false, "chain_depth": 1, "robot_constraint_diagnostics": {"joint_limit_max_excess_by_joint": {"index_q1": 0.0007341309683397412, "index_q2": 2.8614797198400765e-09, "middle_q1": 0.0006292417529039085, "middle_q2": 0.00018026212637778372, "multi_index_q1": 0.0012737350771203637, "multi_index_q2": 1.739012711610144e-09, "multi_middle_q1": 0.0005936042289249599, "multi_middle_q2": 0.0003486907808110118, "multi_pinky_q1": 0.003182173939421773, "multi_pinky_q2": 0.0007353099063038826, "multi_ring_q1": 0.0015573143027722836, "multi_ring_q2": 0.0011253386037424207, "multi_thumb_q1": 0.0005444049602374434, "multi_thumb_q2": 0.00013726763427257538, "pinky_q1": 0.00028407821082510054, "pinky_q2": 0.0004404524515848607, "ring_q1": 0.001281792763620615, "ring_q2": 0.0006627053371630609, "thumb_q1": 0.0002574163954705, "thumb_q2": 0.0003285346319898963}, "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": 0.003182173939421773, "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": 0.003182173939421773, "max_joint_limit_excess_joint": "multi_pinky_q1", "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": 1091, "place_second_glass": null, "place_third_glass": null}, "violation_counts": {"drop_to_table_obj_194_wineglass_1": 1}, "policy_query_count": 32, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3246, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_03_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0132a258492cfe91224a5b3bda2f962d558f55d6 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_03_episode_09/summary.json @@ -0,0 +1,197 @@ +{ + "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": 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": 3246, + "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": 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": 0.003182173939421773, + "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": 0.0007341309683397412, + "index_q2": 2.8614797198400765e-09, + "middle_q1": 0.0006292417529039085, + "middle_q2": 0.00018026212637778372, + "multi_index_q1": 0.0012737350771203637, + "multi_index_q2": 1.739012711610144e-09, + "multi_middle_q1": 0.0005936042289249599, + "multi_middle_q2": 0.0003486907808110118, + "multi_pinky_q1": 0.003182173939421773, + "multi_pinky_q2": 0.0007353099063038826, + "multi_ring_q1": 0.0015573143027722836, + "multi_ring_q2": 0.0011253386037424207, + "multi_thumb_q1": 0.0005444049602374434, + "multi_thumb_q2": 0.00013726763427257538, + "pinky_q1": 0.00028407821082510054, + "pinky_q2": 0.0004404524515848607, + "ring_q1": 0.001281792763620615, + "ring_q2": 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0.05049429088830948, "max_joint_limit_excess_joint": "middle_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": 1096, "place_second_glass": null, "place_third_glass": null}, "violation_counts": {"drop_to_table_obj_194_wineglass_1": 1}, "policy_query_count": 34, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3246, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_03_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..30d9bc166f5a58c170c52e306072c09f28abf50b --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_03_episode_10/summary.json @@ -0,0 +1,200 @@ +{ + "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": 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": 3246, + "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": 0.008934072704867528, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.05049429088830948, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "middle_q2": 29 + }, + "joint_limit_hard_counts": { + "middle_q2": 1 + }, + "joint_limit_hard_episode_events": 1, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "index_q1": 0.0030562784522771835, + "index_q2": 8.448078347988996e-10, + "middle_q1": 0.0012579697649925947, + "middle_q2": 0.05049429088830948, + "multi_index_q1": 0.00476967403665185, + "multi_middle_q1": 0.002055603312328458, + "multi_middle_q2": 0.001359704416245222, + "multi_pinky_q1": 4.505798187892651e-06, + "multi_pinky_q2": 0.0025808096397668123, + "multi_ring_q1": 0.0002301998611073941, + "multi_ring_q2": 0.003790284041315317, + "multi_thumb_q1": 0.0004760310985147953, + "multi_thumb_q2": 7.575721247121692e-05, + "pinky_q1": 0.0002875068166758865, + "pinky_q2": 0.0018782949773594737, + "ring_q1": 0.0005006458377465606, + "ring_q2": 0.0024923672899603844, + "thumb_q1": 0.0006504592020064592, + "thumb_q2": 0.0006376263336278498 + }, + "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": 9.310287893564812, + "joint_effort_rms": 114.3178080722449, + "joint_jerk_rms": 915.305736707156, + "joint_velocity_rms": 0.5976091645870619 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9968084192909429, + "mean_kinematic_grasp_stability": 0.3743079416127904, + "per_object_best_kinematic_grasp_stability": { + "obj_194_wineglass_1": 0.55420419034288, + "obj_194_wineglass_2": 0.9968084192909429, + "obj_194_wineglass_3": 0.9965813343193707 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.737180803724257, + "mean_duration_score": 0.5003012254398614, + "mean_hold_score": 0.3344372561100917, + "mean_kinematic_stability_score": 0.10201409704665698, + "mean_legacy_gsi": 0.4395695549310774, + "mean_lift_score": 0.44352023002669955, + "mean_motion_stability_score": 0.287485115266066 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3246, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_11/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_03_episode_11/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16cbe1d018c90676ef5caf301aa4f7b6dc2b7fcf --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_03_episode_11/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/03_wine_glass_plate_balance.yaml", "episode_index": 11, "seed": 200300010, "success": false, "steps": 3246, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200300010, "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": 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_wood_wood0001_jpg", "asset_uri": "dex2bench_dataset/textures/wood/wood0001.jpg", "asset_category": "wood", "asset_id": "wood/wood0001.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1034.3937313242432, "color": [0.8043392161535357, 0.7351408600716829, 0.7987167978728227], "pitch_deg": -18.88807057238613, "yaw_deg": 42.00704311733577, "angle_deg": 0.8421659165713307}, "dome": {"intensity": 274.35559705492585, "color": [0.8641267207252812, 0.8323257051002576, 0.6756196709957506], "exposure": -0.3860481613790313}, "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": -0.042896527181711, "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": [-0.0028326304282166727, 0.004614309978100758, 0.002381228618174195], "target_offset_m": [-0.0021648094183534428, 0.001164839922549149, -0.003386400270556531], "distance_offset_m": -0.017495052123617426, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.8995316712181463, 0.31230916846951806, -0.15771187185997282], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.0002009097221764575, 0.004491644791585601, 0.0011939412456703283], "target_offset_m": [-0.0035148194716744753, 0.001227694838968103, 0.003773676813658062], "distance_offset_m": -0.02779142434139206, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.2091964041583123, 0.8534050125332515, 0.05515431263089288], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [0.0044194772259501134, 0.00011392413716627796, 0.0037811999560519076], "target_offset_m": [-0.0014555598249596535, 0.004409800789654178, -0.0039738226241907895], "distance_offset_m": -0.01393101677255389, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": 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"category": "ball", "asset_code": "054", "asset_id": "clutter_054_softball", "asset_split": "unseen", "spawn_position": [0.4810320750624706, 0.10028284607161897, 0.7074163794562167], "spawn_yaw_deg": 82.56245914189945, "obj_id": "distractor_01_clutter_054_softball"}, {"name": "clutter_028_skillet_lid", "uri": "dex2bench_dataset/Objects/028_skillet_lid/usd_decomposition_linux/textured.usd", "scale": [0.9980803566469271, 0.9980803566469271, 0.9980803566469271], "body_type": "dynamic", "category": "kitchen", "asset_code": "028", "asset_id": "clutter_028_skillet_lid", "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_130_tray_1": {"position": [0.0, 0.0, 0.7071034765595785], "rpy_deg": [90.0, 0.0, 0.0]}, "obj_030_fork_1": {"position": [0.15, 0.42, 0.708003472802829], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_029_plate_1": {"position": [0.38, 0.4, 0.7105233727354967], "rpy_deg": [0.0, 0.0, 6.3827723448298315]}, "obj_030_fork_2": {"position": [-0.35, 0.42, 0.708003472802829], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_029_plate_2": {"position": [-0.12, 0.4, 0.7105233727354967], "rpy_deg": [0.0, 0.0, -6.274912646648632]}, "obj_030_fork_3": {"position": [-0.85, 0.42, 0.708003472802829], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_029_plate_3": {"position": [-0.62, 0.4, 0.7105233727354967], "rpy_deg": [0.0, 0.0, 6.054399105306629]}, "obj_194_wineglass_1": {"position": [0.12, 0.06, 0.737103472818289], "rpy_deg": [90.0, 0.0, -5.06711394899617]}, "obj_194_wineglass_2": {"position": [0.0, 0.06, 0.737103472818289], "rpy_deg": [90.0, 0.0, 7.556619095219446]}, "obj_194_wineglass_3": {"position": [-0.12, 0.06, 0.737103472818289], "rpy_deg": [90.0, 0.0, -2.8366260517783655]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "table_setting", "robot_key": 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0.6666666666666666, "latched_chain_depth_progress_score": 0.6666666666666666, "latched_chain_depth": 2, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9993090506672363, "mean_kinematic_grasp_stability": 0.5895503670877354, "per_object_best_kinematic_grasp_stability": {"obj_194_wineglass_1": 0.9607180569183088, "obj_194_wineglass_2": 0.9993090506672363, "obj_194_wineglass_3": 0.996706496276764}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.39468997352439356, "mean_kinematic_stability_score": 0.10437305738953132, "mean_lift_score": 0.3456561922365989, "mean_hold_score": 0.2936845348120813, "mean_motion_stability_score": 0.2601878192802526, "mean_duration_score": 0.32681248716368866, "mean_anti_slip_score": 0.7897925652084617}, "robot_motion_metrics": {"joint_velocity_rms": 0.6537845684539626, "joint_acceleration_rms": 9.334135829409417, "joint_jerk_rms": 911.5313168384222, "joint_effort_rms": 102.24017295763134}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0006161429451632983, "safety_violation_rate_time": 0.0006161429451632983, "safety_violation_rate_event": 0.0006161429451632779, "safety_violation_step_rate": 0.0006161429451632779, "safety_violation_events_per_step": 0.0006161429451632779, "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": {"ring_q1": 1}, "joint_limit_max_excess_by_joint": {"index_q1": 0.0022093611769378185, "index_q2": 2.0345314322156582e-09, "middle_q1": 0.0010973174357786775, "middle_q2": 0.000666181615088135, "multi_index_q1": 0.0025535456370562315, "multi_index_q2": 2.1415027529059216e-09, "multi_middle_q1": 0.0008518825052306056, "multi_middle_q2": 0.0004282561712898314, "multi_pinky_q1": 0.0002370536094531417, "multi_pinky_q2": 0.0013508638367056847, "multi_ring_q1": 0.0011661689495667815, "multi_ring_q2": 0.0017927945591509342, "multi_thumb_q1": 9.121140465140343e-05, "multi_thumb_q2": 5.5940977290447336e-06, "pinky_q1": 0.001833398942835629, "pinky_q2": 0.0013818657025694847, "ring_q1": 0.006766872014850378, "ring_q2": 0.001868896302767098, "thumb_q1": 0.0001062220471794717, "thumb_q2": 0.0001499418867751956}, "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": 1177, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "ring_q1", "role": "finger", "qpos": -0.006766872014850378, "hard_excess_rad": 0.006766872014850378, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.7399998903274536, "operating_lower": 0.0, "operating_upper": 1.7399998903274536, "expanded_target": 3.1820288768358296e-06, "shielded_target": 3.1820288768358296e-06}], "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": [-1.5700273513793945, 1.4264029264450073, -1.5701215267181396, -0.9901608824729919, -3.691875099320896e-05, -0.06106666103005409, -1.5702872276306152, -1.8403618335723877, 1.5704550743103027, 0.7455215454101562, 0.00012432744551915675, 1.0249887704849243, -1.570611834526062, 0.02571875788271427, 2.319026862096507e-05, 1.4453864423558116e-05, 2.2550505036633695e-06, 3.1820288768358296e-06, -9.405154560226947e-05, 1.0800000429153442, 0.9599999785423279, 0.6499999761581421, 0.800000011920929, -1.1039999723434448, 9.781863496982623e-08, 1.0399999618530273], "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": [-1.5700273513793945, 1.4264029264450073, -1.5701215267181396, -0.9901608824729919, -3.691875099320896e-05, -0.06106666103005409, -1.5702872276306152, -1.8403618335723877, 1.5704550743103027, 0.7455215454101562, 0.00012432744551915675, 1.0249887704849243, -1.570611834526062, 0.02571875788271427, 2.319026862096507e-05, 1.4453864423558116e-05, 2.2550505036633695e-06, 3.1820288768358296e-06, -9.405154560226947e-05, 1.0800000429153442, 0.9599999785423279, 0.6499999761581421, 0.800000011920929, -1.1039999723434448, 2.4547207431169227e-05, 1.529960718471557e-05, 2.3870009044912877e-06, 3.3682197226880817e-06, 9.781863496982623e-08, 1.143194317817688, 1.0161726474761963, 0.6880335807800293, 0.8468106389045715, 1.0399999618530273], "shielded_full_target": [-1.5700273513793945, 1.4264029264450073, -1.5701215267181396, -0.9901608824729919, -3.691875099320896e-05, -0.06106666103005409, -1.5702872276306152, -1.8403618335723877, 1.5704550743103027, 0.7455215454101562, 0.00012432744551915675, 1.0249887704849243, -1.570611834526062, 0.02571875788271427, 2.319026862096507e-05, 1.4453864423558116e-05, 2.2550505036633695e-06, 3.1820288768358296e-06, -9.405154560226947e-05, 1.0800000429153442, 0.9599999785423279, 0.6499999761581421, 0.800000011920929, -1.1039999723434448, 2.4547207431169227e-05, 1.529960718471557e-05, 2.3870009044912877e-06, 3.3682197226880817e-06, 9.781863496982623e-08, 1.143194317817688, 1.0161726474761963, 0.6880335807800293, 0.8468106389045715, 1.0399999618530273]}, "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": 0.006766872014850378, "max_joint_limit_excess_joint": "ring_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": 0.006766872014850378, "max_joint_limit_excess_joint": "ring_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": 1073, "place_second_glass": 2553, "place_third_glass": null}, "violation_counts": {"drop_to_table_obj_194_wineglass_1": 1, "drop_to_table_obj_194_wineglass_3": 1}, "policy_query_count": 30, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3246, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_03_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..98b32e688782d6c73988277c3c6334393e266e10 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_03_episode_11/summary.json @@ -0,0 +1,200 @@ +{ + "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": 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": 3246, + "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": 0.0006161429451632779 + }, + "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": 0.3333333333333333, + "current_chain_depth_progress_score": 0.3333333333333333, + "latched_chain_depth_progress_score": 0.6666666666666666, + "avg_current_chain_depth": 1, + "avg_latched_chain_depth": 2 + }, + "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": 0.0006161429451632779, + "violation_counts": { + "drop_to_table_obj_194_wineglass_1": 1, + "drop_to_table_obj_194_wineglass_3": 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": 0.006766872014850378, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": { + "ring_q1": 1 + }, + "joint_limit_hard_episode_events": 1, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "index_q1": 0.0022093611769378185, + "index_q2": 2.0345314322156582e-09, + "middle_q1": 0.0010973174357786775, + "middle_q2": 0.000666181615088135, + "multi_index_q1": 0.0025535456370562315, + "multi_index_q2": 2.1415027529059216e-09, + "multi_middle_q1": 0.0008518825052306056, + "multi_middle_q2": 0.0004282561712898314, + "multi_pinky_q1": 0.0002370536094531417, + "multi_pinky_q2": 0.0013508638367056847, + "multi_ring_q1": 0.0011661689495667815, + "multi_ring_q2": 0.0017927945591509342, + "multi_thumb_q1": 9.121140465140343e-05, + "multi_thumb_q2": 5.5940977290447336e-06, + "pinky_q1": 0.001833398942835629, + "pinky_q2": 0.0013818657025694847, + "ring_q1": 0.006766872014850378, + "ring_q2": 0.001868896302767098, + "thumb_q1": 0.0001062220471794717, + "thumb_q2": 0.0001499418867751956 + }, + "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": 9.334135829409417, + "joint_effort_rms": 102.24017295763134, + "joint_jerk_rms": 911.5313168384222, + "joint_velocity_rms": 0.6537845684539626 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9993090506672363, + "mean_kinematic_grasp_stability": 0.5895503670877354, + "per_object_best_kinematic_grasp_stability": { + "obj_194_wineglass_1": 0.9607180569183088, + "obj_194_wineglass_2": 0.9993090506672363, + "obj_194_wineglass_3": 0.996706496276764 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7897925652084617, + "mean_duration_score": 0.32681248716368866, + "mean_hold_score": 0.2936845348120813, + "mean_kinematic_stability_score": 0.10437305738953132, + "mean_legacy_gsi": 0.39468997352439356, + "mean_lift_score": 0.3456561922365989, + "mean_motion_stability_score": 0.2601878192802526 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3246, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_03_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3253c9b1e80224e3b04d7618105c7f2a15c2a090 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_03_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/03_wine_glass_plate_balance.yaml", "episode_index": 12, "seed": 200300011, "success": false, "steps": 3246, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200300011, "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": 90.0, "base_yaw_deg": 90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan10", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan10_physics/scene.usda", "scene_offset": [-0.73022, 0.88397, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_carpet_carpet2708_jpg", "asset_uri": "dex2bench_dataset/textures/carpet/carpet2708.jpg", "asset_category": "carpet", "asset_id": "carpet/carpet2708.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1219.3295346191908, "color": [0.7712198004794306, 0.9682706790419038, 0.8208894449002228], "pitch_deg": -6.652123230435876, "yaw_deg": -31.051075142778863, "angle_deg": 0.9780601111862696}, "dome": {"intensity": 183.80960795724505, "color": [0.909223964508768, 0.9523654033381327, 0.8364805653682309], "exposure": -0.217137748453062}, "profile_name": "", "profile_split": "", "profile_pool_size": 0}}, "spatial": 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8.816014831315332]}, "obj_030_fork_3": {"position": [-0.85, 0.42, 0.7009987749887584], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_029_plate_3": {"position": [-0.62, 0.4, 0.7035186749214261], "rpy_deg": [0.0, 0.0, -8.83374253333296]}, "obj_194_wineglass_1": {"position": [0.12, 0.06, 0.7300987750042184], "rpy_deg": [90.0, 0.0, 9.720549019304642]}, "obj_194_wineglass_2": {"position": [0.0, 0.06, 0.7300987750042184], "rpy_deg": [90.0, 0.0, 1.8467156501123974]}, "obj_194_wineglass_3": {"position": [-0.12, 0.06, 0.7300987750042184], "rpy_deg": [90.0, 0.0, 3.9616283669670516]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "table_setting", "robot_key": "multi_xarm7_with_ability", "perturbation_axis": "inv+cov", "stable_success": false, "ever_instant_success": false, "at_end_success": false, "at_end_success_observed": false, "at_end_success_budget": 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": 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": 0.6666666666666666, "current_normalized_progress_score": 0.6666666666666666, "current_chain_depth_progress_score": 0.6666666666666666, "current_chain_depth": 2, "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": 0.9991996402546437, "mean_kinematic_grasp_stability": 0.5267559808421206, "per_object_best_kinematic_grasp_stability": {"obj_194_wineglass_1": 0.9960214834599557, "obj_194_wineglass_2": 0.9991996402546437, "obj_194_wineglass_3": 0.9782690857383751}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4465259077880852, "mean_kinematic_stability_score": 0.2071214469751982, "mean_lift_score": 0.424625179708359, "mean_hold_score": 0.27750051345245935, "mean_motion_stability_score": 0.27182155483270176, "mean_duration_score": 0.44487916752242057, "mean_anti_slip_score": 0.9327034983227162}, "robot_motion_metrics": {"joint_velocity_rms": 0.5897385814968983, "joint_acceleration_rms": 8.946256096242688, "joint_jerk_rms": 876.6239743788315, "joint_effort_rms": 99.05463566770986}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0009242144177449474, "safety_violation_rate_time": 0.0009242144177449474, "safety_violation_rate_event": 0.0009242144177449168, "safety_violation_step_rate": 0.0009242144177449168, "safety_violation_events_per_step": 0.0009242144177449168, "episode_violation_rate": 1.0, "safety_hard_violation": true, "drop_violation": true, "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": {"index_q1": 2.2463056666310877e-05, "index_q2": 8.448078347988996e-10, "middle_q1": 1.840022196120117e-05, "middle_q2": 1.4360916900102438e-09, "multi_pinky_q1": 9.584632607584354e-06, "multi_pinky_q2": 0.0026463610120117664, "multi_ring_q2": 0.003407716518267989, "pinky_q1": 0.00014278231537900865, "pinky_q2": 7.262102008098736e-05, "ring_q1": 6.15007933468803e-10, "ring_q2": 0.0009460868895985186, "thumb_q2": 0.0004998314543627203}, "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": 0.003407716518267989, "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": 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": 0.003407716518267989, "max_joint_limit_excess_joint": "multi_ring_q2", "stage_completion": {"place_first_glass": true, "place_second_glass": true, "place_third_glass": false}, "current_stage_completion": {"place_first_glass": true, "place_second_glass": true, "place_third_glass": false}, "stage_first_completion_step": {"place_first_glass": 1112, "place_second_glass": 2427, "place_third_glass": null}, "violation_counts": {"drop_to_table_obj_194_wineglass_1": 1, "drop_to_table_obj_194_wineglass_2": 1, "drop_to_table_obj_194_wineglass_3": 1}, "policy_query_count": 33, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3246, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_03_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..7464e0a384bae1881d6d1084d0fe21464e664fb7 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_03_episode_12/summary.json @@ -0,0 +1,191 @@ +{ + "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": 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": 3246, + "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": 0.0009242144177449168 + }, + "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": 0.6666666666666666, + "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": 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_to_table_obj_194_wineglass_1": 1, + "drop_to_table_obj_194_wineglass_2": 1, + "drop_to_table_obj_194_wineglass_3": 1 + }, + "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": 0.003407716518267989, + "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": 2.2463056666310877e-05, + "index_q2": 8.448078347988996e-10, + "middle_q1": 1.840022196120117e-05, + "middle_q2": 1.4360916900102438e-09, + "multi_pinky_q1": 9.584632607584354e-06, + "multi_pinky_q2": 0.0026463610120117664, + "multi_ring_q2": 0.003407716518267989, + "pinky_q1": 0.00014278231537900865, + "pinky_q2": 7.262102008098736e-05, + "ring_q1": 6.15007933468803e-10, + "ring_q2": 0.0009460868895985186, + "thumb_q2": 0.0004998314543627203 + }, + "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": 8.946256096242688, + "joint_effort_rms": 99.05463566770986, + "joint_jerk_rms": 876.6239743788315, + "joint_velocity_rms": 0.5897385814968983 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9991996402546437, + "mean_kinematic_grasp_stability": 0.5267559808421206, + "per_object_best_kinematic_grasp_stability": { + "obj_194_wineglass_1": 0.9960214834599557, + "obj_194_wineglass_2": 0.9991996402546437, + "obj_194_wineglass_3": 0.9782690857383751 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9327034983227162, + "mean_duration_score": 0.44487916752242057, + "mean_hold_score": 0.27750051345245935, + "mean_kinematic_stability_score": 0.2071214469751982, + "mean_legacy_gsi": 0.4465259077880852, + "mean_lift_score": 0.424625179708359, + "mean_motion_stability_score": 0.27182155483270176 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3246, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_13/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_03_episode_13/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..828c9e741da04bef116e4fbb82c2e5d56d0cc14c --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_03_episode_13/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/03_wine_glass_plate_balance.yaml", "episode_index": 13, "seed": 200300012, "success": false, "steps": 3246, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200300012, "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, 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9.660875366535038e-05, "ring_q1": 6.15007933468803e-10, "ring_q2": 0.00023453772882930934, "thumb_q2": 0.00019805626652669162}, "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": 1751, "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": -0.01136983372271061, "hard_excess_rad": 0.01136983372271061, "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": [-1.60387122631073, 1.567147970199585, -1.4135128259658813, -0.8295740485191345, 0.03423210233449936, -0.031322166323661804, -2.354888677597046, -2.2057714462280273, 2.0598456859588623, 0.8622362613677979, 1.0169243812561035, 1.5660580396652222, -2.4282236099243164, -0.5194740295410156, 0.09611901640892029, 0.059907302260398865, 0.009346136823296547, 0.013182307593524456, -0.3896448612213135, 0.32478129863739014, 0.25145506858825684, 0.08288456499576569, 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0.009893009439110756, 0.013953647576272488, 0.0003860269789583981, 0.3437853157520294, 0.2661685347557068, 0.0877344086766243, 0.11418499797582626, 0.33452939987182617]}, "joint_limit_active_steps": 3, "joint_limit_hard_episode_events": 1, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.026384813711047173, "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": 3, "joint_limit_active_step_rate": 0.0009242144177449168, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.026384813711047173, "max_joint_limit_excess_joint": "multi_pinky_q1", "stage_completion": {"place_first_glass": true, "place_second_glass": false, "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": 1107, "place_second_glass": null, "place_third_glass": null}, "violation_counts": {"drop_to_table_obj_194_wineglass_1": 1}, "policy_query_count": 36, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3246, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_03_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..07523a2d5cb00de908cafdf38e7a8ab409aa94b9 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_03_episode_13/summary.json @@ -0,0 +1,193 @@ +{ + "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": 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": 3246, + "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": 0.3333333333333333, + "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": 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": 0.0009242144177449168, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.026384813711047173, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "multi_pinky_q1": 3 + }, + "joint_limit_hard_counts": { + "multi_pinky_q1": 1 + }, + "joint_limit_hard_episode_events": 1, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "index_q1": 9.501462045591325e-05, + "index_q2": 8.448078347988996e-10, + "middle_q1": 6.415382085833699e-05, + "middle_q2": 1.4360916900102438e-09, + "multi_pinky_q1": 0.026384813711047173, + "multi_pinky_q2": 6.476343060057843e-06, + "multi_ring_q2": 5.395679909270257e-05, + "pinky_q1": 0.000171467472682707, + "pinky_q2": 9.660875366535038e-05, + "ring_q1": 6.15007933468803e-10, + "ring_q2": 0.00023453772882930934, + "thumb_q2": 0.00019805626652669162 + }, + "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": 6.010799176339968, + "joint_effort_rms": 85.1823309904188, + "joint_jerk_rms": 617.356655466917, + "joint_velocity_rms": 0.41535784165345996 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9970350167207416, + "mean_kinematic_grasp_stability": 0.5843652507127045, + "per_object_best_kinematic_grasp_stability": { + "obj_194_wineglass_1": 0.983808967338176, + "obj_194_wineglass_2": 0.9970350167207416, + "obj_194_wineglass_3": 0.7405888393164115 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8763948791675298, + "mean_duration_score": 0.4426473608543849, + "mean_hold_score": 0.3698808790306034, + "mean_kinematic_stability_score": 0.20985061426805582, + "mean_legacy_gsi": 0.46719881279095093, + "mean_lift_score": 0.3965906757034299, + "mean_motion_stability_score": 0.3211736380370567 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3246, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_03_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d72e3a9e139479a81f535f7a57fc808619bb3462 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_03_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/03_wine_glass_plate_balance.yaml", "episode_index": 14, "seed": 200300013, "success": false, "steps": 3246, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200300013, "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": 270.0, 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"obj_030_fork_2": {"position": [-0.35, 0.42, 0.7678315750008304], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_029_plate_2": {"position": [-0.12, 0.4, 0.7703514749334981], "rpy_deg": [0.0, 0.0, -8.099633824209123]}, "obj_030_fork_3": {"position": [-0.85, 0.42, 0.7678315750008304], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_029_plate_3": {"position": [-0.62, 0.4, 0.7703514749334981], "rpy_deg": [0.0, 0.0, 1.3936278054763047]}, "obj_194_wineglass_1": {"position": [0.12, 0.06, 0.7969315750162904], "rpy_deg": [90.0, 0.0, 6.782736650592234]}, "obj_194_wineglass_2": {"position": [0.0, 0.06, 0.7969315750162904], "rpy_deg": [90.0, 0.0, 7.082600779515968]}, "obj_194_wineglass_3": {"position": [-0.12, 0.06, 0.7969315750162904], "rpy_deg": [90.0, 0.0, -7.38640921858779]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "table_setting", "robot_key": "multi_xarm7_with_ability", "perturbation_axis": "inv+cov", "stable_success": false, "ever_instant_success": false, "at_end_success": false, "at_end_success_observed": false, "at_end_success_budget": 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": 36.06666666666666, "expert_time_step": 2164, "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": 0.9990880248491173, "mean_kinematic_grasp_stability": 0.6399406472490312, "per_object_best_kinematic_grasp_stability": {"obj_194_wineglass_1": 0.8335107367736981, "obj_194_wineglass_2": 0.9990880248491173, "obj_194_wineglass_3": 0.66623866455776}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.750315554361018, "mean_kinematic_stability_score": 0.49444582356764333, "mean_lift_score": 0.7726432532347505, "mean_hold_score": 0.7492606284658042, "mean_motion_stability_score": 0.7451280275685788, "mean_duration_score": 0.755822550831793, "mean_anti_slip_score": 0.7513520914629948}, "robot_motion_metrics": {"joint_velocity_rms": 0.24885255518545155, "joint_acceleration_rms": 3.3044956467602726, "joint_jerk_rms": 338.5533845724937, "joint_effort_rms": 78.57811544551096}, "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": 0, "robot_constraint_diagnostics": {"joint_limit_max_excess_by_joint": {"index_q1": 2.952172284409471e-09, "index_q2": 8.593593614492079e-10, "middle_q1": 1.8974362081536356e-09, "middle_q2": 1.4360916900102438e-09, "multi_pinky_q1": 3.7422373679874e-06, "multi_pinky_q2": 2.8534909688460175e-06, "multi_ring_q2": 4.629057730198838e-05, "pinky_q1": 1.1768497287789614e-09, "pinky_q2": 1.7755481529491135e-09, "ring_q1": 6.512841377315226e-10, "ring_q2": 2.198807580455764e-09}, "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": 4.629057730198838e-05, "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": 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": 4.629057730198838e-05, "max_joint_limit_excess_joint": "multi_ring_q2", "stage_completion": {"place_first_glass": false, "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": null, "place_second_glass": null, "place_third_glass": null}, "violation_counts": {}, "policy_query_count": 9, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3246, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_03_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_03_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..3d05de0e5f124194334251a37276e0e0e3da4ff0 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_03_episode_14/summary.json @@ -0,0 +1,186 @@ +{ + "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": 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": 3246, + "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": { + "table_setting": 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": 36.06666666666666, + "expert_time_step": 2164, 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1.7755481529491135e-09, + "ring_q1": 6.512841377315226e-10, + "ring_q2": 2.198807580455764e-09 + }, + "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": 3.3044956467602726, + "joint_effort_rms": 78.57811544551096, + "joint_jerk_rms": 338.5533845724937, + "joint_velocity_rms": 0.24885255518545155 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9990880248491173, + "mean_kinematic_grasp_stability": 0.6399406472490312, + "per_object_best_kinematic_grasp_stability": { + "obj_194_wineglass_1": 0.8335107367736981, + "obj_194_wineglass_2": 0.9990880248491173, + "obj_194_wineglass_3": 0.66623866455776 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7513520914629948, + "mean_duration_score": 0.755822550831793, + "mean_hold_score": 0.7492606284658042, + "mean_kinematic_stability_score": 0.49444582356764333, + "mean_legacy_gsi": 0.750315554361018, + "mean_lift_score": 0.7726432532347505, + "mean_motion_stability_score": 0.7451280275685788 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3246, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_06_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_06_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0128c59b8060804cc16eac6fb9ce7cea56df3ab6 --- /dev/null +++ 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"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, -1.2232402563095093, 1.5838463306427002, 1.4623695611953735, 0.0036071443464607, -2.0504908561706543, 1.569999098777771, 0.27607622742652893, -0.0028472088743001223, -1.5272843837738037, -0.08896451443433762, 0.004691833630204201, 0.002664998173713684, 0.005464643239974976, 0.004216913599520922, 0.0, -0.14475968480110168, -0.14702346920967102, -0.14389653503894806, -0.14529013633728027, 0.0, 0.11361289769411087, 0.27532991766929626, 0.08984020352363586, 0.11053359508514404, 0.4290723502635956, 0.0, -0.02310575544834137, 0.1575159877538681, -0.04965747520327568, -0.026545027270913124, 0.16883079707622528, 0.10000000149011612, 0.19288918375968933, 0.2448212057352066], "shielded_full_target": [1.5699793100357056, -1.5624622106552124, 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"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": 377, "joint_limit_active_step_rate": 0.19635416666666666, "finger_joint_limit_saturation_steps": 289, "finger_joint_limit_saturation_step_rate": 0.15052083333333333, "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": false}, "current_stage_completion": {"move_bowl": true, "place_apple_3": false, "place_apple_4": true, "place_banana": false}, "stage_first_completion_step": {"move_bowl": 887, "place_apple_3": 1813, "place_apple_4": 1304, "place_banana": null}, "violation_counts": {"drop_to_table_obj_013_apple_3": 1, "drop_to_table_obj_013_apple_4": 1}, "policy_query_count": 33, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1920, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_06_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_06_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..a9d93a1c41c8ae0830a4abb724c0491e660156e3 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_06_episode_05/summary.json @@ -0,0 +1,231 @@ +{ + "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": 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": 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": 1.0, + "drop_rate": 1.0, + "high_speed_violation_rate": 0.0, + "safety_violation_step_rate": 0.0010416666666666667 + }, + "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": 0.5, + "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": 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": 0.0010416666666666667, + "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": 0.19635416666666666, + "finger_joint_limit_saturation_step_rate": 0.15052083333333333, + "max_joint_limit_excess_rad": 0.7369455695152283, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 1, + "left_little_1_joint": 102, + "left_middle_1_joint": 38, + "left_ring_1_joint": 53, + "left_ring_2_joint": 1, + "right_index_1_joint": 101, + "right_little_1_joint": 23, + "right_middle_1_joint": 136, + "right_ring_1_joint": 98, + "right_thumb_2_joint": 100 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 1, + "left_little_1_joint": 3, + "left_middle_1_joint": 5, + "left_ring_1_joint": 3, + "left_ring_2_joint": 1, + "right_index_1_joint": 3, + "right_little_1_joint": 2, + "right_middle_1_joint": 4, + "right_ring_1_joint": 3, + "right_thumb_2_joint": 1 + }, + "joint_limit_hard_episode_events": 12, + "finger_joint_limit_saturation_counts": { + "left_little_1_joint": 83, + "left_ring_1_joint": 21, + "right_index_1_joint": 84, + "right_little_1_joint": 10, + "right_middle_1_joint": 113, + "right_ring_1_joint": 54, + "right_thumb_2_joint": 80 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.014558429829776287, + "left_index_2_joint": 2.1083177159653133e-07, + "left_little_1_joint": 0.5849071741104126, + "left_little_2_joint": 6.343382665363606e-06, + "left_middle_1_joint": 0.15275898575782776, + "left_middle_2_joint": 1.1096458365500439e-05, + "left_ring_1_joint": 0.38715898990631104, + "left_ring_2_joint": 0.0128999138250947, + "left_thumb_1_joint": 1.3905609193898272e-05, + "left_thumb_3_joint": 1.0933864359685685e-05, + "left_thumb_4_joint": 0.00028192996978759766, + "right_index_1_joint": 0.6384013295173645, + "right_index_2_joint": 2.9931072731415043e-06, + "right_little_1_joint": 0.28819555044174194, + "right_little_2_joint": 3.0343360890583426e-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": 2.3000869987299666e-05, + "right_thumb_2_joint": 0.2618323266506195, + "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": 58.327305701014254, + "joint_effort_rms": 45.60455409006393, + "joint_jerk_rms": 5866.535216137562, + "joint_velocity_rms": 1.1709534671162884 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9817931068344978, + "mean_kinematic_grasp_stability": 0.1483691647163714, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.07793798241150823, + "obj_013_apple_3": 0.9817931068344978, + "obj_013_apple_4": 0.15449041053120377 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9955439814814823, + "mean_duration_score": 0.04501736111111114, + "mean_hold_score": 0.03067708333333348, + "mean_kinematic_stability_score": 0.014939950613801286, + "mean_legacy_gsi": 0.2315160872988158, + "mean_lift_score": 0.10069444444444445, + "mean_motion_stability_score": 0.026796411096306465 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1920, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_06_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_06_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e270268f94596cf2e406d28fbd12bc1f185e63e --- /dev/null +++ b/gpt6_astra_1x_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": 1920, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "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, 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"dex2bench_dataset/Objects/006_mustard_bottle/usd_decomposition_linux/textured.usd", "scale": [0.9686961271192073, 0.9686961271192073, 0.9686961271192073], "body_type": "dynamic", "category": "bottle", "asset_code": "006", "asset_id": "clutter_006_mustard_bottle", "asset_split": "unseen", "spawn_position": [-0.7645406558563861, 0.4014336477217793, 0.7267513175395882], "spawn_yaw_deg": 342.9316994810387, "obj_id": "distractor_02_clutter_006_mustard_bottle"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_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": 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": 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, 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{"joint_velocity_rms": 1.3224061034801329, "joint_acceleration_rms": 64.64508695340953, "joint_jerk_rms": 6619.702468426187, "joint_effort_rms": 49.204342814614286}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0005208333333333421, "safety_violation_rate_time": 0.0005208333333333421, "safety_violation_rate_event": 0.0005208333333333333, "safety_violation_step_rate": 0.0005208333333333333, "safety_violation_events_per_step": 0.0005208333333333333, "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": 50, "left_little_1_joint": 36, "left_little_2_joint": 68, "left_middle_1_joint": 52, "left_ring_1_joint": 10, "left_ring_2_joint": 21, "left_thumb_2_joint": 37, "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": 1, "left_little_1_joint": 8, "left_little_2_joint": 1, "left_middle_1_joint": 1, "left_ring_1_joint": 5, "left_ring_2_joint": 1, "left_thumb_2_joint": 4, "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": 41, "left_little_2_joint": 65, "left_middle_1_joint": 42, "left_thumb_2_joint": 1, "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": 0.2049466073513031, "left_little_2_joint": 1.1495881080627441, "left_middle_1_joint": 0.7445484399795532, "left_middle_2_joint": 1.9291359421913512e-05, "left_ring_1_joint": 0.06101261451840401, "left_ring_2_joint": 0.24595904350280762, "left_thumb_1_joint": 3.257377466070466e-05, "left_thumb_2_joint": 0.1758354902267456, "left_thumb_3_joint": 0.0035902541130781174, "left_thumb_4_joint": 0.07702401280403137, "right_index_1_joint": 0.467041015625, "right_index_2_joint": 9.482084095679966e-08, "right_little_2_joint": 2.3546076022284979e-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": 608, "joint_limit_hard_episode_events": 7, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 523, "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": 608, "joint_limit_active_step_rate": 0.31666666666666665, "finger_joint_limit_saturation_steps": 523, "finger_joint_limit_saturation_step_rate": 0.27239583333333334, "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": 26, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1920, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_06_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_06_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b8945c710289601122aeff8fd9843ece53959d59 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_06_episode_06/summary.json @@ -0,0 +1,231 @@ +{ + "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": 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": 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": 0.25 + }, + "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": 0.0005208333333333333 + }, + "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": 0.0005208333333333333, + "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": 0.31666666666666665, + "finger_joint_limit_saturation_step_rate": 0.27239583333333334, + "max_joint_limit_excess_rad": 1.1495881080627441, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 50, + "left_little_1_joint": 36, + "left_little_2_joint": 68, + "left_middle_1_joint": 52, + "left_ring_1_joint": 10, + "left_ring_2_joint": 21, + "left_thumb_2_joint": 37, + "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": 1, + "left_little_1_joint": 8, + "left_little_2_joint": 1, + "left_middle_1_joint": 1, + "left_ring_1_joint": 5, + "left_ring_2_joint": 1, + "left_thumb_2_joint": 4, + "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 + }, + "joint_limit_hard_episode_events": 7, + "finger_joint_limit_saturation_counts": { + "left_index_1_joint": 41, + "left_little_2_joint": 65, + "left_middle_1_joint": 42, + "left_thumb_2_joint": 1, + "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": 0.2049466073513031, + "left_little_2_joint": 1.1495881080627441, + "left_middle_1_joint": 0.7445484399795532, + "left_middle_2_joint": 1.9291359421913512e-05, + "left_ring_1_joint": 0.06101261451840401, + 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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_1x_icl/source_runs/task_06_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_06_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..dbbb9f785c9a19b2001e20dd909e8ac4fd7014e7 --- /dev/null +++ b/gpt6_astra_1x_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_1x_icl/source_runs/task_06_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_06_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6063aad2a4b02a76cb4fba8ffef859aba1f01179 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_06_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/06_fruit_bowl_loading.yaml", "episode_index": 8, "seed": 200600007, "success": false, "steps": 1920, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200600007, "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, 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"left_ring_2_joint": 6, "right_index_1_joint": 27, "right_middle_1_joint": 33, "right_ring_1_joint": 41, "right_thumb_2_joint": 137}, "joint_limit_hard_counts": {"left_index_1_joint": 1, "left_index_2_joint": 1, "left_little_1_joint": 1, "left_little_2_joint": 1, "left_middle_1_joint": 2, "left_middle_2_joint": 1, "left_ring_1_joint": 2, "left_ring_2_joint": 1, "right_index_1_joint": 1, "right_middle_1_joint": 1, "right_ring_1_joint": 1, "right_thumb_2_joint": 2}, "finger_joint_limit_saturation_counts": {"left_index_1_joint": 10, "left_little_1_joint": 18, "left_little_2_joint": 6, "left_middle_1_joint": 19, "left_ring_1_joint": 20, "right_index_1_joint": 14, "right_middle_1_joint": 27, "right_ring_1_joint": 28, "right_thumb_2_joint": 103}, "joint_limit_max_excess_by_joint": {"left_index_1_joint": 0.646182119846344, "left_index_2_joint": 0.09392809867858887, "left_little_1_joint": 0.9096411466598511, "left_little_2_joint": 0.5138809680938721, "left_middle_1_joint": 0.9641392827033997, "left_middle_2_joint": 0.2039506435394287, "left_ring_1_joint": 1.0324233770370483, "left_ring_2_joint": 0.23985075950622559, "left_thumb_1_joint": 2.510812191758305e-05, "left_thumb_3_joint": 1.1322387763357256e-05, "left_thumb_4_joint": 0.0010690093040466309, "right_index_1_joint": 0.3655199408531189, "right_index_2_joint": 2.7676625791173137e-07, "right_little_1_joint": 0.004596590995788574, "right_little_2_joint": 9.96629069049959e-07, "right_middle_1_joint": 0.6775534749031067, "right_middle_2_joint": 1.0644466783560347e-05, "right_ring_1_joint": 0.3342251777648926, "right_ring_2_joint": 3.251302359785768e-06, "right_thumb_1_joint": 3.381247734068893e-05, "right_thumb_2_joint": 0.6172922253608704, "right_thumb_3_joint": 3.906516212737188e-05, "right_thumb_4_joint": 0.0016538500785827637}, "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": 1400, "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": -0.028235970064997673, "hard_excess_rad": 0.028235970064997673, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3442769050598145, "operating_lower": 0.0, "operating_upper": 1.3442769050598145, "expanded_target": 0.8522924780845642, "shielded_target": 0.8522924780845642}], "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": [1.8698481321334839, -1.3281573057174683, -1.6992267370224, 2.0465409755706787, 1.717932939529419, -0.44166287779808044, -1.7692915201187134, 1.7095232009887695, -0.33031484484672546, 0.18406082689762115, -1.9813610315322876, -0.2124100625514984, 0.6144011616706848, 1.0639933347702026, 0.8522924780845642, 1.000200629234314, 0.7034182548522949, 0.2875758409500122, 0.0, 0.0, 0.0, 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_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": [1.8698481321334839, -1.3281573057174683, -1.6992267370224, 2.0465409755706787, 1.717932939529419, -0.44166287779808044, -1.7692915201187134, 1.7095232009887695, -0.33031484484672546, 0.18406082689762115, -1.9813610315322876, -0.2124100625514984, 0.6144011616706848, 1.0639933347702026, 0.8522924780845642, 1.000200629234314, 0.7034182548522949, 0.5362246632575989, 1.0383741855621338, 0.8019254803657532, 0.9671241044998169, 0.2875758409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3285554051399231, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.0, 0.3466793894767761, 0.0, 0.10000000149011612], "shielded_full_target": [1.8698481321334839, -1.3281573057174683, -1.6992267370224, 2.0465409755706787, 1.717932939529419, -0.44166287779808044, -1.7692915201187134, 1.7095232009887695, -0.33031484484672546, 0.18406082689762115, -1.9813610315322876, -0.2124100625514984, 0.6144011616706848, 1.0639933347702026, 0.8522924780845642, 1.000200629234314, 0.7034182548522949, 0.5362246632575989, 1.0383741855621338, 0.8019254803657532, 0.9671241044998169, 0.2875758409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3285554051399231, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.0, 0.3466793894767761, 0.0, 0.10000000149011612]}, "joint_limit_active_steps": 204, "joint_limit_hard_episode_events": 5, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 155, "max_joint_limit_excess_rad": 1.0324233770370483, "max_joint_limit_excess_joint": "left_ring_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": 204, "joint_limit_active_step_rate": 0.10625, "finger_joint_limit_saturation_steps": 155, "finger_joint_limit_saturation_step_rate": 0.08072916666666667, "max_joint_limit_excess_rad": 1.0324233770370483, "max_joint_limit_excess_joint": "left_ring_1_joint", "stage_completion": {"move_bowl": true, "place_apple_3": true, "place_apple_4": true, "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": 387, "place_apple_3": 1801, "place_apple_4": 1631, "place_banana": null}, "violation_counts": {"drop_to_table_obj_013_apple_4": 1}, "policy_query_count": 34, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1920, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_06_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_06_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..d738f3155802de25a70ccaf984b8998944797b90 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_06_episode_08/summary.json @@ -0,0 +1,236 @@ +{ + "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": 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": 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": 1.0, + "drop_rate": 1.0, + "high_speed_violation_rate": 0.0, + "safety_violation_step_rate": 0.0005208333333333333 + }, + "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": 0.6666666666666666, + "avg_current_chain_depth": 0, + "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": 0.0005208333333333333, + "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": 0.10625, + "finger_joint_limit_saturation_step_rate": 0.08072916666666667, + "max_joint_limit_excess_rad": 1.0324233770370483, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 15, + "left_index_2_joint": 3, + "left_little_1_joint": 20, + "left_little_2_joint": 11, + "left_middle_1_joint": 29, + "left_middle_2_joint": 5, + "left_ring_1_joint": 29, + "left_ring_2_joint": 6, + "right_index_1_joint": 27, + "right_middle_1_joint": 33, + "right_ring_1_joint": 41, + "right_thumb_2_joint": 137 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 1, + "left_index_2_joint": 1, + "left_little_1_joint": 1, + "left_little_2_joint": 1, + "left_middle_1_joint": 2, + "left_middle_2_joint": 1, + "left_ring_1_joint": 2, + "left_ring_2_joint": 1, + "right_index_1_joint": 1, + "right_middle_1_joint": 1, + "right_ring_1_joint": 1, + "right_thumb_2_joint": 2 + }, + "joint_limit_hard_episode_events": 5, + "finger_joint_limit_saturation_counts": { + "left_index_1_joint": 10, + "left_little_1_joint": 18, + "left_little_2_joint": 6, + "left_middle_1_joint": 19, + "left_ring_1_joint": 20, + "right_index_1_joint": 14, + "right_middle_1_joint": 27, + "right_ring_1_joint": 28, + "right_thumb_2_joint": 103 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.646182119846344, + "left_index_2_joint": 0.09392809867858887, + "left_little_1_joint": 0.9096411466598511, + "left_little_2_joint": 0.5138809680938721, + "left_middle_1_joint": 0.9641392827033997, + "left_middle_2_joint": 0.2039506435394287, + "left_ring_1_joint": 1.0324233770370483, + "left_ring_2_joint": 0.23985075950622559, + "left_thumb_1_joint": 2.510812191758305e-05, + "left_thumb_3_joint": 1.1322387763357256e-05, + "left_thumb_4_joint": 0.0010690093040466309, + "right_index_1_joint": 0.3655199408531189, + "right_index_2_joint": 2.7676625791173137e-07, + "right_little_1_joint": 0.004596590995788574, + "right_little_2_joint": 9.96629069049959e-07, + "right_middle_1_joint": 0.6775534749031067, + "right_middle_2_joint": 1.0644466783560347e-05, + "right_ring_1_joint": 0.3342251777648926, + "right_ring_2_joint": 3.251302359785768e-06, + "right_thumb_1_joint": 3.381247734068893e-05, + "right_thumb_2_joint": 0.6172922253608704, + "right_thumb_3_joint": 3.906516212737188e-05, + "right_thumb_4_joint": 0.0016538500785827637 + }, + "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": 44.48743533603033, + "joint_effort_rms": 52.48893727972823, + "joint_jerk_rms": 4514.299196287002, + "joint_velocity_rms": 0.9158347777362684 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.637032590243197, + "mean_kinematic_grasp_stability": 0.13152477608840357, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.0, + "obj_013_apple_3": 0.637032590243197, + "obj_013_apple_4": 0.5813234670269235 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.993807870370376, + "mean_duration_score": 0.012760416666666666, + "mean_hold_score": 0.0187847222222222, + "mean_kinematic_stability_score": 0.006850248754604353, + "mean_legacy_gsi": 0.21382402949298696, + "mean_lift_score": 0.052083333333333336, + "mean_motion_stability_score": 0.01311102967388232 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1920, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_06_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_06_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f69f119b565dde86562542347dbb21448db22417 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_06_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/06_fruit_bowl_loading.yaml", "episode_index": 9, "seed": 200600008, "success": false, "steps": 1920, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200600008, "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": 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_fabric_fabric0724_jpg", "asset_uri": "dex2bench_dataset/textures/fabric/fabric0724.jpg", "asset_category": "fabric", "asset_id": "fabric/fabric0724.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1048.4940005222516, "color": [0.61405129366442, 0.9383344178935381, 0.8290156567208653], "pitch_deg": -5.582752881325273, 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{"left_little_1_joint": 2, "left_middle_1_joint": 2, "left_ring_1_joint": 2, "left_thumb_1_joint": 1, "left_thumb_2_joint": 1, "left_thumb_3_joint": 2, "left_thumb_4_joint": 1, "right_index_1_joint": 1, "right_little_1_joint": 2, "right_middle_1_joint": 4, "right_ring_1_joint": 4, "right_thumb_2_joint": 2}, "finger_joint_limit_saturation_counts": {"left_little_1_joint": 23, "left_middle_1_joint": 14, "left_ring_1_joint": 28, "left_thumb_2_joint": 9, "left_thumb_3_joint": 25, "right_index_1_joint": 63, "right_little_1_joint": 57, "right_middle_1_joint": 136, "right_ring_1_joint": 89, "right_thumb_2_joint": 64}, "joint_limit_max_excess_by_joint": {"left_index_2_joint": 3.368716988916276e-06, "left_little_1_joint": 0.3867715299129486, "left_little_2_joint": 7.370575985987671e-06, "left_middle_1_joint": 0.2259865254163742, "left_middle_2_joint": 5.768372375314357e-06, "left_ring_1_joint": 0.4109601080417633, "left_ring_2_joint": 2.700600089156069e-05, "left_thumb_1_joint": 0.13850319385528564, "left_thumb_2_joint": 0.4537372589111328, "left_thumb_3_joint": 1.0918092727661133, "left_thumb_4_joint": 0.009539361111819744, "right_index_1_joint": 0.4773562550544739, "right_index_2_joint": 1.9711038135028502e-07, "right_little_1_joint": 0.932692289352417, "right_little_2_joint": 1.6293314786253177e-07, "right_middle_1_joint": 0.7002270817756653, "right_middle_2_joint": 2.935076736321207e-06, "right_ring_1_joint": 0.9061310887336731, "right_ring_2_joint": 1.9944929590565152e-05, "right_thumb_1_joint": 1.6251740817097016e-05, "right_thumb_2_joint": 0.4884790778160095, "right_thumb_3_joint": 1.5278701539500616e-05, "right_thumb_4_joint": 0.0034934282302856445}, "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": 514, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_thumb_3_joint", "role": "finger_mimic", "qpos": -0.007184742018580437, "hard_excess_rad": 0.007184742018580437, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.6068440079689026, "operating_lower": 0.0, "operating_upper": 0.6068440079689026, "expanded_target": 0.09139999747276306, "shielded_target": 0.09139999747276306, "mimic_source_joint": "left_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": [1.5699546337127686, -1.5548747777938843, -1.114558219909668, 1.597610354423523, 1.4229731559753418, 0.007098315749317408, -2.070056915283203, 1.5700019598007202, 0.3344448506832123, -0.0056892032735049725, -1.4238176345825195, -0.055720917880535126, 0.004691833630204201, 0.002664998173713684, 0.005464643239974976, 0.004216913599520922, 0.0, 0.0, 0.2199999988079071, 0.25, 0.20000000298023224, 0.20000000298023224, 0.949999988079071, 0.07999999821186066], "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": [1.5699546337127686, -1.5548747777938843, -1.114558219909668, 1.597610354423523, 1.4229731559753418, 0.007098315749317408, -2.070056915283203, 1.5700019598007202, 0.3344448506832123, -0.0056892032735049725, -1.4238176345825195, -0.055720917880535126, 0.004691833630204201, 0.002664998173713684, 0.005464643239974976, 0.004216913599520922, 0.0, -0.14475968480110168, -0.14702346920967102, -0.14389653503894806, -0.14529013633728027, 0.0, 0.2199999988079071, 0.25, 0.20000000298023224, 0.20000000298023224, 0.949999988079071, 0.0, 0.09571799635887146, 0.1292250007390976, 0.0733800008893013, 0.0733800008893013, 0.07999999821186066, 0.10000000149011612, 0.09139999747276306, 0.16862311959266663], "shielded_full_target": [1.5699546337127686, -1.5548747777938843, -1.114558219909668, 1.597610354423523, 1.4229731559753418, 0.007098315749317408, -2.070056915283203, 1.5700019598007202, 0.3344448506832123, -0.0056892032735049725, -1.4238176345825195, -0.055720917880535126, 0.004691833630204201, 0.002664998173713684, 0.005464643239974976, 0.004216913599520922, 0.0, -0.14475968480110168, -0.14702346920967102, -0.14389653503894806, -0.14529013633728027, 0.0, 0.2199999988079071, 0.25, 0.20000000298023224, 0.20000000298023224, 0.949999988079071, 0.0, 0.09571799635887146, 0.1292250007390976, 0.0733800008893013, 0.0733800008893013, 0.07999999821186066, 0.10000000149011612, 0.09139999747276306, 0.16862311959266663]}, "joint_limit_active_steps": 325, "joint_limit_hard_episode_events": 9, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 282, "max_joint_limit_excess_rad": 1.0918092727661133, "max_joint_limit_excess_joint": "left_thumb_3_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": 325, "joint_limit_active_step_rate": 0.16927083333333334, "finger_joint_limit_saturation_steps": 282, "finger_joint_limit_saturation_step_rate": 0.146875, "max_joint_limit_excess_rad": 1.0918092727661133, "max_joint_limit_excess_joint": "left_thumb_3_joint", "stage_completion": {"move_bowl": true, "place_apple_3": false, "place_apple_4": false, "place_banana": false}, "current_stage_completion": {"move_bowl": true, "place_apple_3": false, "place_apple_4": false, "place_banana": false}, "stage_first_completion_step": {"move_bowl": 0, "place_apple_3": null, "place_apple_4": null, "place_banana": null}, "violation_counts": {"drop_to_table_obj_013_apple_4": 1}, "policy_query_count": 27, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1920, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_06_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_06_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..338df9fb3045ccd50b500fa67910fa09e9eda9e0 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_06_episode_09/summary.json @@ -0,0 +1,236 @@ +{ + "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": 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": 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": 0.25 + }, + "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": 0.0005208333333333333 + }, + "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": 0.3333333333333333, + "latched_chain_depth_progress_score": 0.3333333333333333, + "avg_current_chain_depth": 1, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + 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"left_ring_1_joint": 0.4109601080417633, + "left_ring_2_joint": 2.700600089156069e-05, + "left_thumb_1_joint": 0.13850319385528564, + "left_thumb_2_joint": 0.4537372589111328, + "left_thumb_3_joint": 1.0918092727661133, + "left_thumb_4_joint": 0.009539361111819744, + "right_index_1_joint": 0.4773562550544739, + "right_index_2_joint": 1.9711038135028502e-07, + "right_little_1_joint": 0.932692289352417, + "right_little_2_joint": 1.6293314786253177e-07, + "right_middle_1_joint": 0.7002270817756653, + "right_middle_2_joint": 2.935076736321207e-06, + "right_ring_1_joint": 0.9061310887336731, + "right_ring_2_joint": 1.9944929590565152e-05, + "right_thumb_1_joint": 1.6251740817097016e-05, + "right_thumb_2_joint": 0.4884790778160095, + "right_thumb_3_joint": 1.5278701539500616e-05, + "right_thumb_4_joint": 0.0034934282302856445 + }, + "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": 54.44501255646397, + "joint_effort_rms": 56.19714263243904, + "joint_jerk_rms": 5474.498278109385, + "joint_velocity_rms": 1.2129827075554234 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9023902456160089, + "mean_kinematic_grasp_stability": 0.24667078047996713, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.8186181510346381, + "obj_013_apple_3": 0.9023902456160089, + "obj_013_apple_4": 0.06405379864578319 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9908564814814897, + "mean_duration_score": 0.041047453703703704, + 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0.005464643239974976, 0.004216913599520922, 0.0, 0.0, 0.1165936067700386, 0.2776966989040375, 0.09243490546941757, 0.11269957572221756, 0.4373569190502167, 0.16908232867717743], "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, -1.2965285778045654, 1.5838463306427002, 1.5147285461425781, 0.0036071443464607, -2.0968518257141113, 1.569999098777771, 0.2718963325023651, -0.0028472088743001223, -1.5970189571380615, -0.11158696562051773, 0.004691833630204201, 0.002664998173713684, 0.005464643239974976, 0.004216913599520922, 0.0, -0.14475968480110168, -0.14702346920967102, -0.14389653503894806, -0.14529013633728027, 0.0, 0.1165936067700386, 0.2776966989040375, 0.09243490546941757, 0.11269957572221756, 0.4373569190502167, 0.0, -0.019776601344347, 0.16015943884849548, -0.04675945267081261, -0.0241258442401886, 0.16908232867717743, 0.10000000149011612, 0.19317656755447388, 0.24503695964813232], "shielded_full_target": [1.5699793100357056, -1.5624622106552124, -1.2965285778045654, 1.5838463306427002, 1.5147285461425781, 0.0036071443464607, -2.0968518257141113, 1.569999098777771, 0.2718963325023651, -0.0028472088743001223, -1.5970189571380615, -0.11158696562051773, 0.004691833630204201, 0.002664998173713684, 0.005464643239974976, 0.004216913599520922, 0.0, -0.14475968480110168, -0.14702346920967102, -0.14389653503894806, -0.14529013633728027, 0.0, 0.1165936067700386, 0.2776966989040375, 0.09243490546941757, 0.11269957572221756, 0.4373569190502167, 0.0, -0.019776601344347, 0.16015943884849548, -0.04675945267081261, -0.0241258442401886, 0.16908232867717743, 0.10000000149011612, 0.19317656755447388, 0.24503695964813232]}, "joint_limit_active_steps": 402, "joint_limit_hard_episode_events": 10, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 292, "max_joint_limit_excess_rad": 3.382310390472412, "max_joint_limit_excess_joint": "left_thumb_3_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": 402, "joint_limit_active_step_rate": 0.209375, "finger_joint_limit_saturation_steps": 292, "finger_joint_limit_saturation_step_rate": 0.15208333333333332, "max_joint_limit_excess_rad": 3.382310390472412, "max_joint_limit_excess_joint": "left_thumb_3_joint", "stage_completion": {"move_bowl": true, "place_apple_3": false, "place_apple_4": true, "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": 611, "place_apple_3": null, "place_apple_4": 1648, "place_banana": null}, "violation_counts": {"drop_obj_013_apple_3": 1, "high_speed_obj_013_apple_3": 1}, "policy_query_count": 23, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1920, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_06_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_06_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..653a7b2ed5d1fd1dace0b74eaf9466615d1d62ef --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_06_episode_10/summary.json @@ -0,0 +1,255 @@ +{ + "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": 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": 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": 0.5 + }, + "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": 0.036458333333333336 + }, + "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": 0.6666666666666666, + "avg_current_chain_depth": 0, + "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": 0.0010416666666666667, + "violation_counts": { + "drop_obj_013_apple_3": 1, + "high_speed_obj_013_apple_3": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.209375, + "finger_joint_limit_saturation_step_rate": 0.15208333333333332, + "max_joint_limit_excess_rad": 3.382310390472412, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 76, + "left_index_2_joint": 6, + "left_little_1_joint": 115, + "left_middle_1_joint": 90, + "left_ring_1_joint": 92, + "left_thumb_1_joint": 53, + "left_thumb_2_joint": 121, + "left_thumb_3_joint": 163, + "left_thumb_4_joint": 68, + "right_index_1_joint": 40, + "right_little_1_joint": 13, + "right_little_2_joint": 20, + "right_middle_1_joint": 59, + "right_middle_2_joint": 1, + "right_ring_1_joint": 54, + "right_ring_2_joint": 20, + "right_thumb_2_joint": 78 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 3, + "left_index_2_joint": 1, + "left_little_1_joint": 4, + "left_middle_1_joint": 3, + "left_ring_1_joint": 5, + "left_thumb_1_joint": 2, + "left_thumb_2_joint": 4, + "left_thumb_3_joint": 2, + "left_thumb_4_joint": 3, + "right_index_1_joint": 3, + "right_little_1_joint": 2, + "right_little_2_joint": 1, + "right_middle_1_joint": 3, + "right_middle_2_joint": 2, + "right_ring_1_joint": 3, + "right_ring_2_joint": 1, + "right_thumb_2_joint": 1 + }, + "joint_limit_hard_episode_events": 10, + "finger_joint_limit_saturation_counts": { + "left_index_1_joint": 59, + "left_index_2_joint": 3, + "left_little_1_joint": 71, + "left_middle_1_joint": 61, + "left_ring_1_joint": 51, + "left_thumb_1_joint": 39, + "left_thumb_2_joint": 83, + "left_thumb_3_joint": 159, + "left_thumb_4_joint": 56, + "right_index_1_joint": 6, + "right_little_1_joint": 4, + "right_little_2_joint": 18, + "right_middle_1_joint": 39, + "right_ring_1_joint": 34, + "right_ring_2_joint": 15, + "right_thumb_2_joint": 56 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.6737673282623291, + "left_index_2_joint": 0.3402869701385498, + "left_little_1_joint": 0.39101850986480713, + "left_little_2_joint": 4.859941213908314e-07, + "left_middle_1_joint": 0.7573573589324951, + "left_middle_2_joint": 8.173711648851167e-06, + "left_ring_1_joint": 0.556026816368103, + "left_ring_2_joint": 2.255188292110688e-06, + "left_thumb_1_joint": 0.7501708269119263, + "left_thumb_2_joint": 0.987554132938385, + "left_thumb_3_joint": 3.382310390472412, + "left_thumb_4_joint": 1.9342007637023926, + "right_index_1_joint": 0.39062392711639404, + "right_index_2_joint": 1.2597347449627705e-06, + "right_little_1_joint": 0.3195178210735321, + "right_little_2_joint": 0.45291566848754883, + "right_middle_1_joint": 0.6712496876716614, + "right_middle_2_joint": 0.010877460241317749, + "right_ring_1_joint": 0.7084046602249146, + "right_ring_2_joint": 0.3308357000350952, + "right_thumb_1_joint": 1.8693492165766656e-05, + "right_thumb_2_joint": 0.13757461309432983, + "right_thumb_3_joint": 1.7042326362570748e-05, + "right_thumb_4_joint": 0.001250624656677246 + }, + "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": 95.2907268502427, + "joint_effort_rms": 67.65537564758844, + "joint_jerk_rms": 9867.451172990206, + "joint_velocity_rms": 1.6865436766424922 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.16758660047402704, + "mean_kinematic_grasp_stability": 0.015092560363757971, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.03616904567639405, + "obj_013_apple_3": 0.0, + "obj_013_apple_4": 0.16758660047402704 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9447916666666667, + "mean_duration_score": 0.01284143518518522, + "mean_hold_score": 0.00826388888888884, + "mean_kinematic_stability_score": 0.0006078947924291405, + "mean_legacy_gsi": 0.19972144362407482, + "mean_lift_score": 0.04704861111111111, + "mean_motion_stability_score": 0.004139612515601583 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1920, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_06_episode_11/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_06_episode_11/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21f69039183b1b777ba0b0a85e1661199488adc3 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_06_episode_11/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/06_fruit_bowl_loading.yaml", "episode_index": 11, "seed": 200600010, "success": false, "steps": 1920, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200600010, "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": "FloorPlan7", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan7_physics/scene.usda", "scene_offset": [0.0, 0.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_stone_stone3692_jpg", "asset_uri": "dex2bench_dataset/textures/stone/stone3692.jpg", "asset_category": "stone", "asset_id": "stone/stone3692.jpg", "asset_split": "unseen", 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0.9556472884333629], "body_type": "dynamic", "category": "ball", "asset_code": "055", "asset_id": "clutter_055_baseball", "asset_split": "unseen", "spawn_position": [0.7695041117628117, 0.09294350024569425, 0.7010754327071614], "spawn_yaw_deg": 239.60627274731462, "obj_id": "distractor_01_clutter_055_baseball"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_024_bowl_1": {"position": [-0.5123012449013046, 0.30453087170316595, 0.7016745250383194], "rpy_deg": [0.0, 0.0, 2.0350385052140307]}, "obj_011_banana_2": {"position": [-0.10181956286675871, 0.30499291249302873, 0.7012865250233828], "rpy_deg": [0.0, 0.0, -2.991091134828139]}, "obj_013_apple_3": {"position": [0.2772158236790313, 0.31275549355860044, 0.7012725250040914], "rpy_deg": [0.0, 0.0, -0.937498573515299]}, "obj_013_apple_4": {"position": [0.21131759985944884, 0.11603951112097276, 0.7723755273853696], "rpy_deg": [180.0, 0.0, -5.432946383524331]}}, "_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": 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": 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": 0.042034734200732664, "mean_kinematic_grasp_stability": 0.007193595684098279, "per_object_best_kinematic_grasp_stability": {"obj_011_banana_2": 0.0, "obj_013_apple_3": 0.0, "obj_013_apple_4": 0.042034734200732664}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.2019671009842901, "mean_kinematic_stability_score": 9.116883419082887e-05, "mean_lift_score": 0.012673611111111111, "mean_hold_score": 0.0019010416666666694, "mean_motion_stability_score": 0.0006077922279388594, "mean_duration_score": 0.0, "mean_anti_slip_score": 1.0}, "robot_motion_metrics": {"joint_velocity_rms": 0.8873769857273494, "joint_acceleration_rms": 41.40611435649415, "joint_jerk_rms": 4138.698218534195, "joint_effort_rms": 46.834701986690746}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0005208333333333421, "safety_violation_rate_time": 0.0005208333333333421, "safety_violation_rate_event": 0.0005208333333333333, "safety_violation_step_rate": 0.0005208333333333333, "safety_violation_events_per_step": 0.0005208333333333333, "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": {"right_index_1_joint": 38, "right_index_2_joint": 1, "right_middle_1_joint": 55, "right_thumb_1_joint": 10, "right_thumb_2_joint": 138, "right_thumb_3_joint": 36, "right_thumb_4_joint": 1}, "joint_limit_hard_counts": {"right_index_1_joint": 2, "right_index_2_joint": 1, "right_middle_1_joint": 2, "right_thumb_1_joint": 3, "right_thumb_2_joint": 5, "right_thumb_3_joint": 1, "right_thumb_4_joint": 2}, "finger_joint_limit_saturation_counts": {"right_index_1_joint": 14, "right_index_2_joint": 1, "right_middle_1_joint": 31, "right_thumb_2_joint": 87, "right_thumb_3_joint": 34}, "joint_limit_max_excess_by_joint": {"left_index_2_joint": 7.161095538776863e-08, "left_little_2_joint": 3.362790153005335e-07, "left_middle_2_joint": 4.402622266752587e-08, "left_ring_2_joint": 9.476144100517558e-07, "left_thumb_1_joint": 1.7765180018614046e-05, "left_thumb_2_joint": 1.0548073078098241e-05, "left_thumb_3_joint": 1.6154384866240434e-05, "left_thumb_4_joint": 0.0002829134464263916, "right_index_1_joint": 0.38788723945617676, "right_index_2_joint": 0.273584246635437, "right_little_1_joint": 0.0007251501083374023, "right_little_2_joint": 1.7475109359565977e-07, "right_middle_1_joint": 0.48041924834251404, "right_middle_2_joint": 9.066995517059695e-06, "right_ring_2_joint": 1.3374404261412565e-05, "right_thumb_1_joint": 0.0660252571105957, "right_thumb_2_joint": 0.5592849850654602, "right_thumb_3_joint": 1.7565410137176514, "right_thumb_4_joint": 0.025886058807373047}, "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": 1234, "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": -0.018097564578056335, "hard_excess_rad": 0.018097564578056335, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3442769050598145, "operating_lower": 0.0, "operating_upper": 1.3442769050598145, "expanded_target": 1.1045807600021362, "shielded_target": 1.1045807600021362}], "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": [1.8805530071258545, -1.2473952770233154, -1.7741800546646118, 2.0590357780456543, 1.5230683088302612, -0.5344958305358887, -1.6171784400939941, 1.719820261001587, 0.07143635302782059, 0.18701817095279694, -1.775840163230896, 0.012593014165759087, 0.7959707975387573, 1.3088111877441406, 1.1045807600021362, 1.296624779701233, 0.8746063709259033, 0.33181679248809814, 0.0, 0.0, 0.0, 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_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": [1.8805530071258545, -1.2473952770233154, -1.7741800546646118, 2.0590357780456543, 1.5230683088302612, -0.5344958305358887, -1.6171784400939941, 1.719820261001587, 0.07143635302782059, 0.18701817095279694, -1.775840163230896, 0.012593014165759087, 0.7959707975387573, 1.3088111877441406, 1.1045807600021362, 1.296624779701233, 0.8746063709259033, 0.7390198111534119, 1.3118112087249756, 1.083706259727478, 1.298200249671936, 0.33181679248809814, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3791006803512573, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.0, 0.3846288025379181, 0.0, 0.10000000149011612], "shielded_full_target": [1.8805530071258545, -1.2473952770233154, -1.7741800546646118, 2.0590357780456543, 1.5230683088302612, -0.5344958305358887, -1.6171784400939941, 1.719820261001587, 0.07143635302782059, 0.18701817095279694, -1.775840163230896, 0.012593014165759087, 0.7959707975387573, 1.3088111877441406, 1.1045807600021362, 1.296624779701233, 0.8746063709259033, 0.7390198111534119, 1.3118112087249756, 1.083706259727478, 1.298200249671936, 0.33181679248809814, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3791006803512573, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.0, 0.3846288025379181, 0.0, 0.10000000149011612]}, "joint_limit_active_steps": 192, "joint_limit_hard_episode_events": 6, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 131, "max_joint_limit_excess_rad": 1.7565410137176514, "max_joint_limit_excess_joint": "right_thumb_3_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": 192, "joint_limit_active_step_rate": 0.1, "finger_joint_limit_saturation_steps": 131, "finger_joint_limit_saturation_step_rate": 0.06822916666666666, "max_joint_limit_excess_rad": 1.7565410137176514, "max_joint_limit_excess_joint": "right_thumb_3_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": 717, "place_apple_3": null, "place_apple_4": null, "place_banana": null}, "violation_counts": {"drop_to_table_obj_013_apple_4": 1}, "policy_query_count": 23, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1920, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_06_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_06_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..307b1309f4c90b387594e98d60a11ca46d9ad7d3 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_06_episode_11/summary.json @@ -0,0 +1,218 @@ +{ + "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": 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": 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": 0.25 + }, + "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": 0.0005208333333333333 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + 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"current_stage_completion": {"move_bowl": true, "place_apple_3": false, "place_apple_4": true, "place_banana": false}, "stage_first_completion_step": {"move_bowl": 334, "place_apple_3": null, "place_apple_4": 1508, "place_banana": null}, "violation_counts": {"drop_to_table_obj_013_apple_4": 1, "drop_to_table_obj_013_apple_3": 1}, "policy_query_count": 30, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1920, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_06_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_06_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..33ea55dd143920cbc9c11cda72a596a98432276d --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_06_episode_12/summary.json @@ -0,0 +1,226 @@ +{ + "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": 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": 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": 0.5 + }, + "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": 0.0, + "safety_violation_step_rate": 0.0010416666666666667 + }, + "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": 0.5, + "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": 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": 0.0010416666666666667, + "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": 0.14791666666666667, + "finger_joint_limit_saturation_step_rate": 0.065625, + "max_joint_limit_excess_rad": 0.5739843845367432, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_little_1_joint": 1, + "left_little_2_joint": 3, + "left_ring_1_joint": 5, + "left_thumb_2_joint": 3, + "right_index_1_joint": 136, + "right_middle_1_joint": 51, + "right_ring_1_joint": 14, + "right_thumb_2_joint": 119 + }, + "joint_limit_hard_counts": { + "left_little_1_joint": 2, + "left_little_2_joint": 1, + "left_middle_1_joint": 1, + "left_ring_1_joint": 2, + "left_ring_2_joint": 1, + "left_thumb_2_joint": 2, + "right_index_1_joint": 5, + "right_middle_1_joint": 2, + "right_ring_1_joint": 1, + "right_thumb_2_joint": 4 + }, + "joint_limit_hard_episode_events": 13, + "finger_joint_limit_saturation_counts": { + "right_index_1_joint": 70, + "right_middle_1_joint": 29, + "right_thumb_2_joint": 42 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.00014912241022102535, + "left_index_2_joint": 1.2843320291722193e-06, + "left_little_1_joint": 0.01214227918535471, + "left_little_2_joint": 0.07261034846305847, + "left_middle_1_joint": 0.009444516152143478, + "left_middle_2_joint": 0.004536676686257124, + "left_ring_1_joint": 0.0223358366638422, + "left_ring_2_joint": 0.005145721603184938, + "left_thumb_1_joint": 0.00034326990135014057, + "left_thumb_2_joint": 0.01972246915102005, + "left_thumb_3_joint": 3.2782041671453044e-05, + "left_thumb_4_joint": 0.0013826191425323486, + "right_index_1_joint": 0.3120805025100708, + "right_index_2_joint": 2.949220288428478e-06, + "right_little_1_joint": 6.384267180692405e-05, + "right_little_2_joint": 1.7679411030258052e-05, + "right_middle_1_joint": 0.5739843845367432, + "right_middle_2_joint": 2.645697350089904e-05, + "right_ring_1_joint": 0.1471019983291626, + "right_ring_2_joint": 6.183139248605585e-06, + "right_thumb_1_joint": 3.361394192324951e-05, + "right_thumb_2_joint": 0.2174006849527359, + "right_thumb_3_joint": 4.426514351507649e-05, + "right_thumb_4_joint": 0.0032299458980560303 + }, + "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": 48.969507549872745, + "joint_effort_rms": 47.86450092589459, + "joint_jerk_rms": 4973.121396200246, + "joint_velocity_rms": 1.0243066432563037 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9795494039065056, + "mean_kinematic_grasp_stability": 0.13024807414633865, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.17476566420627235, + "obj_013_apple_3": 0.9795494039065056, + "obj_013_apple_4": 0.03550567965118695 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9971064814814841, + "mean_duration_score": 0.03602430555555555, + "mean_hold_score": 0.025112847222222498, + "mean_kinematic_stability_score": 0.012436882079945531, + "mean_legacy_gsi": 0.22745107281534868, + "mean_lift_score": 0.0954861111111111, + "mean_motion_stability_score": 0.020461497431522816 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1920, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_06_episode_13/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_06_episode_13/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..29ff74e509b550359a367d4cc1099d0a82fb6365 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_06_episode_13/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/06_fruit_bowl_loading.yaml", "episode_index": 13, "seed": 200600012, "success": true, "steps": 1861, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200600012, "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": "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_wood_wood0921_jpg", "asset_uri": "dex2bench_dataset/textures/wood/wood0921.jpg", "asset_category": "wood", "asset_id": "wood/wood0921.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1365.4074108102748, "color": [0.7741220048936921, 0.9153719112463238, 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"spawn_position": [0.6111617754029455, -0.007362128483452496, 0.7542967269660026], "spawn_yaw_deg": 69.93621068817859, "obj_id": "distractor_01_clutter_070b_colored_wood_blocks"}, {"name": "clutter_073a_lego_duplo", "uri": "dex2bench_dataset/Objects/073-a_lego_duplo/usd_decomposition_linux/textured.usd", "scale": [0.9161083460245784, 0.9161083460245784, 0.9161083460245784], "body_type": "dynamic", "category": "toy", "asset_code": "073", "asset_id": "clutter_073a_lego_duplo", "asset_split": "unseen", "spawn_position": [-0.6128853409372175, 0.03383395781247883, 0.7545454093964742], "spawn_yaw_deg": 37.16422326915727, "obj_id": "distractor_02_clutter_073a_lego_duplo"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_024_bowl_1": {"position": [-0.508599307675484, 0.29617520048209917, 0.7549025096345015], "rpy_deg": [0.0, 0.0, -4.027438083409562]}, "obj_011_banana_2": {"position": [-0.13941261724094953, 0.30922418679588415, 0.7545145096195649], "rpy_deg": [0.0, 0.0, -7.592488252149263]}, "obj_013_apple_3": {"position": [0.25336998133357325, 0.28323498088735233, 0.7545005096002735], "rpy_deg": [0.0, 0.0, 3.5303883326872025]}, "obj_013_apple_4": {"position": [0.2129489223900323, 0.10312539546999941, 0.8256035119815517], "rpy_deg": [180.0, 0.0, -3.2679980740539634]}}, "_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": true, "ever_instant_success": true, "at_end_success": true, "at_end_success_observed": true, "at_end_success_budget": null, "first_success_step": 1831, "stable_success_step": 1860, "first_stable_success_step": 1860, "steps_to_stable_success": 1861, "policy_steps_to_stable_success": 621, "policy_queries_to_stable_success": 25, "time_to_stable_success_s": 31.016666666666186, "expert_time_s": 21.333333333333332, "expert_time_step": 1280, "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": 0.6878022568511659, "kinematic_grasp_stability_index": 0.993044255503985, "mean_kinematic_grasp_stability": 0.3089890460761912, "per_object_best_kinematic_grasp_stability": {"obj_011_banana_2": 0.7537123108531055, "obj_013_apple_3": 0.993044255503985, "obj_013_apple_4": 0.6795393112340966}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.29056609337270434, "mean_kinematic_stability_score": 0.06851664679246368, "mean_lift_score": 0.2217445817660756, "mean_hold_score": 0.10124485043883044, "mean_motion_stability_score": 0.10212635759037003, "mean_duration_score": 0.1156845184787147, "mean_anti_slip_score": 0.9861484267717602}, "robot_motion_metrics": {"joint_velocity_rms": 1.2061669165900544, "joint_acceleration_rms": 53.38663604803199, "joint_jerk_rms": 5433.969802128853, "joint_effort_rms": 48.1811248835585}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0005373455131649734, "safety_violation_rate_time": 0.0005373455131649734, "safety_violation_rate_event": 0.0005373455131649651, "safety_violation_step_rate": 0.0005373455131649651, "safety_violation_events_per_step": 0.0005373455131649651, "episode_violation_rate": 1.0, "safety_hard_violation": true, "drop_violation": true, "high_speed_violation": false, "excessive_impact_violation": null, "robot_constraint_violation": true, "finger_joint_limit_saturation": true, "impact_metric_available": false, "chain_depth": 3, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_index_1_joint": 51, "left_little_1_joint": 51, "left_little_2_joint": 2, "left_middle_1_joint": 54, "left_ring_1_joint": 71, "left_ring_2_joint": 1, "right_thumb_2_joint": 304}, "joint_limit_hard_counts": {"left_index_1_joint": 1, "left_little_1_joint": 1, "left_little_2_joint": 2, "left_middle_1_joint": 1, "left_middle_2_joint": 2, "left_ring_1_joint": 2, "left_ring_2_joint": 2, "right_little_1_joint": 1, "right_thumb_2_joint": 2}, "finger_joint_limit_saturation_counts": {"left_index_1_joint": 30, "left_little_1_joint": 31, "left_middle_1_joint": 34, "left_ring_1_joint": 42, "right_thumb_2_joint": 268}, "joint_limit_max_excess_by_joint": {"left_index_1_joint": 0.2767709791660309, "left_index_2_joint": 1.8249951949655951e-07, "left_little_1_joint": 0.4132981300354004, "left_little_2_joint": 0.014109071344137192, "left_middle_1_joint": 0.4021092653274536, "left_middle_2_joint": 0.007081433665007353, "left_ring_1_joint": 0.46708860993385315, "left_ring_2_joint": 0.010040485300123692, "left_thumb_1_joint": 4.370337774162181e-05, "left_thumb_2_joint": 5.0644717703107744e-05, "left_thumb_3_joint": 4.3332613131497055e-05, "left_thumb_4_joint": 0.0012025833129882812, "right_index_2_joint": 1.0875566403001358e-07, "right_little_1_joint": 0.00584566593170166, "right_little_2_joint": 4.0398157352683484e-07, "right_middle_2_joint": 2.0775171094555844e-07, "right_ring_2_joint": 4.3897361479139363e-07, "right_thumb_1_joint": 2.9182887374190614e-05, "right_thumb_2_joint": 0.2652952969074249, "right_thumb_3_joint": 2.0220544683979824e-05, "right_thumb_4_joint": 0.0014902949333190918}, "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": 759, "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": -0.03008030168712139, "hard_excess_rad": 0.03008030168712139, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.5234770178794861, "operating_lower": 0.0, "operating_upper": 0.5234770178794861, "expanded_target": 0.3106125593185425, "shielded_target": 0.3106125593185425}], "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": [1.885589599609375, -1.315199375152588, -1.6585841178894043, 1.9974987506866455, 1.6670101881027222, -0.40494418144226074, -1.6545828580856323, 1.7246644496917725, -0.0375012569129467, 0.18841269612312317, -1.6585721969604492, 0.00046891538659110665, 0.7090392708778381, 1.2168350219726562, 0.9883636832237244, 1.1772651672363281, 0.7995994687080383, 0.3106125593185425, 0.0, 0.0, 0.0, 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_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": [1.885589599609375, -1.315199375152588, -1.6585841178894043, 1.9974987506866455, 1.6670101881027222, -0.40494418144226074, -1.6545828580856323, 1.7246644496917725, -0.0375012569129467, 0.18841269612312317, -1.6585721969604492, 0.00046891538659110665, 0.7090392708778381, 1.2168350219726562, 0.9883636832237244, 1.1772651672363281, 0.7995994687080383, 0.6419259905815125, 1.209083080291748, 0.9539033770561218, 1.1648874282836914, 0.3106125593185425, 0.0, 0.0, 0.0, 0.0, 0.0, 0.354874849319458, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.0, 0.3664400279521942, 0.0, 0.10000000149011612], "shielded_full_target": [1.885589599609375, -1.315199375152588, -1.6585841178894043, 1.9974987506866455, 1.6670101881027222, -0.40494418144226074, -1.6545828580856323, 1.7246644496917725, -0.0375012569129467, 0.18841269612312317, -1.6585721969604492, 0.00046891538659110665, 0.7090392708778381, 1.2168350219726562, 0.9883636832237244, 1.1772651672363281, 0.7995994687080383, 0.6419259905815125, 1.209083080291748, 0.9539033770561218, 1.1648874282836914, 0.3106125593185425, 0.0, 0.0, 0.0, 0.0, 0.0, 0.354874849319458, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.0, 0.3664400279521942, 0.0, 0.10000000149011612]}, "joint_limit_active_steps": 382, "joint_limit_hard_episode_events": 3, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 315, "max_joint_limit_excess_rad": 0.46708860993385315, "max_joint_limit_excess_joint": "left_ring_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": 382, "joint_limit_active_step_rate": 0.20526598602901666, "finger_joint_limit_saturation_steps": 315, "finger_joint_limit_saturation_step_rate": 0.169263836646964, "max_joint_limit_excess_rad": 0.46708860993385315, "max_joint_limit_excess_joint": "left_ring_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": 505, "place_apple_3": 1341, "place_apple_4": 951, "place_banana": 1831}, "violation_counts": {"drop_to_table_obj_013_apple_4": 1}, "policy_query_count": 25, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1920, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_06_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_06_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0d115991b714e998db4fd258b2f6105853207229 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_06_episode_13/summary.json @@ -0,0 +1,222 @@ +{ + "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": 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": 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": 31.016666666666186 + }, + "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": 0.0005373455131649651 + }, + "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": 0.6878022568511659, + "expert_time_s": 21.333333333333332, + "expert_time_step": 1280, + "avg_steps_to_success": 1861, + "avg_policy_steps_to_success": 621, + "avg_policy_queries_to_success": 25 + }, + "safety": { + "safety_violation_events_per_step": 0.0005373455131649651, + "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": 0.20526598602901666, + "finger_joint_limit_saturation_step_rate": 0.169263836646964, + "max_joint_limit_excess_rad": 0.46708860993385315, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 51, + "left_little_1_joint": 51, + "left_little_2_joint": 2, + "left_middle_1_joint": 54, + "left_ring_1_joint": 71, + "left_ring_2_joint": 1, + "right_thumb_2_joint": 304 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 1, + "left_little_1_joint": 1, + "left_little_2_joint": 2, + "left_middle_1_joint": 1, + "left_middle_2_joint": 2, + "left_ring_1_joint": 2, + "left_ring_2_joint": 2, + "right_little_1_joint": 1, + "right_thumb_2_joint": 2 + }, + "joint_limit_hard_episode_events": 3, + "finger_joint_limit_saturation_counts": { + "left_index_1_joint": 30, + "left_little_1_joint": 31, + "left_middle_1_joint": 34, + "left_ring_1_joint": 42, + "right_thumb_2_joint": 268 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.2767709791660309, + "left_index_2_joint": 1.8249951949655951e-07, + "left_little_1_joint": 0.4132981300354004, + "left_little_2_joint": 0.014109071344137192, + "left_middle_1_joint": 0.4021092653274536, + "left_middle_2_joint": 0.007081433665007353, + "left_ring_1_joint": 0.46708860993385315, + "left_ring_2_joint": 0.010040485300123692, + "left_thumb_1_joint": 4.370337774162181e-05, + "left_thumb_2_joint": 5.0644717703107744e-05, + "left_thumb_3_joint": 4.3332613131497055e-05, + "left_thumb_4_joint": 0.0012025833129882812, + "right_index_2_joint": 1.0875566403001358e-07, + "right_little_1_joint": 0.00584566593170166, + "right_little_2_joint": 4.0398157352683484e-07, + "right_middle_2_joint": 2.0775171094555844e-07, + "right_ring_2_joint": 4.3897361479139363e-07, + "right_thumb_1_joint": 2.9182887374190614e-05, + "right_thumb_2_joint": 0.2652952969074249, + "right_thumb_3_joint": 2.0220544683979824e-05, + "right_thumb_4_joint": 0.0014902949333190918 + }, + "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": 53.38663604803199, + "joint_effort_rms": 48.1811248835585, + "joint_jerk_rms": 5433.969802128853, + "joint_velocity_rms": 1.2061669165900544 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.993044255503985, + "mean_kinematic_grasp_stability": 0.3089890460761912, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.7537123108531055, + "obj_013_apple_3": 0.993044255503985, + "obj_013_apple_4": 0.6795393112340966 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9861484267717602, + "mean_duration_score": 0.1156845184787147, + "mean_hold_score": 0.10124485043883044, + "mean_kinematic_stability_score": 0.06851664679246368, + "mean_legacy_gsi": 0.29056609337270434, + "mean_lift_score": 0.2217445817660756, + "mean_motion_stability_score": 0.10212635759037003 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1861, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_06_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_06_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5916253d3071efb9c6d0772ed96dbb4c889af55d --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_06_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/06_fruit_bowl_loading.yaml", "episode_index": 14, "seed": 200600013, "success": false, "steps": 1920, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200600013, "base_seed": 200600000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 180.0, "base_yaw_deg": 180.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan1", "asset_split": "unseen", 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46.633740968685885}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0005208333333333421, "safety_violation_rate_time": 0.0005208333333333421, "safety_violation_rate_event": 0.0005208333333333333, "safety_violation_step_rate": 0.0005208333333333333, "safety_violation_events_per_step": 0.0005208333333333333, "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_middle_1_joint": 1, "left_thumb_2_joint": 39, "right_index_1_joint": 66, "right_index_2_joint": 24, "right_little_1_joint": 30, "right_little_2_joint": 37, "right_middle_1_joint": 91, "right_middle_2_joint": 34, "right_ring_1_joint": 61, "right_ring_2_joint": 36, "right_thumb_2_joint": 84}, "joint_limit_hard_counts": {"left_middle_1_joint": 1, "left_thumb_2_joint": 4, "left_thumb_3_joint": 1, "right_index_1_joint": 3, "right_index_2_joint": 1, "right_little_1_joint": 1, "right_little_2_joint": 1, "right_middle_1_joint": 4, "right_middle_2_joint": 1, "right_ring_1_joint": 3, "right_ring_2_joint": 1, "right_thumb_2_joint": 3}, "finger_joint_limit_saturation_counts": {"right_index_1_joint": 44, "right_index_2_joint": 2, "right_little_1_joint": 11, "right_little_2_joint": 35, "right_middle_1_joint": 73, "right_middle_2_joint": 32, "right_ring_1_joint": 36, "right_ring_2_joint": 33, "right_thumb_2_joint": 54}, "joint_limit_max_excess_by_joint": {"left_index_2_joint": 1.3402878096258064e-07, "left_little_2_joint": 1.230249836225994e-06, "left_middle_1_joint": 0.012312540784478188, "left_middle_2_joint": 2.0559825770760654e-06, "left_ring_2_joint": 1.4711885114593315e-06, "left_thumb_1_joint": 3.166160240652971e-05, "left_thumb_2_joint": 0.2018262892961502, "left_thumb_3_joint": 0.007866501808166504, "left_thumb_4_joint": 0.0013914406299591064, "right_index_1_joint": 0.8946888446807861, "right_index_2_joint": 0.17539966106414795, "right_little_1_joint": 0.27166131138801575, "right_little_2_joint": 0.7767856121063232, "right_middle_1_joint": 0.9934417605400085, "right_middle_2_joint": 0.6010532379150391, "right_ring_1_joint": 0.43752947449684143, "right_ring_2_joint": 0.626173734664917, "right_thumb_1_joint": 2.8340091375866905e-05, "right_thumb_2_joint": 0.5786393284797668, "right_thumb_3_joint": 0.00047768247895874083, "right_thumb_4_joint": 0.001559823751449585}, "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": 300, "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": -0.006114162504673004, "hard_excess_rad": 0.006114162504673004, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.5234770178794861, "operating_lower": 0.0, "operating_upper": 0.5234770178794861, "expanded_target": 0.10000000149011612, "shielded_target": 0.10000000149011612}], "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, -1.1896116733551025, 1.5838463306427002, 1.465399980545044, 0.0036071443464607, -1.9369776248931885, 1.569999098777771, 0.1589788943529129, -0.0028472088743001223, -1.495308756828308, -0.07861988991498947, 0.004691833630204201, 0.002664998173713684, 0.005464643239974976, 0.004216913599520922, 0.0, 0.0, 0.0, 0.10000000149011612, 0.0, 0.0, 0.25, 0.10000000149011612], "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, -1.1896116733551025, 1.5838463306427002, 1.465399980545044, 0.0036071443464607, -1.9369776248931885, 1.569999098777771, 0.1589788943529129, -0.0028472088743001223, -1.495308756828308, -0.07861988991498947, 0.004691833630204201, 0.002664998173713684, 0.005464643239974976, 0.004216913599520922, 0.0, -0.14475968480110168, -0.14702346920967102, -0.14389653503894806, -0.14529013633728027, 0.0, 0.0, 0.10000000149011612, 0.0, 0.0, 0.25, 0.0, -0.15000000596046448, -0.03830999881029129, -0.15000000596046448, -0.15000000596046448, 0.10000000149011612, 0.10000000149011612, 0.11425000429153442, 0.1857789009809494], "shielded_full_target": [1.5699793100357056, -1.5624622106552124, -1.1896116733551025, 1.5838463306427002, 1.465399980545044, 0.0036071443464607, -1.9369776248931885, 1.569999098777771, 0.1589788943529129, -0.0028472088743001223, -1.495308756828308, -0.07861988991498947, 0.004691833630204201, 0.002664998173713684, 0.005464643239974976, 0.004216913599520922, 0.0, -0.14475968480110168, -0.14702346920967102, -0.14389653503894806, -0.14529013633728027, 0.0, 0.0, 0.10000000149011612, 0.0, 0.0, 0.25, 0.0, -0.15000000596046448, -0.03830999881029129, -0.15000000596046448, -0.15000000596046448, 0.10000000149011612, 0.10000000149011612, 0.11425000429153442, 0.1857789009809494]}, "joint_limit_active_steps": 213, "joint_limit_hard_episode_events": 10, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 126, "max_joint_limit_excess_rad": 0.9934417605400085, "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": 213, "joint_limit_active_step_rate": 0.1109375, "finger_joint_limit_saturation_steps": 126, "finger_joint_limit_saturation_step_rate": 0.065625, "max_joint_limit_excess_rad": 0.9934417605400085, "max_joint_limit_excess_joint": "right_middle_1_joint", "stage_completion": {"move_bowl": true, "place_apple_3": false, "place_apple_4": false, "place_banana": false}, "current_stage_completion": {"move_bowl": true, "place_apple_3": false, "place_apple_4": false, "place_banana": false}, "stage_first_completion_step": {"move_bowl": 786, "place_apple_3": null, "place_apple_4": null, "place_banana": null}, "violation_counts": {"drop_to_table_obj_013_apple_4": 1}, "policy_query_count": 34, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1920, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_06_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_06_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..02bfd4c89dfc02af1c1708b137f0bf44bcedae34 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_06_episode_14/summary.json @@ -0,0 +1,233 @@ +{ + "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": 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": 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": 0.25 + }, + "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": 0.0005208333333333333 + }, + "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": 0.3333333333333333, + "latched_chain_depth_progress_score": 0.3333333333333333, + "avg_current_chain_depth": 1, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 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": 0.0005208333333333333, + "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": 0.1109375, + "finger_joint_limit_saturation_step_rate": 0.065625, + "max_joint_limit_excess_rad": 0.9934417605400085, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_middle_1_joint": 1, + "left_thumb_2_joint": 39, + "right_index_1_joint": 66, + "right_index_2_joint": 24, + "right_little_1_joint": 30, + "right_little_2_joint": 37, + "right_middle_1_joint": 91, + "right_middle_2_joint": 34, + "right_ring_1_joint": 61, + "right_ring_2_joint": 36, + "right_thumb_2_joint": 84 + }, + "joint_limit_hard_counts": { + "left_middle_1_joint": 1, + "left_thumb_2_joint": 4, + "left_thumb_3_joint": 1, + "right_index_1_joint": 3, + "right_index_2_joint": 1, + "right_little_1_joint": 1, + "right_little_2_joint": 1, + "right_middle_1_joint": 4, + "right_middle_2_joint": 1, + "right_ring_1_joint": 3, + "right_ring_2_joint": 1, + "right_thumb_2_joint": 3 + }, + "joint_limit_hard_episode_events": 10, + "finger_joint_limit_saturation_counts": { + "right_index_1_joint": 44, + "right_index_2_joint": 2, + "right_little_1_joint": 11, + "right_little_2_joint": 35, + "right_middle_1_joint": 73, + "right_middle_2_joint": 32, + "right_ring_1_joint": 36, + "right_ring_2_joint": 33, + "right_thumb_2_joint": 54 + }, + "joint_limit_max_excess_by_joint": { + "left_index_2_joint": 1.3402878096258064e-07, + "left_little_2_joint": 1.230249836225994e-06, + "left_middle_1_joint": 0.012312540784478188, + "left_middle_2_joint": 2.0559825770760654e-06, + "left_ring_2_joint": 1.4711885114593315e-06, + "left_thumb_1_joint": 3.166160240652971e-05, + "left_thumb_2_joint": 0.2018262892961502, + "left_thumb_3_joint": 0.007866501808166504, + "left_thumb_4_joint": 0.0013914406299591064, + "right_index_1_joint": 0.8946888446807861, + "right_index_2_joint": 0.17539966106414795, + "right_little_1_joint": 0.27166131138801575, + "right_little_2_joint": 0.7767856121063232, + "right_middle_1_joint": 0.9934417605400085, + "right_middle_2_joint": 0.6010532379150391, + "right_ring_1_joint": 0.43752947449684143, + "right_ring_2_joint": 0.626173734664917, + "right_thumb_1_joint": 2.8340091375866905e-05, + "right_thumb_2_joint": 0.5786393284797668, + "right_thumb_3_joint": 0.00047768247895874083, + "right_thumb_4_joint": 0.001559823751449585 + }, + "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": 54.044046194084856, + "joint_effort_rms": 46.633740968685885, + "joint_jerk_rms": 5444.290661210844, + "joint_velocity_rms": 1.2201588821486682 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9666509272403977, + "mean_kinematic_grasp_stability": 0.31251513704634826, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.25595739413855584, + "obj_013_apple_3": 0.9666509272403977, + "obj_013_apple_4": 0.06603325489703546 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.012239583333333333, + "mean_hold_score": 0.02002604166666669, + "mean_kinematic_stability_score": 0.014432122648320944, + "mean_legacy_gsi": 0.2166073567105097, + "mean_lift_score": 0.04618055555555556, + "mean_motion_stability_score": 0.018404439094596704 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1920, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_07_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e856f8c19957b686a4429a85a2a3f45fed50f050 --- /dev/null +++ b/gpt6_astra_1x_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": 1806, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "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": 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0.0011962248146568794, 0.7823560584054495], "rpy_deg": [0.0, 0.0, 1.7696931993751335]}, "obj_017_orange_4": {"position": [0.2748811740143896, 0.29213318962409673, 0.7823357584022153], "rpy_deg": [0.0, 0.0, -1.4815587619808728]}, "obj_017_orange_5": {"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": 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": 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": 0.9849590765102322, "mean_kinematic_grasp_stability": 0.3194398232570481, "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_legacy_gsi": 0.34040949608493026, "mean_kinematic_stability_score": 0.04979086946116226, "mean_lift_score": 0.31381506090808414, "mean_hold_score": 0.20047757475083128, "mean_motion_stability_score": 0.1942321777250939, "mean_duration_score": 0.2931432262827615, "mean_anti_slip_score": 0.7866832779623398}, "robot_motion_metrics": {"joint_velocity_rms": 0.6028966501444757, "joint_acceleration_rms": 25.219284276768644, "joint_jerk_rms": 2484.361550312222, "joint_effort_rms": 37.04292791476856}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.015503875968992466, "safety_violation_rate_time": 0.015503875968992466, "safety_violation_rate_event": 0.003875968992248062, "safety_violation_step_rate": 0.015503875968992248, "safety_violation_events_per_step": 0.003875968992248062, "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": 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}, "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": 0.03488372093023256, "finger_joint_limit_saturation_steps": 3, "finger_joint_limit_saturation_step_rate": 0.0016611295681063123, "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": 35, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1806, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_07_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..a530965da60d3b58966d8d69dab28231f2e90f56 --- /dev/null +++ b/gpt6_astra_1x_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": 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": 1806, + "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": 0.015503875968992248 + }, + "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": 0.003875968992248062, + "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": 0.03488372093023256, + "finger_joint_limit_saturation_step_rate": 0.0016611295681063123, + "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": 25.219284276768644, + "joint_effort_rms": 37.04292791476856, + "joint_jerk_rms": 2484.361550312222, + "joint_velocity_rms": 0.6028966501444757 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9849590765102322, + "mean_kinematic_grasp_stability": 0.3194398232570481, + "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": 0.7866832779623398, + "mean_duration_score": 0.2931432262827615, + "mean_hold_score": 0.20047757475083128, + "mean_kinematic_stability_score": 0.04979086946116226, + "mean_legacy_gsi": 0.34040949608493026, + "mean_lift_score": 0.31381506090808414, + "mean_motion_stability_score": 0.1942321777250939 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1806, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_07_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ff4894d8c759319b7794c3e133e8b0188223b86 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_07_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/07_citrus_plate_loading.yaml", "episode_index": 6, "seed": 200700005, "success": false, "steps": 1806, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200700005, "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": 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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"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, -1.4092079401016235, 1.5700000524520874, 1.011175513267517, 8.608811996602128e-10, -1.498935341835022, 1.5700000524520874, 0.21763789653778076, -1.7961458986803791e-09, -1.2098560333251953, -0.1602482795715332, 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, 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"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": 30, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1806, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_07_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..645b11867f95f2eaede3aefc7d921b1f34a821a4 --- /dev/null +++ b/gpt6_astra_1x_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": 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": 1806, + "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": 0.0005537098560354374 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 1.0, + "at_end_success_rate": 1.0, + "task_family_success_rate": { + "rigid_pick_place": 0.0 + } + }, + "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": 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": 0.0005537098560354374, + "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": 0.02768549280177187, + "finger_joint_limit_saturation_step_rate": 0.005537098560354375, + "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": 45.13079060576762, + "joint_effort_rms": 33.66732458977908, + "joint_jerk_rms": 4694.546313273972, + "joint_velocity_rms": 0.6953990026847628 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9988187943929052, + "mean_kinematic_grasp_stability": 0.5027320125409468, + "per_object_best_kinematic_grasp_stability": { + "obj_014_lemon_2": 0.9988187943929052, + "obj_014_lemon_3": 0.9232395005532263, + "obj_017_orange_4": 0.35554043817927633, + "obj_017_orange_5": 0.20140279721329352 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8150609080841628, + "mean_duration_score": 0.33748615725359665, + "mean_hold_score": 0.17521456256921406, + "mean_kinematic_stability_score": 0.06437252375420484, + "mean_legacy_gsi": 0.34269231345809315, + "mean_lift_score": 0.26315060908084165, + "mean_motion_stability_score": 0.17394630184546309 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1806, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_07_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..824edd4236c4558669b80303f2975e2842d9ae00 --- /dev/null +++ b/gpt6_astra_1x_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": 1806, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "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, "clean_surface": false, "asset_name": "table_surface_carpet_carpet2269_jpg", "asset_uri": "dex2bench_dataset/textures/carpet/carpet2269.jpg", "asset_category": "carpet", "asset_id": "carpet/carpet2269.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1494.3442982484378, "color": [0.8753033693377873, 0.4245215531595495, 0.4323052325148815], "pitch_deg": -27.520118997964637, "yaw_deg": -33.399649588829625, "angle_deg": 0.5624698277169258}, "dome": {"intensity": 232.2777167767149, "color": [0.9455965462864268, 0.8135980279604769, 0.9006833191883001], "exposure": 0.01271263294132885}, "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": 0.00027020076792726166, "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": [0.0036576071029012754, -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": 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{"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": [0.0016579023667270968, -0.004990625640168638, -0.0022003299715296267], "rpy_offset_deg": [-0.7937164015657314, 0.7124589526898542, 0.7982839410668301], "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": [0.0006276493134479925, -0.00023551786888963751, 0.00414425893418826], "rpy_offset_deg": [-0.7227968423553361, -0.7161666049496143, 0.29609854322820794], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 3, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_006_mustard_bottle", "uri": "dex2bench_dataset/Objects/006_mustard_bottle/usd_decomposition_linux/textured.usd", "scale": [0.8274981603845126, 0.8274981603845126, 0.8274981603845126], "body_type": "dynamic", "category": "bottle", "asset_code": "006", "asset_id": "clutter_006_mustard_bottle", "asset_split": "unseen", "spawn_position": [0.4463597146928583, -0.008079851696857154, 0.7528793024899135], "spawn_yaw_deg": 9.192016778997578, "obj_id": "distractor_00_clutter_006_mustard_bottle"}, {"name": "clutter_026_sponge", "uri": "dex2bench_dataset/Objects/026_sponge/usd_decomposition_linux/textured.usd", "scale": [0.8895784331401607, 0.8895784331401607, 0.8895784331401607], "body_type": "dynamic", "category": "misc", "asset_code": "026", "asset_id": "clutter_026_sponge", "asset_split": "unseen", "spawn_position": [-0.7678563660166355, 0.20859943054622299, 0.7501670096671118], "spawn_yaw_deg": 106.7757819571489, "obj_id": "distractor_01_clutter_026_sponge"}, {"name": "clutter_072b_toy_airplane", "uri": "dex2bench_dataset/Objects/072-b_toy_airplane/google_16k/usd_decomposition_linux/textured.usd", "scale": [1.147047394315084, 1.147047394315084, 1.147047394315084], "body_type": "dynamic", "category": "toy", "asset_code": "072", "asset_id": "clutter_072b_toy_airplane", "asset_split": "unseen", "spawn_position": [0.7707489927560947, 0.17648098410709778, 0.7507221374440585], "spawn_yaw_deg": 120.64302150032971, "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_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": 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": 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": 0.2959875822578441, "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": 0.28840739139987825, "mean_kinematic_stability_score": 0.045397873912194256, "mean_lift_score": 0.187015503875969, "mean_hold_score": 0.0782253599114065, "mean_motion_stability_score": 0.08497727406199068, "mean_duration_score": 0.3127353266888109, "mean_anti_slip_score": 0.838362864525684}, "robot_motion_metrics": {"joint_velocity_rms": 0.6827415214149752, "joint_acceleration_rms": 30.319391167723236, "joint_jerk_rms": 2922.8455857000667, "joint_effort_rms": 32.87197566741152}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.3338870431893761, "safety_violation_rate_time": 0.3338870431893761, "safety_violation_rate_event": 0.0027685492801771874, "safety_violation_step_rate": 0.3338870431893688, "safety_violation_events_per_step": 0.0027685492801771874, "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": 0.04928017718715393, "finger_joint_limit_saturation_steps": 13, "finger_joint_limit_saturation_step_rate": 0.007198228128460687, "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": 22, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1806, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_07_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1b8cf48b9c55dfe3f5ecabb85c2ac9696883ddab --- /dev/null +++ b/gpt6_astra_1x_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": 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": 1806, + "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": 0.3338870431893688 + }, + "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": 0.0027685492801771874, + "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": 0.04928017718715393, + "finger_joint_limit_saturation_step_rate": 0.007198228128460687, + "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 + }, + "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": 30.319391167723236, + "joint_effort_rms": 32.87197566741152, + "joint_jerk_rms": 2922.8455857000667, + "joint_velocity_rms": 0.6827415214149752 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9956801033181785, + "mean_kinematic_grasp_stability": 0.2959875822578441, + "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_anti_slip_score": 0.838362864525684, + "mean_duration_score": 0.3127353266888109, + "mean_hold_score": 0.0782253599114065, + "mean_kinematic_stability_score": 0.045397873912194256, + "mean_legacy_gsi": 0.28840739139987825, + "mean_lift_score": 0.187015503875969, + "mean_motion_stability_score": 0.08497727406199068 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1806, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_07_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89af1d81f761041e2211a9cd7f0f1d3d662b8f77 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_07_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/07_citrus_plate_loading.yaml", "episode_index": 8, "seed": 200700007, "success": false, "steps": 216, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 200700007, "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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[0.2772604856668254, 0.3164527131361701, 0.7731568846110922], "rpy_deg": [0.0, 0.0, -8.864701918763389]}, "obj_017_orange_5": {"position": [0.19388223490516315, 0.05997811244274379, 0.7731568846110922], "rpy_deg": [0.0, 0.0, -3.3046381851294493]}}, "_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": 0.0, "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": 0.0, "mean_kinematic_grasp_stability": null, "per_object_best_kinematic_grasp_stability": {"obj_014_lemon_2": 0.0, "obj_014_lemon_3": 0.0, "obj_017_orange_4": 0.0, "obj_017_orange_5": 0.0}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.19999999999999854, "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": 0.3021064976821952, "joint_acceleration_rms": 10.382093595946753, "joint_jerk_rms": 977.52074720732, "joint_effort_rms": 12.72002194301966}, "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": 0, "robot_constraint_diagnostics": {"joint_limit_max_excess_by_joint": {"left_index_dip_joint": 4.627666250200946e-09, "left_index_pip_joint": 9.331612091045827e-05, "left_middle_dip_joint": 4.404749233799521e-06, "left_middle_pip_joint": 0.00041387672536075115, "left_pinky_mcp_joint": 0.00011406622070353478, "left_ring_dip_joint": 7.97233315097401e-06, "left_ring_pip_joint": 0.00012582250928971916, "left_thumb_dip_joint": 2.4667403977218783e-06, "right_index_dip_joint": 1.6757803478206768e-11, "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": []}], "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": 0.00041387672536075115, "max_joint_limit_excess_joint": "left_middle_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": 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": 0.00041387672536075115, "max_joint_limit_excess_joint": "left_middle_pip_joint", "stage_completion": {"place_lemon_2": false, "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": null, "place_lemon_3": null, "place_orange_4": null, "place_orange_5": null}, "violation_counts": {}, "policy_query_count": 4, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1806, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_07_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..3fba5913b8a765a2b858f2276c4f0f65a297e327 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_07_episode_08/summary.json @@ -0,0 +1,186 @@ +{ + "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": 1806, + "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": { + "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": 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": 0.0, + "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": 0.00041387672536075115, + "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_dip_joint": 4.627666250200946e-09, + "left_index_pip_joint": 9.331612091045827e-05, + "left_middle_dip_joint": 4.404749233799521e-06, + "left_middle_pip_joint": 0.00041387672536075115, + "left_pinky_mcp_joint": 0.00011406622070353478, + "left_ring_dip_joint": 7.97233315097401e-06, + "left_ring_pip_joint": 0.00012582250928971916, + "left_thumb_dip_joint": 2.4667403977218783e-06, + "right_index_dip_joint": 1.6757803478206768e-11, + "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": 10.382093595946753, + "joint_effort_rms": 12.72002194301966, + "joint_jerk_rms": 977.52074720732, + "joint_velocity_rms": 0.3021064976821952 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.0, + "mean_kinematic_grasp_stability": null, + "per_object_best_kinematic_grasp_stability": { + "obj_014_lemon_2": 0.0, + "obj_014_lemon_3": 0.0, + "obj_017_orange_4": 0.0, + "obj_017_orange_5": 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": 0.19999999999999854, + "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": 216, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_07_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e8a16e8f40d450ba3e3a54041aa18a7a15e96f8 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_07_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/07_citrus_plate_loading.yaml", "episode_index": 9, "seed": 200700008, "success": false, "steps": 1806, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200700008, "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, 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"place_lemon_3": 1383, "place_orange_4": 1383, "place_orange_5": 1763}, "violation_counts": {"drop_to_table_obj_017_orange_4": 1}, "policy_query_count": 26, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1806, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_07_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8dc619f2976449dc12d5bb6ef92d5b76f2a88d34 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_07_episode_09/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": 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": 1806, + "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": 0.0005537098560354374 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 1.0, + "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": 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": 0.0005537098560354374, + "violation_counts": { + "drop_to_table_obj_017_orange_4": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.18383167220376523, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.13509824872016907, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_thumb_mcp_joint": 146, + "right_thumb_mcp_joint": 186 + }, + "joint_limit_hard_counts": { + "left_middle_pip_joint": 32, + "left_thumb_mcp_joint": 3, + "right_middle_pip_joint": 27, + "right_thumb_mcp_joint": 2 + }, + "joint_limit_hard_episode_events": 12, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 3.3562090884231566e-09, + "left_index_pip_joint": 0.00016568161663599312, + "left_middle_dip_joint": 9.074019544641487e-06, + "left_middle_pip_joint": 0.007521032355725765, + "left_pinky_mcp_joint": 0.00016289460472762585, + "left_ring_dip_joint": 1.9327424524817616e-05, + "left_ring_pip_joint": 0.00022876662842463702, + "left_thumb_dip_joint": 3.0531082302331924e-06, + "left_thumb_mcp_joint": 0.13509824872016907, + "left_thumb_pip_joint": 7.288079359568655e-05, + "right_index_dip_joint": 2.0918356824495277e-07, + "right_index_pip_joint": 0.0001570678286952898, + "right_index_pitch_joint": 0.0001358486188109964, + "right_middle_dip_joint": 5.568350843532244e-06, + "right_middle_pip_joint": 0.006100053898990154, + "right_middle_pitch_joint": 0.00014132374781183898, + "right_pinky_mcp_joint": 0.00011966251622652635, + "right_ring_dip_joint": 9.778777894098312e-06, + "right_ring_mcp_joint": 0.00011064769205404446, + "right_ring_pip_joint": 0.00019175400666426867, + "right_thumb_dip_joint": 2.895569201077919e-12, + "right_thumb_mcp_joint": 0.06383088231086731, + "right_thumb_pip_joint": 4.3726271542254835e-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": 19.61990342508048, + "joint_effort_rms": 32.20562479789272, + "joint_jerk_rms": 1972.3270047966994, + "joint_velocity_rms": 0.5187862776641678 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.7552176442602034, + "mean_kinematic_grasp_stability": 0.25888986839925243, + "per_object_best_kinematic_grasp_stability": { + "obj_014_lemon_2": 0.7552176442602034, + "obj_014_lemon_3": 0.49915301838708137, + "obj_017_orange_4": 0.6197267902621353, + "obj_017_orange_5": 0.5825916034746931 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6899224806201831, + "mean_duration_score": 0.3769979697305304, + "mean_hold_score": 0.2776647286821716, + "mean_kinematic_stability_score": 0.04379338582279713, + "mean_legacy_gsi": 0.3852317808999622, + "mean_lift_score": 0.3729235880398671, + "mean_motion_stability_score": 0.2782676493582694 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1806, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_07_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..57b632ec68e7c6c096e41ace7e6e42af3fc94552 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_07_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/07_citrus_plate_loading.yaml", "episode_index": 10, "seed": 200700009, "success": false, "steps": 1806, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200700009, "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": 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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0.735006033581767], "rpy_deg": [0.0, 0.0, -3.3785815726137773]}}, "_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": true, "at_end_success": true, "at_end_success_observed": true, "at_end_success_budget": true, "first_success_step": 1706, "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": 0.4333333333333333, "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": 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": null, "kinematic_grasp_stability_index": 0.9959499805316911, "mean_kinematic_grasp_stability": 0.5878424795434313, "per_object_best_kinematic_grasp_stability": {"obj_014_lemon_2": 0.9959499805316911, "obj_014_lemon_3": 0.6333744289065242, "obj_017_orange_4": 0.629910477869051, "obj_017_orange_5": 0.3709067809746797}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.362293210842132, "mean_kinematic_stability_score": 0.06729592062325826, "mean_lift_score": 0.2772702104097453, "mean_hold_score": 0.19799280177187195, "mean_motion_stability_score": 0.19813884674517024, "mean_duration_score": 0.4013335179032866, "mean_anti_slip_score": 0.7865909929863434}, "robot_motion_metrics": {"joint_velocity_rms": 0.47801738683577877, "joint_acceleration_rms": 16.58944187916716, "joint_jerk_rms": 1669.237453718935, "joint_effort_rms": 25.61866656816285}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0011074197120708906, "safety_violation_rate_time": 0.0011074197120708906, "safety_violation_rate_event": 0.0011074197120708748, "safety_violation_step_rate": 0.0011074197120708748, "safety_violation_events_per_step": 0.0011074197120708748, "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": {"left_ring_pip_joint": 2, "left_thumb_mcp_joint": 11}, "joint_limit_hard_counts": {"left_middle_pip_joint": 6, "left_ring_pip_joint": 1, "left_thumb_mcp_joint": 1, "right_middle_pip_joint": 22}, "joint_limit_max_excess_by_joint": {"left_index_dip_joint": 8.697041309346787e-09, "left_index_pip_joint": 0.0031220722012221813, "left_middle_dip_joint": 0.0001434262958355248, "left_middle_pip_joint": 0.006494990549981594, "left_pinky_mcp_joint": 0.00013642584963236004, "left_ring_dip_joint": 1.88663925655419e-05, "left_ring_pip_joint": 0.01835000514984131, "left_thumb_dip_joint": 1.7188465790241025e-05, "left_thumb_mcp_joint": 0.07408297061920166, "left_thumb_pip_joint": 5.2798743126913905e-05, "right_index_dip_joint": 6.168786512716906e-06, "right_index_pip_joint": 0.0013856522273272276, "right_index_pitch_joint": 0.00014959948020987213, "right_middle_dip_joint": 0.00015763410192448646, "right_middle_pip_joint": 0.0061658998019993305, "right_middle_pitch_joint": 0.0001536024792585522, "right_pinky_mcp_joint": 0.00013404923083726317, "right_ring_dip_joint": 1.297693233937025e-05, "right_ring_mcp_joint": 0.00012160219193901867, "right_ring_pip_joint": 0.0001594255882082507, "right_thumb_dip_joint": 2.9477143471012823e-05, "right_thumb_mcp_joint": 0.0004063881060574204, "right_thumb_pip_joint": 4.7241366701200604e-05, "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": 243, "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": -0.00515484344214201, "hard_excess_rad": 0.00515484344214201, "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}], 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"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, 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"joint_limit_hard_episode_events": 29, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.07408297061920166, "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": 11, "joint_limit_active_step_rate": 0.006090808416389812, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.07408297061920166, "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": 400, "place_lemon_3": 1283, "place_orange_4": 1283, "place_orange_5": 1706}, "violation_counts": {"drop_to_table_obj_017_orange_4": 1, "drop_to_table_obj_017_orange_5": 1}, "policy_query_count": 29, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1806, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_07_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..56c7abe6c7a0b0359827b8ecd1de804904e4d652 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_07_episode_10/summary.json @@ -0,0 +1,211 @@ +{ + "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": 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": 1806, + "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": 0.0011074197120708748 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 1.0, + "at_end_success_rate": 1.0, + "task_family_success_rate": { + "rigid_pick_place": 0.0 + } + }, + "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": 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": 0.0011074197120708748, + "violation_counts": { + "drop_to_table_obj_017_orange_4": 1, + "drop_to_table_obj_017_orange_5": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.006090808416389812, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.07408297061920166, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_ring_pip_joint": 2, + "left_thumb_mcp_joint": 11 + }, + "joint_limit_hard_counts": { + "left_middle_pip_joint": 6, + "left_ring_pip_joint": 1, + "left_thumb_mcp_joint": 1, + "right_middle_pip_joint": 22 + }, + "joint_limit_hard_episode_events": 29, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 8.697041309346787e-09, + "left_index_pip_joint": 0.0031220722012221813, + "left_middle_dip_joint": 0.0001434262958355248, + "left_middle_pip_joint": 0.006494990549981594, + "left_pinky_mcp_joint": 0.00013642584963236004, + "left_ring_dip_joint": 1.88663925655419e-05, + "left_ring_pip_joint": 0.01835000514984131, + "left_thumb_dip_joint": 1.7188465790241025e-05, + "left_thumb_mcp_joint": 0.07408297061920166, + "left_thumb_pip_joint": 5.2798743126913905e-05, + "right_index_dip_joint": 6.168786512716906e-06, + "right_index_pip_joint": 0.0013856522273272276, + "right_index_pitch_joint": 0.00014959948020987213, + "right_middle_dip_joint": 0.00015763410192448646, + "right_middle_pip_joint": 0.0061658998019993305, + "right_middle_pitch_joint": 0.0001536024792585522, + "right_pinky_mcp_joint": 0.00013404923083726317, + "right_ring_dip_joint": 1.297693233937025e-05, + "right_ring_mcp_joint": 0.00012160219193901867, + "right_ring_pip_joint": 0.0001594255882082507, + "right_thumb_dip_joint": 2.9477143471012823e-05, + "right_thumb_mcp_joint": 0.0004063881060574204, + "right_thumb_pip_joint": 4.7241366701200604e-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": 16.58944187916716, + "joint_effort_rms": 25.61866656816285, + "joint_jerk_rms": 1669.237453718935, + "joint_velocity_rms": 0.47801738683577877 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9959499805316911, + "mean_kinematic_grasp_stability": 0.5878424795434313, + "per_object_best_kinematic_grasp_stability": { + "obj_014_lemon_2": 0.9959499805316911, + "obj_014_lemon_3": 0.6333744289065242, + "obj_017_orange_4": 0.629910477869051, + "obj_017_orange_5": 0.3709067809746797 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7865909929863434, + "mean_duration_score": 0.4013335179032866, + "mean_hold_score": 0.19799280177187195, + "mean_kinematic_stability_score": 0.06729592062325826, + "mean_legacy_gsi": 0.362293210842132, + "mean_lift_score": 0.2772702104097453, + "mean_motion_stability_score": 0.19813884674517024 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1806, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_11/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_07_episode_11/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6be51fee24a26076eecd6b79a2d86aa5d876d522 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_07_episode_11/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/07_citrus_plate_loading.yaml", "episode_index": 11, "seed": 200700010, "success": false, "steps": 1806, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200700010, "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": "FloorPlan20", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": 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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": {"left_middle_pip_joint": 10, "left_thumb_mcp_joint": 5, "right_thumb_mcp_joint": 20}, "joint_limit_hard_counts": {"left_index_pip_joint": 21, "left_middle_pip_joint": 14, "left_thumb_mcp_joint": 4, "right_index_pip_joint": 29, "right_middle_pip_joint": 12, "right_thumb_mcp_joint": 20}, "joint_limit_max_excess_by_joint": {"left_index_dip_joint": 1.4147210514181552e-08, "left_index_pip_joint": 0.00836097914725542, "left_middle_dip_joint": 0.00013628863962367177, "left_middle_pip_joint": 0.10897267609834671, "left_pinky_mcp_joint": 0.0001499790232628584, "left_pinky_pip_joint": 0.0015532970428466797, "left_ring_dip_joint": 2.1964009647490457e-05, "left_ring_pip_joint": 0.0007897615432739258, "left_thumb_dip_joint": 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"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, -1.4406638145446777, 1.5700000524520874, 0.8941754102706909, 8.608811996602128e-10, -1.445355772972107, 1.5700000524520874, 0.2840835452079773, -1.7961458986803791e-09, -1.2401708364486694, -0.16917258501052856, 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, 0.8999999761581421, 0.949999988079071, 0.29570823907852173, 0.7459992170333862, 0.75, 2.983923177990455e-11, 5.672417535684815e-10, 8.040959009747439e-10, 4.3916983938352416e-10, 2.3304325136308535e-10, 0.013961698859930038, 0.16463930904865265, 0.7252748012542725, 0.006099715828895569, 0.6000000238418579, 3.3515426545172033e-11, 6.371259630988391e-10, 6.836714527835852e-11, 0.0, 0.0, 0.8146286606788635, 0.006851200945675373, 0.6511800289154053, 0.0, 0.0, 0.0], "shielded_full_target": [1.5700000524520874, -1.5700000524520874, -1.4406638145446777, 1.5700000524520874, 0.8941754102706909, 8.608811996602128e-10, -1.445355772972107, 1.5700000524520874, 0.2840835452079773, -1.7961458986803791e-09, -1.2401708364486694, -0.16917258501052856, 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, 0.8999999761581421, 0.949999988079071, 0.29570823907852173, 0.7459992170333862, 0.75, 2.983923177990455e-11, 5.672417535684815e-10, 8.040959009747439e-10, 4.3916983938352416e-10, 2.3304325136308535e-10, 0.013961698859930038, 0.16463930904865265, 0.7252748012542725, 0.006099715828895569, 0.6000000238418579, 3.3515426545172033e-11, 6.371259630988391e-10, 6.836714527835852e-11, 0.0, 0.0, 0.8146286606788635, 0.006851200945675373, 0.6511800289154053, 0.0, 0.0, 0.0]}, "joint_limit_active_steps": 35, "joint_limit_hard_episode_events": 59, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.10897267609834671, "max_joint_limit_excess_joint": "left_middle_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": 35, "joint_limit_active_step_rate": 0.01937984496124031, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.10897267609834671, "max_joint_limit_excess_joint": "left_middle_pip_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": false}, "stage_first_completion_step": {"place_lemon_2": 369, "place_lemon_3": 1323, "place_orange_4": 1323, "place_orange_5": 1765}, "violation_counts": {"drop_to_table_obj_017_orange_4": 1, "drop_to_table_obj_017_orange_5": 1}, "policy_query_count": 29, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1806, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_07_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..70d7c7187fbdd1ffaaa5cc1290130838537012c1 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_07_episode_11/summary.json @@ -0,0 +1,213 @@ +{ + "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": 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": 1806, + "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": 0.0011074197120708748 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 1.0, + "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": 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": 0.0011074197120708748, + "violation_counts": { + "drop_to_table_obj_017_orange_4": 1, + "drop_to_table_obj_017_orange_5": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.01937984496124031, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.10897267609834671, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_middle_pip_joint": 10, + "left_thumb_mcp_joint": 5, + "right_thumb_mcp_joint": 20 + }, + "joint_limit_hard_counts": { + "left_index_pip_joint": 21, + "left_middle_pip_joint": 14, + "left_thumb_mcp_joint": 4, + "right_index_pip_joint": 29, + "right_middle_pip_joint": 12, + "right_thumb_mcp_joint": 20 + }, + "joint_limit_hard_episode_events": 59, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 1.4147210514181552e-08, + "left_index_pip_joint": 0.00836097914725542, + "left_middle_dip_joint": 0.00013628863962367177, + "left_middle_pip_joint": 0.10897267609834671, + "left_pinky_mcp_joint": 0.0001499790232628584, + "left_pinky_pip_joint": 0.0015532970428466797, + "left_ring_dip_joint": 2.1964009647490457e-05, + "left_ring_pip_joint": 0.0007897615432739258, + "left_thumb_dip_joint": 6.655432662228122e-05, + "left_thumb_mcp_joint": 0.01651052199304104, + "left_thumb_pip_joint": 0.00015228174743242562, + "right_index_dip_joint": 5.028687519370578e-05, + "right_index_pip_joint": 0.007180113345384598, + "right_middle_dip_joint": 0.00012300230446271598, + "right_middle_pip_joint": 0.007726095151156187, + "right_pinky_mcp_joint": 0.00016283013974316418, + "right_ring_dip_joint": 8.32948262541322e-06, + "right_ring_mcp_joint": 0.0001470772986067459, + "right_ring_pip_joint": 0.0001371897669741884, + "right_thumb_dip_joint": 2.9184036975493655e-05, + "right_thumb_mcp_joint": 0.0248175747692585, + "right_thumb_pip_joint": 2.7759699150919914e-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": 18.001979964618947, + "joint_effort_rms": 35.776355284627755, + "joint_jerk_rms": 1801.7867951586709, + "joint_velocity_rms": 0.5283343004465273 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9978467114082143, + "mean_kinematic_grasp_stability": 0.5708702356518629, + "per_object_best_kinematic_grasp_stability": { + "obj_014_lemon_2": 0.9117706732089887, + "obj_014_lemon_3": 0.9978467114082143, + "obj_017_orange_4": 0.6630913731521965, + "obj_017_orange_5": 0.49961516928502425 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6399501661129688, + "mean_duration_score": 0.4328626799556995, + "mean_hold_score": 0.38508444075304704, + "mean_kinematic_stability_score": 0.07214902064647714, + "mean_legacy_gsi": 0.4484571516156706, + "mean_lift_score": 0.4692691029900332, + "mean_motion_stability_score": 0.3779047036578158 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1806, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_07_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8169f571d2a4caa4944a0e17a47bba8234826c3e --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_07_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/07_citrus_plate_loading.yaml", "episode_index": 12, "seed": 200700011, "success": false, "steps": 1806, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200700011, "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": "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_carpet2269_jpg", "asset_uri": "dex2bench_dataset/textures/carpet/carpet2269.jpg", "asset_category": "carpet", "asset_id": "carpet/carpet2269.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1214.3163963634788, "color": [0.48898130422490493, 0.7681229083391035, 0.6908617524257041], "pitch_deg": -16.66905802855767, "yaw_deg": 57.32191424899656, "angle_deg": 0.7557980705504441}, "dome": {"intensity": 321.05077182774687, "color": [0.8384112561902867, 0.9843502916493474, 0.6370262302662159], "exposure": -0.46579222155782907}, "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": 0.005236396925385148, "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": [0.0031857730687005663, -0.0020483361268185474, 0.0020451048624789874], "target_offset_m": [0.0036367859539096882, 0.004555047315878832, 0.0032384153214843484], "distance_offset_m": 0.0008840782475767021, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.8776318268609034, -0.1316102783366082, 0.30520585986159965], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.001013777267405801, -0.0004873347626323278, 0.0024992695028209578], "target_offset_m": [0.00013076177856818916, 0.0033353553694290333, -0.004216194390627288], "distance_offset_m": 0.025304251088477017, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.5390972875225335, -0.18102183946009553, -0.12282446693567528], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [-0.004945290332034209, -0.0024766455065032412, -0.0019530480291870224], "target_offset_m": [0.004105286613169344, -0.0007744705366793184, -0.0008236207094285877], "distance_offset_m": 0.014660792054175267, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.6359322170155262, 0.7680711790365164, -0.1586016342969927], "has_offset": true}, "cam_stereo_right": {"enabled": true, "position_offset_m": [-0.004945290332034209, -0.0024766455065032412, -0.0019530480291870224], "target_offset_m": [0.004105286613169344, -0.0007744705366793184, -0.0008236207094285877], "distance_offset_m": 0.014660792054175267, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.6359322170155262, 0.7680711790365164, -0.1586016342969927], "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": [0.003358536812992959, 0.001419048929885123, -0.0006177932786884362], "rpy_offset_deg": [0.48897581027194836, -0.006999063780623205, -0.5546246039473266], "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": [-0.0015163111659947169, -0.0012011647494685452, 0.0043118607414892795], "rpy_offset_deg": [0.580037566449479, 0.26309158042744274, 0.7780959012341242], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 1, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_053_mini_soccer_ball", "uri": "dex2bench_dataset/Objects/053_mini_soccer_ball/usd_decomposition_linux/textured.usd", "scale": [0.9748200056965044, 0.9748200056965044, 0.9748200056965044], "body_type": "dynamic", "category": "ball", "asset_code": "053", "asset_id": "clutter_053_mini_soccer_ball", "asset_split": "unseen", "spawn_position": [-0.916868216187426, 0.125597340997898, 0.7557462278120126], "spawn_yaw_deg": 322.54249011136835, "obj_id": "distractor_00_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_029_plate_1": {"position": [-0.012732194991475843, 0.2892506993925764, 0.7589671968350662], "rpy_deg": [0.0, 0.0, 6.885020141351202]}, "obj_014_lemon_2": {"position": [-0.30392539695879695, 0.3163611031413778, 0.7555418969247616], "rpy_deg": [0.0, 0.0, -4.978109898223617]}, "obj_014_lemon_3": {"position": [-0.20414160378885476, -0.0036995714786777663, 0.7555418969247616], "rpy_deg": [0.0, 0.0, 1.0477479499742337]}, "obj_017_orange_4": {"position": [0.27804895454199907, 0.31444399440886933, 0.7555215969215273], "rpy_deg": [0.0, 0.0, 3.6691596835941365]}, "obj_017_orange_5": {"position": [0.22797873493945928, 0.06906298359697055, 0.7555215969215273], "rpy_deg": [0.0, 0.0, 8.457344009741739]}}, "_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": 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": 20.05, "expert_time_step": 1203, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.75, "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": 0.75, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 2, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9939467755767358, "mean_kinematic_grasp_stability": 0.6813195106829133, "per_object_best_kinematic_grasp_stability": {"obj_014_lemon_2": 0.9939467755767358, "obj_014_lemon_3": 0.21095695312599538, "obj_017_orange_4": 0.269968957548504, "obj_017_orange_5": 0.6686130382870461}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4581209417991143, "mean_kinematic_stability_score": 0.16900949102211804, "mean_lift_score": 0.4573643410852713, "mean_hold_score": 0.3507544296788522, "mean_motion_stability_score": 0.3463073402572204, "mean_duration_score": 0.42264673311184975, "mean_anti_slip_score": 0.7884366925064615}, "robot_motion_metrics": {"joint_velocity_rms": 0.6164297212646711, "joint_acceleration_rms": 28.689185865822903, "joint_jerk_rms": 2889.7561107359998, "joint_effort_rms": 37.44633577559865}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0005537098560354453, "safety_violation_rate_time": 0.0005537098560354453, "safety_violation_rate_event": 0.0005537098560354374, "safety_violation_step_rate": 0.0005537098560354374, "safety_violation_events_per_step": 0.0005537098560354374, "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_pinky_mcp_joint": 22, "left_ring_mcp_joint": 23, "left_thumb_mcp_joint": 64, "right_thumb_mcp_joint": 39}, "joint_limit_hard_counts": {"left_middle_pip_joint": 9, "left_pinky_mcp_joint": 1, "left_ring_mcp_joint": 1, "left_thumb_mcp_joint": 5, "right_middle_pip_joint": 2, "right_thumb_mcp_joint": 4}, "finger_joint_limit_saturation_counts": {"left_ring_mcp_joint": 19, "left_thumb_mcp_joint": 10, "right_thumb_mcp_joint": 10}, "joint_limit_max_excess_by_joint": {"left_index_dip_joint": 1.0424422214327933e-08, "left_index_pip_joint": 0.004465435165911913, "left_middle_dip_joint": 0.00027428127941675484, "left_middle_pip_joint": 0.006900940090417862, "left_middle_pitch_joint": 0.00030438584508374333, "left_pinky_mcp_joint": 0.0819258913397789, "left_ring_dip_joint": 9.676021727500483e-05, "left_ring_mcp_joint": 0.7535475492477417, "left_ring_pip_joint": 0.002830235054716468, "left_thumb_dip_joint": 0.00010807447688421234, "left_thumb_mcp_joint": 0.3098418712615967, "right_index_dip_joint": 1.766595414665062e-05, "right_index_pip_joint": 0.0035500042140483856, "right_middle_dip_joint": 0.00010812402615556493, "right_middle_pip_joint": 0.006416782736778259, "right_middle_pitch_joint": 0.0002718656905926764, "right_ring_dip_joint": 1.512411927251378e-05, "right_ring_pip_joint": 0.00021591938275378197, "right_thumb_dip_joint": 4.440740667632781e-06, "right_thumb_mcp_joint": 0.29763340950012207, "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": 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": -0.00527774915099144, "hard_excess_rad": 0.00527774915099144, "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, -1.4793128967285156, 1.5700000524520874, 0.9667832255363464, 8.608811996602128e-10, -1.4835551977157593, 1.5700000524520874, 0.25296488404273987, -1.7961458986803791e-09, -1.277450442314148, -0.17988809943199158, 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, 0.7400000095367432, 0.8999999761581421, 0.29570823907852173, 0.8199999928474426, 0.7599999904632568, 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, -1.4793128967285156, 1.5700000524520874, 0.9667832255363464, 8.608811996602128e-10, -1.4835551977157593, 1.5700000524520874, 0.25296488404273987, -1.7961458986803791e-09, -1.277450442314148, -0.17988809943199158, 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, 0.7400000095367432, 0.8999999761581421, 0.29570823907852173, 0.8199999928474426, 0.7599999904632568, 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, -1.4793128967285156, 1.5700000524520874, 0.9667832255363464, 8.608811996602128e-10, -1.4835551977157593, 1.5700000524520874, 0.25296488404273987, -1.7961458986803791e-09, -1.277450442314148, -0.17988809943199158, 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, 0.7400000095367432, 0.8999999761581421, 0.29570823907852173, 0.8199999928474426, 0.7599999904632568, 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": 122, "joint_limit_hard_episode_events": 16, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 38, "max_joint_limit_excess_rad": 0.7535475492477417, "max_joint_limit_excess_joint": "left_ring_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": 122, "joint_limit_active_step_rate": 0.06755260243632337, "finger_joint_limit_saturation_steps": 38, "finger_joint_limit_saturation_step_rate": 0.021040974529346623, "max_joint_limit_excess_rad": 0.7535475492477417, "max_joint_limit_excess_joint": "left_ring_mcp_joint", "stage_completion": {"place_lemon_2": true, "place_lemon_3": true, "place_orange_4": true, "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": 358, "place_lemon_3": 1511, "place_orange_4": 1511, "place_orange_5": null}, "violation_counts": {"drop_to_table_obj_017_orange_4": 1}, "policy_query_count": 22, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1806, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_07_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..a064afbfdcc5cc1c54b23618aad3f0429c717e5f --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_07_episode_12/summary.json @@ -0,0 +1,215 @@ +{ + "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": 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": 1806, + "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": 0.0005537098560354374 + }, + "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": 1.0, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 2 + }, + "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": 0.0005537098560354374, + "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": 0.06755260243632337, + "finger_joint_limit_saturation_step_rate": 0.021040974529346623, + "max_joint_limit_excess_rad": 0.7535475492477417, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_pinky_mcp_joint": 22, + "left_ring_mcp_joint": 23, + "left_thumb_mcp_joint": 64, + "right_thumb_mcp_joint": 39 + }, + "joint_limit_hard_counts": { + "left_middle_pip_joint": 9, + "left_pinky_mcp_joint": 1, + "left_ring_mcp_joint": 1, + "left_thumb_mcp_joint": 5, + "right_middle_pip_joint": 2, + "right_thumb_mcp_joint": 4 + }, + "joint_limit_hard_episode_events": 16, + "finger_joint_limit_saturation_counts": { + "left_ring_mcp_joint": 19, + "left_thumb_mcp_joint": 10, + "right_thumb_mcp_joint": 10 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 1.0424422214327933e-08, + "left_index_pip_joint": 0.004465435165911913, + "left_middle_dip_joint": 0.00027428127941675484, + "left_middle_pip_joint": 0.006900940090417862, + "left_middle_pitch_joint": 0.00030438584508374333, + "left_pinky_mcp_joint": 0.0819258913397789, + "left_ring_dip_joint": 9.676021727500483e-05, + "left_ring_mcp_joint": 0.7535475492477417, + "left_ring_pip_joint": 0.002830235054716468, + "left_thumb_dip_joint": 0.00010807447688421234, + "left_thumb_mcp_joint": 0.3098418712615967, + "right_index_dip_joint": 1.766595414665062e-05, + "right_index_pip_joint": 0.0035500042140483856, + "right_middle_dip_joint": 0.00010812402615556493, + "right_middle_pip_joint": 0.006416782736778259, + "right_middle_pitch_joint": 0.0002718656905926764, + "right_ring_dip_joint": 1.512411927251378e-05, + "right_ring_pip_joint": 0.00021591938275378197, + "right_thumb_dip_joint": 4.440740667632781e-06, + "right_thumb_mcp_joint": 0.29763340950012207, + "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": 28.689185865822903, + "joint_effort_rms": 37.44633577559865, + "joint_jerk_rms": 2889.7561107359998, + "joint_velocity_rms": 0.6164297212646711 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9939467755767358, + "mean_kinematic_grasp_stability": 0.6813195106829133, + "per_object_best_kinematic_grasp_stability": { + "obj_014_lemon_2": 0.9939467755767358, + "obj_014_lemon_3": 0.21095695312599538, + "obj_017_orange_4": 0.269968957548504, + "obj_017_orange_5": 0.6686130382870461 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7884366925064615, + "mean_duration_score": 0.42264673311184975, + "mean_hold_score": 0.3507544296788522, + "mean_kinematic_stability_score": 0.16900949102211804, + "mean_legacy_gsi": 0.4581209417991143, + "mean_lift_score": 0.4573643410852713, + "mean_motion_stability_score": 0.3463073402572204 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1806, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_13/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_07_episode_13/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..769f400b44bf465bf943f1a29c3d5a4e568a1e13 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_07_episode_13/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/07_citrus_plate_loading.yaml", "episode_index": 13, "seed": 200700012, "success": false, "steps": 1806, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200700012, "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": "FloorPlan7", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan7_physics/scene.usda", "scene_offset": [0.0, 0.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_stone_stone2639_jpg", "asset_uri": "dex2bench_dataset/textures/stone/stone2639.jpg", "asset_category": "stone", "asset_id": "stone/stone2639.jpg", "asset_split": "unseen", 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0.021040974529346623, "max_joint_limit_excess_rad": 1.5978164672851562, "max_joint_limit_excess_joint": "left_middle_dip_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": 407, "place_lemon_3": null, "place_orange_4": null, "place_orange_5": null}, "violation_counts": {"drop_to_table_obj_017_orange_4": 1}, "policy_query_count": 29, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1806, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_07_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..56de8877988f3e6e01a6c7ce522368873ffe034f --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_07_episode_13/summary.json @@ -0,0 +1,238 @@ +{ + "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": 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": 1806, + "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": 0.0005537098560354374 + }, + "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": 0.0005537098560354374, + "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": 0.04097452934662237, + "finger_joint_limit_saturation_step_rate": 0.021040974529346623, + "max_joint_limit_excess_rad": 1.5978164672851562, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_dip_joint": 11, + "left_index_pip_joint": 7, + "left_middle_dip_joint": 31, + "left_middle_mcp_joint": 6, + "left_middle_pip_joint": 6, + "left_pinky_mcp_joint": 10, + "left_pinky_pip_joint": 28, + "left_ring_dip_joint": 11, + "left_ring_mcp_joint": 8, + "left_ring_pip_joint": 26, + "left_thumb_dip_joint": 16, + "left_thumb_mcp_joint": 34, + "left_thumb_pip_joint": 1 + }, + "joint_limit_hard_counts": { + "left_index_dip_joint": 1, + "left_index_pip_joint": 3, + "left_middle_dip_joint": 1, + "left_middle_mcp_joint": 1, + "left_middle_pip_joint": 24, + "left_pinky_mcp_joint": 1, + "left_pinky_pip_joint": 1, + "left_ring_dip_joint": 1, + "left_ring_mcp_joint": 1, + "left_ring_pip_joint": 4, + "left_thumb_dip_joint": 1, + "left_thumb_mcp_joint": 3, + "left_thumb_pip_joint": 1 + }, + "joint_limit_hard_episode_events": 26, + "finger_joint_limit_saturation_counts": { + "left_index_dip_joint": 6, + "left_middle_dip_joint": 29, + "left_pinky_mcp_joint": 3, + "left_pinky_pip_joint": 26, + "left_ring_dip_joint": 5, + "left_ring_mcp_joint": 3, + "left_ring_pip_joint": 16, + "left_thumb_dip_joint": 12, + "left_thumb_mcp_joint": 6 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 0.40528249740600586, + "left_index_pip_joint": 0.14446650445461273, + "left_middle_dip_joint": 1.5978164672851562, + "left_middle_mcp_joint": 0.11571246385574341, + "left_middle_pip_joint": 0.11712995171546936, + "left_pinky_mcp_joint": 0.285890132188797, + "left_pinky_pip_joint": 1.280145525932312, + "left_ring_dip_joint": 0.534247875213623, + "left_ring_mcp_joint": 0.29434823989868164, + "left_ring_pip_joint": 0.8452719449996948, + "left_thumb_dip_joint": 0.7821993231773376, + "left_thumb_mcp_joint": 0.39955639839172363, + "left_thumb_pip_joint": 0.017655611038208008, + "right_index_dip_joint": 1.869120023911819e-05, + "right_index_pip_joint": 0.00017905019922181964, + "right_middle_dip_joint": 2.0413923266460188e-05, + "right_middle_pip_joint": 0.0036551798693835735, + "right_middle_pitch_joint": 0.00015007599722594023, + "right_ring_dip_joint": 2.642575418576598e-05, + "right_ring_pip_joint": 0.000220192494452931, + "right_thumb_dip_joint": 5.7547713367966935e-06, + "right_thumb_yaw_joint": 1.998916657197647e-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": 26.91104461118654, + "joint_effort_rms": 30.43263853365542, + "joint_jerk_rms": 2569.227645828281, + "joint_velocity_rms": 0.7024051904024876 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9204841411976157, + "mean_kinematic_grasp_stability": 0.207271576198809, + "per_object_best_kinematic_grasp_stability": { + "obj_014_lemon_2": 0.7828394601838975, + "obj_014_lemon_3": 0.9204841411976157, + "obj_017_orange_4": 0.2598135494080208, + "obj_017_orange_5": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6233388704318937, + "mean_duration_score": 0.3812430786267945, + "mean_hold_score": 0.12162236987818309, + "mean_kinematic_stability_score": 0.005939260281444278, + "mean_legacy_gsi": 0.2777725625442422, + "mean_lift_score": 0.19864341085271317, + "mean_motion_stability_score": 0.11889181528876755 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1806, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_07_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a589018df38daa42b03d556afc9605ebdfddb402 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_07_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/07_citrus_plate_loading.yaml", "episode_index": 14, "seed": 200700013, "success": false, "steps": 1806, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200700013, "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": "FloorPlan20", "asset_split": "unseen", 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"clutter_035_power_drill", "asset_split": "unseen", "spawn_position": [-0.741192329188385, 0.26913174817713836, 0.7856623253302819], "spawn_yaw_deg": 117.25390945544548, "obj_id": "distractor_00_clutter_035_power_drill"}]}}, "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": [-0.0004655466059778138, 0.2858582903528208, 0.7865617093552786], "rpy_deg": [0.0, 0.0, -3.6598002879834635]}, "obj_014_lemon_2": {"position": [-0.2875122490850533, 0.2879006112869531, 0.783136409444974], "rpy_deg": [0.0, 0.0, -9.42083055021244]}, "obj_014_lemon_3": {"position": [-0.1825524419725146, 0.0073726954512757965, 0.783136409444974], "rpy_deg": [0.0, 0.0, -6.568594735234596]}, "obj_017_orange_4": {"position": [0.26, 0.3, 0.7831161094417397], "rpy_deg": [0.0, 0.0, -4.091941493547502]}, "obj_017_orange_5": {"position": [0.20339434526546807, 0.03745810680679799, 0.7831161094417397], "rpy_deg": [0.0, 0.0, -3.9856700867958006]}}, "_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": 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": 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": 0.9798521801731914, "mean_kinematic_grasp_stability": 0.3482549567639496, "per_object_best_kinematic_grasp_stability": {"obj_014_lemon_2": 0.5910853184901924, "obj_014_lemon_3": 0.9798521801731914, "obj_017_orange_4": 0.5721627519293111, "obj_017_orange_5": 0.17729638507075418}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.3613472407046936, "mean_kinematic_stability_score": 0.017354898177605462, "mean_lift_score": 0.34316168327796237, "mean_hold_score": 0.2584925249169465, "mean_motion_stability_score": 0.24932597274876458, "mean_duration_score": 0.4259505352528579, "mean_anti_slip_score": 0.590254706533767}, "robot_motion_metrics": {"joint_velocity_rms": 0.747824449311001, "joint_acceleration_rms": 28.75402549361176, "joint_jerk_rms": 2855.5487496264777, "joint_effort_rms": 46.65585200125148}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.17884828349944837, "safety_violation_rate_time": 0.17884828349944837, "safety_violation_rate_event": 0.003875968992248062, "safety_violation_step_rate": 0.1788482834994463, "safety_violation_events_per_step": 0.003875968992248062, "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_mcp_joint": 4, "left_middle_mcp_joint": 23, "left_middle_pip_joint": 6, "left_ring_pip_joint": 1, "left_thumb_mcp_joint": 51, "left_thumb_yaw_joint": 52}, "joint_limit_hard_counts": {"left_index_mcp_joint": 1, "left_middle_mcp_joint": 1, "left_middle_pip_joint": 16, "left_ring_pip_joint": 1, "left_thumb_mcp_joint": 7, "left_thumb_yaw_joint": 2, "right_middle_pip_joint": 1}, "finger_joint_limit_saturation_counts": {"left_middle_mcp_joint": 15, "left_thumb_mcp_joint": 19, "left_thumb_yaw_joint": 44}, "joint_limit_max_excess_by_joint": {"left_index_dip_joint": 8.613811885993528e-09, "left_index_mcp_joint": 0.06639307737350464, "left_index_pip_joint": 0.004801809322088957, "left_index_pitch_joint": 0.0033638954628258944, "left_middle_dip_joint": 0.00016881008923519403, "left_middle_mcp_joint": 0.6392132043838501, "left_middle_pip_joint": 0.04421219602227211, "left_middle_pitch_joint": 0.00018081279995385557, "left_pinky_dip_joint": 1.476019861001987e-06, "left_pinky_mcp_joint": 0.00017041128012351692, "left_pinky_pip_joint": 2.840434535755776e-05, "left_ring_dip_joint": 1.3583319741883315e-05, "left_ring_mcp_joint": 0.0001451060816179961, "left_ring_pip_joint": 0.040140245109796524, "left_thumb_dip_joint": 8.658471779199317e-05, "left_thumb_mcp_joint": 0.6103029251098633, "left_thumb_yaw_joint": 0.7936220169067383, "right_index_dip_joint": 2.6891581001109444e-05, "right_index_pip_joint": 0.00024214890436269343, "right_index_pitch_joint": 1.8897260815720074e-05, "right_middle_dip_joint": 3.139076579827815e-05, "right_middle_pip_joint": 0.006717665586620569, "right_middle_pitch_joint": 5.527942630578764e-05, "right_pinky_mcp_joint": 3.9381004171445966e-05, "right_ring_dip_joint": 1.2102937034796923e-05, "right_ring_mcp_joint": 4.2735835450002924e-05, "right_ring_pip_joint": 0.00017746489902492613, "right_thumb_dip_joint": 6.11620680501801e-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": 997, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_thumb_mcp_joint", "role": "finger", "qpos": -0.018147969618439674, "hard_excess_rad": 0.018147969618439674, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.6632000207901001, "operating_lower": 0.0, "operating_upper": 0.6632000207901001, "expanded_target": 0.5037806034088135, "shielded_target": 0.5037806034088135}], "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": [1.7946112155914307, -1.5159891843795776, -2.084616184234619, 1.6618270874023438, 0.7108597159385681, 0.16555754840373993, -0.5150452256202698, 1.5945912599563599, -0.5141053199768066, 0.2824733555316925, -1.8767610788345337, -0.4442581534385681, 0.04859346151351929, 0.0029135316144675016, 0.027625417336821556, 0.007189338095486164, 0.22835925221443176, -0.051139168441295624, -0.004084933549165726, 0.12596985697746277, 0.0, 0.34745311737060547, 0.7446742057800293, 0.8393958806991577, 0.6911866068840027, 0.8799575567245483, 0.8792235851287842, 0.0, 0.0, 0.10755880177021027, 0.16469621658325195, 0.8279868364334106, 0.36450958251953125, 0.5037806034088135, 0.043493375182151794, 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": [1.7946112155914307, -1.5159891843795776, -2.084616184234619, 1.6618270874023438, 0.7108597159385681, 0.16555754840373993, -0.5150452256202698, 1.5945912599563599, -0.5141053199768066, 0.2824733555316925, -1.8767610788345337, -0.4442581534385681, 0.04859346151351929, 0.0029135316144675016, 0.027625417336821556, 0.007189338095486164, 0.22835925221443176, -0.051139168441295624, -0.004084933549165726, 0.12596985697746277, 0.0, 0.34745311737060547, 0.7446742057800293, 0.8393958806991577, 0.6911866068840027, 0.8799575567245483, 0.8792235851287842, 0.0, 0.0, 0.14148934185504913, 0.0, 0.3770908713340759, 0.10755880177021027, 0.16469621658325195, 0.8279868364334106, 0.36450958251953125, 0.5037806034088135, 0.0, 0.0, 0.043493375182151794, 0.0, 0.0, 0.9299948215484619, 0.40941715240478516, 0.5467531085014343, 0.0, 0.0, 0.0], "shielded_full_target": [1.7946112155914307, -1.5159891843795776, -2.084616184234619, 1.6618270874023438, 0.7108597159385681, 0.16555754840373993, -0.5150452256202698, 1.5945912599563599, -0.5141053199768066, 0.2824733555316925, -1.8767610788345337, -0.4442581534385681, 0.04859346151351929, 0.0029135316144675016, 0.027625417336821556, 0.007189338095486164, 0.22835925221443176, -0.051139168441295624, -0.004084933549165726, 0.12596985697746277, 0.0, 0.34745311737060547, 0.7446742057800293, 0.8393958806991577, 0.6911866068840027, 0.8799575567245483, 0.8792235851287842, 0.0, 0.0, 0.14148934185504913, 0.0, 0.3770908713340759, 0.10755880177021027, 0.16469621658325195, 0.8279868364334106, 0.36450958251953125, 0.5037806034088135, 0.0, 0.0, 0.043493375182151794, 0.0, 0.0, 0.9299948215484619, 0.40941715240478516, 0.5467531085014343, 0.0, 0.0, 0.0]}, "joint_limit_active_steps": 97, "joint_limit_hard_episode_events": 23, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 57, "max_joint_limit_excess_rad": 0.7936220169067383, "max_joint_limit_excess_joint": "left_thumb_yaw_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": 97, "joint_limit_active_step_rate": 0.05370985603543743, "finger_joint_limit_saturation_steps": 57, "finger_joint_limit_saturation_step_rate": 0.03156146179401993, "max_joint_limit_excess_rad": 0.7936220169067383, "max_joint_limit_excess_joint": "left_thumb_yaw_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": 369, "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, "high_speed_obj_014_lemon_2": 1, "drop_to_table_obj_014_lemon_3": 1, "drop_obj_014_lemon_3": 1, "high_speed_obj_014_lemon_3": 1}, "policy_query_count": 21, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1806, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_07_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_07_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0c446c48be9556835a9b8af7929c9279e7ba58d6 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_07_episode_14/summary.json @@ -0,0 +1,232 @@ +{ + "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": 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": 1806, + "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": 0.1788482834994463 + }, + "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": 0.003875968992248062, + "violation_counts": { + "drop_obj_014_lemon_2": 1, + "drop_obj_014_lemon_3": 1, + "drop_to_table_obj_014_lemon_2": 1, + "drop_to_table_obj_014_lemon_3": 1, + "drop_to_table_obj_017_orange_4": 1, + "high_speed_obj_014_lemon_2": 1, + "high_speed_obj_014_lemon_3": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.05370985603543743, + "finger_joint_limit_saturation_step_rate": 0.03156146179401993, + "max_joint_limit_excess_rad": 0.7936220169067383, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_mcp_joint": 4, + "left_middle_mcp_joint": 23, + "left_middle_pip_joint": 6, + "left_ring_pip_joint": 1, + "left_thumb_mcp_joint": 51, + "left_thumb_yaw_joint": 52 + }, + "joint_limit_hard_counts": { + "left_index_mcp_joint": 1, + "left_middle_mcp_joint": 1, + "left_middle_pip_joint": 16, + "left_ring_pip_joint": 1, + "left_thumb_mcp_joint": 7, + "left_thumb_yaw_joint": 2, + "right_middle_pip_joint": 1 + }, + "joint_limit_hard_episode_events": 23, + "finger_joint_limit_saturation_counts": { + "left_middle_mcp_joint": 15, + "left_thumb_mcp_joint": 19, + "left_thumb_yaw_joint": 44 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 8.613811885993528e-09, + "left_index_mcp_joint": 0.06639307737350464, + "left_index_pip_joint": 0.004801809322088957, + "left_index_pitch_joint": 0.0033638954628258944, + "left_middle_dip_joint": 0.00016881008923519403, + "left_middle_mcp_joint": 0.6392132043838501, + "left_middle_pip_joint": 0.04421219602227211, + "left_middle_pitch_joint": 0.00018081279995385557, + "left_pinky_dip_joint": 1.476019861001987e-06, + "left_pinky_mcp_joint": 0.00017041128012351692, + "left_pinky_pip_joint": 2.840434535755776e-05, + "left_ring_dip_joint": 1.3583319741883315e-05, + "left_ring_mcp_joint": 0.0001451060816179961, + "left_ring_pip_joint": 0.040140245109796524, + "left_thumb_dip_joint": 8.658471779199317e-05, + "left_thumb_mcp_joint": 0.6103029251098633, + "left_thumb_yaw_joint": 0.7936220169067383, + "right_index_dip_joint": 2.6891581001109444e-05, + "right_index_pip_joint": 0.00024214890436269343, + "right_index_pitch_joint": 1.8897260815720074e-05, + "right_middle_dip_joint": 3.139076579827815e-05, + "right_middle_pip_joint": 0.006717665586620569, + "right_middle_pitch_joint": 5.527942630578764e-05, + "right_pinky_mcp_joint": 3.9381004171445966e-05, + "right_ring_dip_joint": 1.2102937034796923e-05, + "right_ring_mcp_joint": 4.2735835450002924e-05, + "right_ring_pip_joint": 0.00017746489902492613, + "right_thumb_dip_joint": 6.11620680501801e-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": 28.75402549361176, + "joint_effort_rms": 46.65585200125148, + "joint_jerk_rms": 2855.5487496264777, + "joint_velocity_rms": 0.747824449311001 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9798521801731914, + "mean_kinematic_grasp_stability": 0.3482549567639496, + "per_object_best_kinematic_grasp_stability": { + "obj_014_lemon_2": 0.5910853184901924, + "obj_014_lemon_3": 0.9798521801731914, + "obj_017_orange_4": 0.5721627519293111, + "obj_017_orange_5": 0.17729638507075418 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.590254706533767, + "mean_duration_score": 0.4259505352528579, + "mean_hold_score": 0.2584925249169465, + "mean_kinematic_stability_score": 0.017354898177605462, + "mean_legacy_gsi": 0.3613472407046936, + "mean_lift_score": 0.34316168327796237, + "mean_motion_stability_score": 0.24932597274876458 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1806, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_08_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_08_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b65b5d20a4537a93b36df07a2d78d4d292e6d4c4 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_08_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/08_frypan_stand_pour.yaml", "episode_index": 5, "seed": 200800004, "success": false, "steps": 3432, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "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": 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"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": 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": 3432, + "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": { + "pour_tilt": 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": 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": 0.10751748251748251, + "finger_joint_limit_saturation_step_rate": 0.06701631701631702, + "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": 218, + "left_hand_Thumb_Opposition": 8, + "left_hand_index_spread": 3, + "left_hand_j3": 56, + "left_hand_j4": 2, + "left_hand_j5": 8, + "right_hand_Middle_Finger_Proximal": 102, + "right_hand_Pinky": 2, + "right_hand_Ring_Finger": 7, + "right_hand_Thumb_Flexion": 2, + "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": 4, + "left_hand_Thumb_Opposition": 2, + "left_hand_index_spread": 7, + "left_hand_j3": 2, + "left_hand_j4": 3, + "left_hand_j5": 2, + "right_hand_Middle_Finger_Distal": 2, + "right_hand_Middle_Finger_Proximal": 7, + "right_hand_Pinky": 2, + "right_hand_Ring_Finger": 4, + "right_hand_Thumb_Flexion": 1, + "right_hand_j12": 1, + "right_hand_j13": 3, + "right_hand_j14": 1, + "right_hand_j15": 1, + "right_hand_j3": 1 + }, + "joint_limit_hard_episode_events": 17, + "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": 0.0040077343583106995, + "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": 0.00069439597427845, + "right_hand_j12": 0.006214263383299112, + "right_hand_j13": 0.01745983026921749, + "right_hand_j14": 0.009076248854398727, + "right_hand_j15": 0.42762744426727295, + "right_hand_j16": 4.350747258285992e-05, + "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": 16.19480984042866, + "joint_effort_rms": 30.108836546907604, + "joint_jerk_rms": 1592.3769472217396, + "joint_velocity_rms": 0.394772393942661 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9996246327951787, + "mean_kinematic_grasp_stability": 0.8020159058972123, + "per_object_best_kinematic_grasp_stability": { + "obj_146_olive_oil_1": 0.0, + "obj_172_soy_sauce_1": 0.9996246327951787 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9117132867132867, + "mean_duration_score": 0.31271853146853146, + "mean_hold_score": 0.2844769813519827, + "mean_kinematic_stability_score": 0.182042654631098, + "mean_legacy_gsi": 0.4085898903069045, + "mean_lift_score": 0.3151223776223776, + "mean_motion_stability_score": 0.26163128872930924 + } + }, + "tool": { + "tool_selection_accuracy": 1.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 7, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3432, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_08_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_08_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..764e7f1df497e851770817bec3ff61fb95c874d0 --- /dev/null +++ b/gpt6_astra_1x_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": 3432, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200800005, "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": 270.0, "base_yaw_deg": -90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan329", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan329_physics/scene.usda", "scene_offset": [0.65, 1.85, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_carpet_carpet2035_jpg", "asset_uri": 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"obj_172_soy_sauce_1": {"position": [0.3000414012995037, 0.177975033850448, 0.7711089368123427], "rpy_deg": [90.0, 0.0, 5.269474080916353]}, "obj_146_olive_oil_1": {"position": [0.3327788239933767, 0.30348432278886606, 0.7711089395490986], "rpy_deg": [90.0, 0.0, 2.5578730989292247]}}, "_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": 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": 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": 0.371556048538286, "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": 0.25099982301119333, "mean_kinematic_stability_score": 0.00038062204552653816, "mean_lift_score": 0.12310606060606061, "mean_hold_score": 0.0856716200466197, "mean_motion_stability_score": 0.07917449623227499, "mean_duration_score": 0.11497668997669035, "mean_anti_slip_score": 0.8782536907536908}, "robot_motion_metrics": {"joint_velocity_rms": 0.3636514334658434, "joint_acceleration_rms": 13.490933704395712, "joint_jerk_rms": 1321.0328198621203, "joint_effort_rms": 27.80970109736008}, "tool_selection_accuracy": 1.0, "tool_switch_success_rate": 0.0, "tool_switch_total": 2, "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": 3, "left_hand_j12": 25, "left_hand_j3": 120, "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": 2, "left_hand_j12": 4, "left_hand_j3": 3, "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_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": 0.016400864347815514, "left_hand_Thumb_Opposition": 0.0036388009320944548, "left_hand_index_spread": 0.0020095754880458117, "left_hand_j12": 0.14039528369903564, "left_hand_j13": 0.004580875393003225, "left_hand_j14": 0.000366876891348511, "left_hand_j15": 0.0001609388564247638, "left_hand_j16": 6.8479507717711385e-06, "left_hand_j17": 1.3919116099714302e-06, "left_hand_j3": 0.5840762853622437, "left_hand_j4": 3.91705246016727e-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": 368, "joint_limit_hard_episode_events": 27, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 156, "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": 368, "joint_limit_active_step_rate": 0.10722610722610723, "finger_joint_limit_saturation_steps": 156, "finger_joint_limit_saturation_step_rate": 0.045454545454545456, "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": 33, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3432, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_08_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_08_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..cd06bc754e2be5a088e159b9928faa66e443aa83 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_08_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": 200800000, + "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": 3432, + "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": 0.10722610722610723, + 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-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": 324, "joint_limit_hard_episode_events": 20, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 185, "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": 324, "joint_limit_active_step_rate": 0.0944055944055944, "finger_joint_limit_saturation_steps": 185, "finger_joint_limit_saturation_step_rate": 0.053904428904428904, "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": 26, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3432, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_08_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_08_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..68e299a542cdc617cdcefdc1d5658815548a4aa0 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_08_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": 200800000, + "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": 3432, + "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": 0.0005827505827505828 + }, + "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": 0.0002913752913752914, + "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": 0.0944055944055944, + "finger_joint_limit_saturation_step_rate": 0.053904428904428904, + "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": 99, + "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": 11, + "right_hand_Index_Finger_Proximal": 8, + "right_hand_Middle_Finger_Distal": 16, + "right_hand_Middle_Finger_Proximal": 60, + "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": 6, + "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_j5": 3, + "left_hand_ring_spread": 2, + "right_hand_Index_Finger_Distal": 4, + "right_hand_Index_Finger_Proximal": 1, + "right_hand_Middle_Finger_Distal": 4, + "right_hand_Middle_Finger_Proximal": 8, + "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 + }, + "joint_limit_hard_episode_events": 20, + "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_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_j16": 0.013928890228271484, + "left_hand_j17": 0.6165305376052856, + "left_hand_j5": 0.4012607932090759, + "left_hand_ring_spread": 0.9718478918075562, + "right_hand_Finger_Spread": 0.0008038224768824875, + "right_hand_Index_Finger_Distal": 0.06105337291955948, + "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 + }, + "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": 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+ "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3432, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_08_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_08_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad46b247c6d424de99ba9a2585307c6c54da6974 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_08_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/08_frypan_stand_pour.yaml", "episode_index": 8, "seed": 200800007, "success": false, "steps": 3432, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200800007, "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": 0.0, "base_yaw_deg": 0.0, "flip_180_applied": false, "physics_enabled": 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"stage_first_completion_step": {"pour_soy_sauce": null, "pour_olive_oil": null}, "violation_counts": {}, "policy_query_count": 25, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3432, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_08_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_08_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4df7e9ccdafce90b8fc5f852048988d24f9bd629 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_08_episode_08/summary.json @@ -0,0 +1,211 @@ +{ + "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": 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": 3432, + "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": { + "pour_tilt": 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": 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": 0.028263403263403264, + "finger_joint_limit_saturation_step_rate": 0.0005827505827505828, + "max_joint_limit_excess_rad": 0.31822752952575684, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Thumb_Flexion": 87, + "left_hand_Thumb_Opposition": 2, + "left_hand_j3": 9 + }, + "joint_limit_hard_counts": { + "left_hand_Thumb_Flexion": 2, + "left_hand_Thumb_Opposition": 2, + "left_hand_j3": 2, + "left_hand_j5": 3 + }, + "joint_limit_hard_episode_events": 8, + "finger_joint_limit_saturation_counts": { + "left_hand_j3": 2 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.002059170976281166, + "left_hand_Index_Finger_Proximal": 0.0029081713873893023, + "left_hand_Middle_Finger_Proximal": 1.3497497093339916e-05, + "left_hand_Ring_Finger": 1.5560131942038424e-05, + "left_hand_Thumb_Flexion": 0.07609955966472626, + "left_hand_Thumb_Opposition": 0.014930911362171173, + "left_hand_index_spread": 0.0021102232858538628, + "left_hand_j3": 0.31822752952575684, + "left_hand_j5": 0.0072144572623074055, + "left_hand_ring_spread": 0.002868561539798975, + "right_hand_Index_Finger_Distal": 4.524714380949035e-09, + "right_hand_Index_Finger_Proximal": 5.4058735265982705e-09, + "right_hand_Middle_Finger_Distal": 3.255451908046325e-09, + "right_hand_Middle_Finger_Proximal": 5.310083928122822e-09, + "right_hand_Pinky": 6.618023018489794e-09, + "right_hand_Ring_Finger": 1.1909174979507497e-08, + "right_hand_Thumb_Flexion": 1.3472674087466885e-09, + "right_hand_j12": 7.0419594599968605e-09, + "right_hand_j13": 6.647856931607521e-09, + "right_hand_j14": 6.355825588055808e-11, + "right_hand_j15": 1.80323284082462e-10, + "right_hand_j16": 1.1684250789123496e-10, + "right_hand_j17": 4.980056644843245e-11, + "right_hand_j3": 1.7027639298561326e-09, + "right_hand_j4": 2.876095715753646e-11, + "right_hand_j5": 1.006082217536175e-09 + }, + "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": 8.558682404245051, + "joint_effort_rms": 23.001344869278068, + "joint_jerk_rms": 857.8827112253349, + "joint_velocity_rms": 0.22082759476594432 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.0, + "mean_kinematic_grasp_stability": null, + "per_object_best_kinematic_grasp_stability": { + "obj_146_olive_oil_1": 0.0, + "obj_172_soy_sauce_1": 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": 0.2000000000000255, + "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": 3432, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_08_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_08_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e73bf75895df8972b95a230b6a3e83398ea61431 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_08_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/08_frypan_stand_pour.yaml", "episode_index": 9, "seed": 200800008, "success": 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"resolved_object_placements": {"obj_333_portable_stove_6": {"position": [0.0, 0.02, 0.7422948339195454], "rpy_deg": [90.0, 0.0, 0.0]}, "obj_223_chefmate_frypan_1": {"position": [-0.4, 0.15, 0.8396358599872792], "rpy_deg": [-90.0, 0.0, -49.49037555486507]}, "obj_182_bread_2": {"position": [-0.2, 0.33, 0.8596358599872792], "rpy_deg": [90.0, 0.0, 5.766091503823025]}, "obj_172_soy_sauce_1": {"position": [0.32002874387516256, 0.19158853310139207, 0.7096358622622432], "rpy_deg": [90.0, 0.0, -0.41869844670057077]}, "obj_146_olive_oil_1": {"position": [0.31328185178580253, 0.31827165154766973, 0.7096358649989991], "rpy_deg": [90.0, 0.0, -6.100347325502864]}}, "_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": false, 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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": 0, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_hand_Index_Finger_Distal": 16, "left_hand_Index_Finger_Proximal": 116, "left_hand_Middle_Finger_Proximal": 38, "left_hand_Ring_Finger": 2, "left_hand_Thumb_Flexion": 251, "left_hand_Thumb_Opposition": 11, "left_hand_index_spread": 84, "left_hand_j14": 14, "left_hand_j3": 73, "left_hand_j5": 13, "right_hand_Index_Finger_Distal": 5, "right_hand_Index_Finger_Proximal": 7, "right_hand_Middle_Finger_Distal": 1, "right_hand_Middle_Finger_Proximal": 13, "right_hand_Pinky": 3, "right_hand_Ring_Finger": 7, "right_hand_Thumb_Flexion": 21, "right_hand_j12": 2, "right_hand_j13": 4, "right_hand_j3": 67}, "joint_limit_hard_counts": {"left_hand_Index_Finger_Distal": 2, "left_hand_Index_Finger_Proximal": 9, "left_hand_Middle_Finger_Proximal": 4, "left_hand_Ring_Finger": 1, "left_hand_Thumb_Flexion": 1, "left_hand_Thumb_Opposition": 4, "left_hand_index_spread": 20, "left_hand_j14": 1, "left_hand_j3": 1, "left_hand_j5": 6, "right_hand_Index_Finger_Distal": 2, "right_hand_Index_Finger_Proximal": 2, "right_hand_Middle_Finger_Distal": 6, "right_hand_Middle_Finger_Proximal": 5, "right_hand_Pinky": 2, "right_hand_Ring_Finger": 2, "right_hand_Thumb_Flexion": 2, "right_hand_j12": 1, "right_hand_j13": 2, "right_hand_j15": 1, "right_hand_j3": 4}, "finger_joint_limit_saturation_counts": {"left_hand_Index_Finger_Proximal": 28, "left_hand_Thumb_Flexion": 1, "left_hand_index_spread": 15, "left_hand_j14": 8, "left_hand_j3": 70, "right_hand_j3": 44}, "joint_limit_max_excess_by_joint": {"left_hand_Finger_Spread": 0.0026325832586735487, "left_hand_Index_Finger_Distal": 0.21169009804725647, "left_hand_Index_Finger_Proximal": 0.4245317280292511, "left_hand_Middle_Finger_Distal": 0.0005538689438253641, "left_hand_Middle_Finger_Proximal": 0.18157166242599487, "left_hand_Pinky": 0.0002677615557331592, "left_hand_Ring_Finger": 0.01600438356399536, "left_hand_Thumb_Flexion": 0.09194149076938629, "left_hand_Thumb_Opposition": 0.13938282430171967, "left_hand_index_spread": 0.2685379087924957, "left_hand_j12": 9.266514825867489e-05, "left_hand_j13": 4.565374547382817e-05, "left_hand_j14": 0.7159442901611328, "left_hand_j15": 0.00034556095488369465, "left_hand_j16": 6.659997598035261e-05, "left_hand_j17": 2.180541014240589e-05, "left_hand_j3": 1.3230681419372559, "left_hand_j5": 0.23400908708572388, "left_hand_ring_spread": 0.0028249253518879414, "right_hand_Finger_Spread": 0.0006406864849850535, "right_hand_Index_Finger_Distal": 0.037799932062625885, "right_hand_Index_Finger_Proximal": 0.07210990786552429, "right_hand_Middle_Finger_Distal": 0.010778638534247875, "right_hand_Middle_Finger_Proximal": 0.195121631026268, "right_hand_Pinky": 0.0421922393143177, "right_hand_Ring_Finger": 0.07343316823244095, "right_hand_Thumb_Flexion": 0.1667642444372177, "right_hand_index_spread": 0.00025591556914150715, "right_hand_j12": 0.012824393808841705, "right_hand_j13": 0.052324969321489334, "right_hand_j14": 0.004567970056086779, "right_hand_j15": 0.006505871191620827, "right_hand_j16": 1.1428588631012815e-10, "right_hand_j17": 4.9443886485089905e-11, "right_hand_j3": 0.9112940430641174, "right_hand_j4": 3.011906002381437e-11, "right_hand_j5": 0.000837202649563551, "right_hand_ring_spread": 0.0019385182531550527}, "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": 297, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_hand_Thumb_Flexion", "role": "finger", "qpos": 0.006959076039493084, "hard_excess_rad": 0.006959076039493084, "hard_tolerance_rad": 0.005, "hard_lower": -0.9703999161720276, "hard_upper": 0.0, "operating_lower": -0.9703999161720276, "operating_upper": 0.0, "expanded_target": -0.5398080348968506, "shielded_target": -0.5398080348968506}], "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, -1.892237663269043, 1.5700000524520874, 1.146396279335022, -1.9496527059459368e-08, -1.8203892707824707, 1.5700000524520874, 0.22188374400138855, 2.2770276775219145e-09, -2.418635368347168, -0.14431147277355194, 2.0951404500202386e-10, 0.0, 0.0, 1.3263340425950787e-09, 9.497830966154197e-09, 0.0, 0.0, 0.0, 0.0, 7.899168541491974e-10, -0.5398080348968506, 0.7984899282455444, 0.0, 0.7515596151351929, 0.8609690070152283, 0.5967127084732056, 0.6618947386741638, 0.7797694802284241], "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, -1.892237663269043, 1.5700000524520874, 1.146396279335022, -1.9496527059459368e-08, -1.8203892707824707, 1.5700000524520874, 0.22188374400138855, 2.2770276775219145e-09, -2.418635368347168, -0.14431147277355194, 2.0951404500202386e-10, 6.631670212975393e-10, 2.0951404500202386e-10, 0.0, 0.0, 1.3263340425950787e-09, 6.631670212975393e-10, 9.497830966154197e-09, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 7.899168541491974e-10, -0.5398080348968506, 0.7984899282455444, 0.0, 0.0, 0.7515596151351929, 0.0, 0.0, 0.0, 0.0, 8.257790562460343e-10, -0.5479645133018494, 0.8609690070152283, 0.5967127084732056, 0.6618947386741638, 0.7797694802284241, 0.0, 0.0, -0.7821224927902222, 0.8997126221656799, 0.8108132481575012, 0.8993825912475586, 0.8151710033416748, 0.8491639494895935, 0.940506100654602], "shielded_full_target": [1.5700000524520874, -1.5700000524520874, -1.892237663269043, 1.5700000524520874, 1.146396279335022, -1.9496527059459368e-08, -1.8203892707824707, 1.5700000524520874, 0.22188374400138855, 2.2770276775219145e-09, -2.418635368347168, -0.14431147277355194, 2.0951404500202386e-10, 6.631670212975393e-10, 2.0951404500202386e-10, 0.0, 0.0, 1.3263340425950787e-09, 6.631670212975393e-10, 9.497830966154197e-09, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 7.899168541491974e-10, -0.5398080348968506, 0.7984899282455444, 0.0, 0.0, 0.7515596151351929, 0.0, 0.0, 0.0, 0.0, 8.257790562460343e-10, -0.5479645133018494, 0.8609690070152283, 0.5967127084732056, 0.6618947386741638, 0.7797694802284241, 0.0, 0.0, -0.7821224927902222, 0.8997126221656799, 0.8108132481575012, 0.8993825912475586, 0.8151710033416748, 0.8491639494895935, 0.940506100654602]}, "joint_limit_active_steps": 528, "joint_limit_hard_episode_events": 24, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 139, "max_joint_limit_excess_rad": 1.3230681419372559, "max_joint_limit_excess_joint": "left_hand_j3", "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": 528, "joint_limit_active_step_rate": 0.15384615384615385, "finger_joint_limit_saturation_steps": 139, "finger_joint_limit_saturation_step_rate": 0.040501165501165504, "max_joint_limit_excess_rad": 1.3230681419372559, "max_joint_limit_excess_joint": "left_hand_j3", "stage_completion": {"pour_soy_sauce": false, "pour_olive_oil": false}, "current_stage_completion": {"pour_soy_sauce": false, "pour_olive_oil": false}, "stage_first_completion_step": {"pour_soy_sauce": null, "pour_olive_oil": null}, "violation_counts": {"high_speed_obj_182_bread_2": 1}, "policy_query_count": 24, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3432, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_08_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_08_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..115de4580d70d1adc2cfa5370a85b4a8ed2e0d93 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_08_episode_09/summary.json @@ -0,0 +1,264 @@ +{ + "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": 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": 3432, + "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": 0.0020396270396270395 + }, + "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": 0.0, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 0 + }, + "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": 0.0002913752913752914, + "violation_counts": { + "high_speed_obj_182_bread_2": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.15384615384615385, + "finger_joint_limit_saturation_step_rate": 0.040501165501165504, + "max_joint_limit_excess_rad": 1.3230681419372559, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Index_Finger_Distal": 16, + "left_hand_Index_Finger_Proximal": 116, + "left_hand_Middle_Finger_Proximal": 38, + "left_hand_Ring_Finger": 2, + "left_hand_Thumb_Flexion": 251, + "left_hand_Thumb_Opposition": 11, + "left_hand_index_spread": 84, + "left_hand_j14": 14, + "left_hand_j3": 73, + "left_hand_j5": 13, + "right_hand_Index_Finger_Distal": 5, + "right_hand_Index_Finger_Proximal": 7, + "right_hand_Middle_Finger_Distal": 1, + "right_hand_Middle_Finger_Proximal": 13, + "right_hand_Pinky": 3, + "right_hand_Ring_Finger": 7, + "right_hand_Thumb_Flexion": 21, + "right_hand_j12": 2, + "right_hand_j13": 4, + "right_hand_j3": 67 + }, + "joint_limit_hard_counts": { + "left_hand_Index_Finger_Distal": 2, + "left_hand_Index_Finger_Proximal": 9, + "left_hand_Middle_Finger_Proximal": 4, + "left_hand_Ring_Finger": 1, + "left_hand_Thumb_Flexion": 1, + "left_hand_Thumb_Opposition": 4, + "left_hand_index_spread": 20, + "left_hand_j14": 1, + "left_hand_j3": 1, + "left_hand_j5": 6, + "right_hand_Index_Finger_Distal": 2, + "right_hand_Index_Finger_Proximal": 2, + "right_hand_Middle_Finger_Distal": 6, + "right_hand_Middle_Finger_Proximal": 5, + "right_hand_Pinky": 2, + "right_hand_Ring_Finger": 2, + "right_hand_Thumb_Flexion": 2, + "right_hand_j12": 1, + "right_hand_j13": 2, + "right_hand_j15": 1, + "right_hand_j3": 4 + }, + "joint_limit_hard_episode_events": 24, + "finger_joint_limit_saturation_counts": { + "left_hand_Index_Finger_Proximal": 28, + "left_hand_Thumb_Flexion": 1, + "left_hand_index_spread": 15, + "left_hand_j14": 8, + "left_hand_j3": 70, + "right_hand_j3": 44 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.0026325832586735487, + 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0.227572500705719, 0.5066000819206238, 0.4082590341567993, 0.23797807097434998]}, "joint_limit_active_steps": 89, "joint_limit_hard_episode_events": 5, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 80, "max_joint_limit_excess_rad": 0.6995282173156738, "max_joint_limit_excess_joint": "right_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": 89, "joint_limit_active_step_rate": 0.03363567649281935, "finger_joint_limit_saturation_steps": 80, "finger_joint_limit_saturation_step_rate": 0.030234315948601664, "max_joint_limit_excess_rad": 0.6995282173156738, "max_joint_limit_excess_joint": "right_hand_Middle_Finger_Distal", "stage_completion": {"pour_soy_sauce": false, "pour_olive_oil": false}, "current_stage_completion": {"pour_soy_sauce": false, "pour_olive_oil": false}, "stage_first_completion_step": {"pour_soy_sauce": null, "pour_olive_oil": null}, "violation_counts": {}, "policy_query_count": 19, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3432, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_08_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_08_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..d9abc8caf09af91faf24098b31a8cdba90ac0fcb --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_08_episode_10/summary.json @@ -0,0 +1,213 @@ +{ + "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": 3432, + "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": { + "pour_tilt": 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": 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": 0.03363567649281935, + "finger_joint_limit_saturation_step_rate": 0.030234315948601664, + "max_joint_limit_excess_rad": 0.6995282173156738, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_hand_Index_Finger_Distal": 1, + "right_hand_Middle_Finger_Distal": 68, + "right_hand_Middle_Finger_Proximal": 12, + "right_hand_j15": 26 + }, + "joint_limit_hard_counts": { + "right_hand_Index_Finger_Distal": 3, + "right_hand_Middle_Finger_Distal": 1, + "right_hand_Middle_Finger_Proximal": 3, + "right_hand_Ring_Finger": 1, + "right_hand_j15": 1 + }, + "joint_limit_hard_episode_events": 5, + "finger_joint_limit_saturation_counts": { + "right_hand_Middle_Finger_Distal": 62, + "right_hand_j15": 18 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 7.398336310870945e-05, + "left_hand_Middle_Finger_Proximal": 0.00019948123372159898, + "left_hand_Ring_Finger": 0.0002283003559568897, + "left_hand_index_spread": 0.0022611820604652166, + "left_hand_j5": 0.0005583392921835184, + "left_hand_ring_spread": 0.0005024609854444861, + "right_hand_Finger_Spread": 0.00036253748112358153, + "right_hand_Index_Finger_Distal": 0.030791085213422775, + "right_hand_Index_Finger_Proximal": 0.0031937535386532545, + "right_hand_Middle_Finger_Distal": 0.6995282173156738, + "right_hand_Middle_Finger_Proximal": 0.03204137086868286, + "right_hand_Pinky": 0.003987636882811785, + "right_hand_Ring_Finger": 0.005130238831043243, + "right_hand_Thumb_Flexion": 1.3696324074885524e-09, + "right_hand_index_spread": 0.0005448699812404811, + "right_hand_j12": 0.0033211586996912956, + "right_hand_j13": 0.0044504269026219845, + "right_hand_j14": 4.6113189455354586e-05, + "right_hand_j15": 0.4486370384693146, + "right_hand_j16": 1.0844272008148081e-10, + "right_hand_j17": 4.465589009683413e-11, + "right_hand_j3": 0.00042955586104653776, + "right_hand_j4": 2.8512952415793436e-11, + "right_hand_j5": 0.0005473968922160566, + "right_hand_ring_spread": 0.0011073374189436436 + }, + "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": 11.248959655156916, + "joint_effort_rms": 20.13111769291695, + "joint_jerk_rms": 1114.0873934216925, + "joint_velocity_rms": 0.31014712492120095 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9604802698010382, + "mean_kinematic_grasp_stability": 0.5575829036148128, + "per_object_best_kinematic_grasp_stability": { + "obj_146_olive_oil_1": 0.0, + "obj_172_soy_sauce_1": 0.9604802698010382 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7490551776266062, + "mean_duration_score": 0.2593537414965986, + "mean_hold_score": 0.2231764928193499, + "mean_kinematic_stability_score": 0.008112978756300186, + "mean_legacy_gsi": 0.3275334418235319, + "mean_lift_score": 0.2653061224489796, + "mean_motion_stability_score": 0.19388900756143576 + } + }, + "tool": { + "tool_selection_accuracy": 1.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 2, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2646, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_08_episode_11/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_08_episode_11/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7012be32902ec71b972fcb9cfe4df082acdb067a --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_08_episode_11/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/08_frypan_stand_pour.yaml", "episode_index": 11, "seed": 200800010, "success": false, "steps": 3432, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200800010, "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": 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", 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{"position": [-0.4, 0.15, 0.9124929960394219], "rpy_deg": [-90.0, 0.0, -51.12240556881342]}, "obj_182_bread_2": {"position": [-0.2, 0.33, 0.9324929960394219], "rpy_deg": [90.0, 0.0, -8.154835609162658]}, "obj_172_soy_sauce_1": {"position": [0.3218300388403527, 0.18855328072345764, 0.7824929983143859], "rpy_deg": [90.0, 0.0, 1.7079946222056979]}, "obj_146_olive_oil_1": {"position": [0.3132387208696054, 0.33462147689043215, 0.7824930010511418], "rpy_deg": [90.0, 0.0, 9.311646875133636]}}, "_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": 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, 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"mean_duration_score": 0.0, "mean_anti_slip_score": 1.0}, "robot_motion_metrics": {"joint_velocity_rms": 0.4256835120662285, "joint_acceleration_rms": 16.77273002293061, "joint_jerk_rms": 1650.3886916134097, "joint_effort_rms": 27.52988651685327}, "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": 0, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_hand_Index_Finger_Distal": 11, "left_hand_Index_Finger_Proximal": 13, "left_hand_Middle_Finger_Distal": 2, "left_hand_Middle_Finger_Proximal": 1, "left_hand_Thumb_Flexion": 31, "left_hand_Thumb_Opposition": 40, "left_hand_index_spread": 32, "left_hand_j3": 53, "left_hand_j5": 68}, "joint_limit_hard_counts": {"left_hand_Finger_Spread": 1, "left_hand_Index_Finger_Distal": 1, "left_hand_Index_Finger_Proximal": 1, "left_hand_Middle_Finger_Distal": 1, "left_hand_Middle_Finger_Proximal": 1, "left_hand_Thumb_Flexion": 1, "left_hand_Thumb_Opposition": 1, "left_hand_index_spread": 1, "left_hand_j3": 4, "left_hand_j5": 17}, "finger_joint_limit_saturation_counts": {"left_hand_Thumb_Flexion": 14, "left_hand_Thumb_Opposition": 35, "left_hand_index_spread": 12, "left_hand_j3": 6}, "joint_limit_max_excess_by_joint": {"left_hand_Finger_Spread": 0.005848794709891081, "left_hand_Index_Finger_Distal": 0.07395899295806885, "left_hand_Index_Finger_Proximal": 0.06038641929626465, "left_hand_Middle_Finger_Distal": 0.2244505137205124, "left_hand_Middle_Finger_Proximal": 0.03447115421295166, "left_hand_Ring_Finger": 0.0017677098512649536, "left_hand_Thumb_Flexion": 0.23046760261058807, "left_hand_Thumb_Opposition": 0.7209456562995911, "left_hand_index_spread": 0.167789489030838, "left_hand_j3": 0.17869263887405396, "left_hand_j5": 0.21539613604545593, "left_hand_ring_spread": 0.0035543940030038357, "right_hand_Index_Finger_Distal": 4.693930133470303e-09, "right_hand_Index_Finger_Proximal": 5.574914752060067e-09, "right_hand_Middle_Finger_Distal": 3.0144857721126073e-09, "right_hand_Middle_Finger_Proximal": 4.856763435867606e-09, "right_hand_Pinky": 6.564145671461574e-09, "right_hand_Ring_Finger": 1.2087761902535021e-08, "right_hand_Thumb_Flexion": 1.4639724987830505e-09, "right_hand_j12": 7.135296353766307e-09, "right_hand_j13": 6.636867500020571e-09, "right_hand_j14": 6.343092023852748e-11, "right_hand_j15": 1.7978485367109442e-10, "right_hand_j16": 1.0887506174395156e-10, "right_hand_j17": 5.0757086034192156e-11, "right_hand_j3": 1.6961767546064266e-09, "right_hand_j4": 2.988953876070788e-11, "right_hand_j5": 9.983516235934076e-10}, "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": 538, "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": 0.005098083056509495, "hard_excess_rad": 0.005098083056509495, "hard_tolerance_rad": 0.005, "hard_lower": -0.9878599643707275, "hard_upper": 0.0, "operating_lower": -0.9878599643707275, "operating_upper": 0.0, "expanded_target": 0.0, "shielded_target": 0.0, "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": [1.5700000524520874, -1.5700000524520874, -1.9704854488372803, 1.5700000524520874, 1.0960279703140259, -1.9499760028907076e-08, -1.7686004638671875, 1.5700000524520874, 0.5796071290969849, 2.2718702474833208e-09, -2.611938953399658, 0.2070000171661377, 2.0951404500202386e-10, 0.0, 0.0, 1.3263340425950787e-09, 9.497830966154197e-09, 0.0, 0.0, 0.0, 0.0, 7.899168541491974e-10, -0.5398080348968506, 0.7984899282455444, 0.0, 0.7515596151351929, 0.8609690070152283, 0.5967127084732056, 0.6618947386741638, 0.7797694802284241], "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, -1.9704854488372803, 1.5700000524520874, 1.0960279703140259, -1.9499760028907076e-08, -1.7686004638671875, 1.5700000524520874, 0.5796071290969849, 2.2718702474833208e-09, -2.611938953399658, 0.2070000171661377, 2.0951404500202386e-10, 6.631670212975393e-10, 2.0951404500202386e-10, 0.0, 0.0, 1.3263340425950787e-09, 6.631670212975393e-10, 9.497830966154197e-09, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 7.899168541491974e-10, -0.5398080348968506, 0.7984899282455444, 0.0, 0.0, 0.7515596151351929, 0.0, 0.0, 0.0, 0.0, 8.257790562460343e-10, -0.5479645133018494, 0.8609690070152283, 0.5967127084732056, 0.6618947386741638, 0.7797694802284241, 0.0, 0.0, -0.7821224927902222, 0.8997126221656799, 0.8108132481575012, 0.8993825912475586, 0.8151710033416748, 0.8491639494895935, 0.940506100654602], "shielded_full_target": [1.5700000524520874, -1.5700000524520874, -1.9704854488372803, 1.5700000524520874, 1.0960279703140259, -1.9499760028907076e-08, -1.7686004638671875, 1.5700000524520874, 0.5796071290969849, 2.2718702474833208e-09, -2.611938953399658, 0.2070000171661377, 2.0951404500202386e-10, 6.631670212975393e-10, 2.0951404500202386e-10, 0.0, 0.0, 1.3263340425950787e-09, 6.631670212975393e-10, 9.497830966154197e-09, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 7.899168541491974e-10, -0.5398080348968506, 0.7984899282455444, 0.0, 0.0, 0.7515596151351929, 0.0, 0.0, 0.0, 0.0, 8.257790562460343e-10, -0.5479645133018494, 0.8609690070152283, 0.5967127084732056, 0.6618947386741638, 0.7797694802284241, 0.0, 0.0, -0.7821224927902222, 0.8997126221656799, 0.8108132481575012, 0.8993825912475586, 0.8151710033416748, 0.8491639494895935, 0.940506100654602]}, "joint_limit_active_steps": 121, "joint_limit_hard_episode_events": 20, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 35, "max_joint_limit_excess_rad": 0.7209456562995911, "max_joint_limit_excess_joint": "left_hand_Thumb_Opposition", "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": 121, "joint_limit_active_step_rate": 0.035256410256410256, "finger_joint_limit_saturation_steps": 35, "finger_joint_limit_saturation_step_rate": 0.010198135198135198, "max_joint_limit_excess_rad": 0.7209456562995911, "max_joint_limit_excess_joint": "left_hand_Thumb_Opposition", "stage_completion": {"pour_soy_sauce": false, "pour_olive_oil": false}, "current_stage_completion": {"pour_soy_sauce": false, "pour_olive_oil": false}, "stage_first_completion_step": {"pour_soy_sauce": null, "pour_olive_oil": null}, "violation_counts": {}, "policy_query_count": 20, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3432, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_08_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_08_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b4be6e3feb1f24b2999793828ca68a07d9fe12e5 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_08_episode_11/summary.json @@ -0,0 +1,228 @@ +{ + "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": 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": 3432, + "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": { + "pour_tilt": 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": 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": 0.035256410256410256, + "finger_joint_limit_saturation_step_rate": 0.010198135198135198, + "max_joint_limit_excess_rad": 0.7209456562995911, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Index_Finger_Distal": 11, + "left_hand_Index_Finger_Proximal": 13, + "left_hand_Middle_Finger_Distal": 2, + "left_hand_Middle_Finger_Proximal": 1, + "left_hand_Thumb_Flexion": 31, + 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"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, -1.9166443347930908, 1.5700000524520874, 1.2434618473052979, -1.950694361596561e-08, -1.9137864112854004, 1.5700000524520874, 0.6038910150527954, 2.4010833321597147e-09, -2.3587989807128906, 0.24061529338359833, 2.0951404500202386e-10, 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0.0, 0.0, 0.0, 7.899168541491974e-10, -0.5398080348968506, 0.7984899282455444, 0.0, 0.0, 0.7515596151351929, 0.0, 0.0, 0.0, 0.0, 8.257790562460343e-10, -0.5479645133018494, 0.8609690070152283, 0.5967127084732056, 0.6618947386741638, 0.7797694802284241, 0.0, 0.0, -0.7821224927902222, 0.8997126221656799, 0.8108132481575012, 0.8993825912475586, 0.8151710033416748, 0.8491639494895935, 0.940506100654602]}, "joint_limit_active_steps": 872, "joint_limit_hard_episode_events": 11, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 570, "max_joint_limit_excess_rad": 1.539358377456665, "max_joint_limit_excess_joint": "left_hand_Index_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": 872, "joint_limit_active_step_rate": 0.2540792540792541, "finger_joint_limit_saturation_steps": 570, "finger_joint_limit_saturation_step_rate": 0.1660839160839161, "max_joint_limit_excess_rad": 1.539358377456665, "max_joint_limit_excess_joint": "left_hand_Index_Finger_Distal", "stage_completion": {"pour_soy_sauce": false, "pour_olive_oil": false}, "current_stage_completion": {"pour_soy_sauce": false, "pour_olive_oil": false}, "stage_first_completion_step": {"pour_soy_sauce": null, "pour_olive_oil": null}, "violation_counts": {}, "policy_query_count": 26, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3432, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_08_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_08_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..a32d898e8d0ca63254e663dec2c53366678bc56f --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_08_episode_12/summary.json @@ -0,0 +1,252 @@ +{ + "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": 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": 3432, + "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": { + "pour_tilt": 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": 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": 0.2540792540792541, + "finger_joint_limit_saturation_step_rate": 0.1660839160839161, + "max_joint_limit_excess_rad": 1.539358377456665, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Index_Finger_Distal": 267, + "left_hand_Index_Finger_Proximal": 243, + "left_hand_Middle_Finger_Distal": 38, + "left_hand_Middle_Finger_Proximal": 139, + "left_hand_Pinky": 119, + "left_hand_Ring_Finger": 202, + "left_hand_Thumb_Flexion": 495, + "left_hand_Thumb_Opposition": 155, + "left_hand_index_spread": 74, + "left_hand_j12": 13, + "left_hand_j13": 16, + "left_hand_j3": 104, + "left_hand_j5": 71 + }, + "joint_limit_hard_counts": { + "left_hand_Index_Finger_Distal": 5, + "left_hand_Index_Finger_Proximal": 8, + "left_hand_Middle_Finger_Distal": 3, + "left_hand_Middle_Finger_Proximal": 2, + "left_hand_Pinky": 2, + "left_hand_Ring_Finger": 3, + "left_hand_Thumb_Flexion": 5, + "left_hand_Thumb_Opposition": 6, + "left_hand_index_spread": 7, + "left_hand_j12": 3, + "left_hand_j13": 5, + "left_hand_j3": 6, + "left_hand_j5": 7, + "right_hand_Middle_Finger_Proximal": 2, + "right_hand_Ring_Finger": 3 + }, + "joint_limit_hard_episode_events": 11, + "finger_joint_limit_saturation_counts": { + "left_hand_Index_Finger_Distal": 232, + "left_hand_Index_Finger_Proximal": 208, + "left_hand_Middle_Finger_Distal": 27, + "left_hand_Middle_Finger_Proximal": 107, + "left_hand_Pinky": 54, + "left_hand_Ring_Finger": 59, + "left_hand_Thumb_Flexion": 196, + "left_hand_Thumb_Opposition": 112, + "left_hand_index_spread": 17, + "left_hand_j3": 62 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.0029403825756162405, + "left_hand_Index_Finger_Distal": 1.539358377456665, + "left_hand_Index_Finger_Proximal": 0.47985875606536865, + "left_hand_Middle_Finger_Distal": 0.4248065948486328, + "left_hand_Middle_Finger_Proximal": 0.45525604486465454, + "left_hand_Pinky": 0.21769379079341888, + "left_hand_Ring_Finger": 0.2672102451324463, + "left_hand_Thumb_Flexion": 0.3376450538635254, + "left_hand_Thumb_Opposition": 0.7682660818099976, + "left_hand_index_spread": 0.2654385268688202, + "left_hand_j12": 0.11142230033874512, + "left_hand_j13": 0.050787292420864105, + "left_hand_j14": 0.000382392609026283, + "left_hand_j15": 0.0011635094415396452, + "left_hand_j16": 0.00028208940057083964, + "left_hand_j17": 0.0002699103206396103, + "left_hand_j3": 0.8061597347259521, + "left_hand_j4": 0.0044042752124369144, + "left_hand_j5": 0.1160888820886612, + "left_hand_ring_spread": 0.0022096727043390274, + "right_hand_Index_Finger_Distal": 0.0035311735700815916, + "right_hand_Index_Finger_Proximal": 0.003823248902335763, + "right_hand_Middle_Finger_Distal": 0.0037197305355221033, + "right_hand_Middle_Finger_Proximal": 0.005295384209603071, + "right_hand_Pinky": 0.004015691578388214, + "right_hand_Ring_Finger": 0.005758968647569418, + "right_hand_Thumb_Flexion": 1.4117901292465262e-09, + "right_hand_index_spread": 0.0001304006582358852, + "right_hand_j12": 0.0038716294802725315, + "right_hand_j13": 0.004550597630441189, + "right_hand_j14": 4.23353849328123e-05, + "right_hand_j15": 9.502443572273478e-05, + "right_hand_j16": 1.1191758630957338e-10, + "right_hand_j17": 4.922687951713911e-11, + "right_hand_j3": 1.6343214559455532e-09, + "right_hand_j4": 2.8286203240801555e-11, + "right_hand_j5": 0.0004300125874578953 + }, + "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": 21.00751398448138, + "joint_effort_rms": 32.22837038875555, + "joint_jerk_rms": 2093.0766848266517, + "joint_velocity_rms": 0.4510361610980595 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.0, + "mean_kinematic_grasp_stability": null, + "per_object_best_kinematic_grasp_stability": { + "obj_146_olive_oil_1": 0.0, + "obj_172_soy_sauce_1": 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": 0.2000000000000255, + "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": 3432, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_08_episode_13/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_08_episode_13/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da0a906d9b77010d9e8e176becd06a0d406a7253 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_08_episode_13/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/08_frypan_stand_pour.yaml", "episode_index": 13, "seed": 200800012, "success": false, "steps": 3432, 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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": 38.13333333333333, "expert_time_step": 2288, "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": 0.9541585121505719, "mean_kinematic_grasp_stability": 0.7811280462062213, "per_object_best_kinematic_grasp_stability": {"obj_146_olive_oil_1": 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"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": {"left_hand_Finger_Spread": 95, "left_hand_Index_Finger_Proximal": 34, "left_hand_Middle_Finger_Distal": 15, "left_hand_Middle_Finger_Proximal": 44, "left_hand_Pinky": 20, "left_hand_Ring_Finger": 14, "left_hand_Thumb_Flexion": 276, "left_hand_index_spread": 11, "left_hand_j13": 38, "left_hand_j15": 3, "left_hand_j16": 1, "left_hand_j3": 44, "left_hand_j5": 129, "left_hand_ring_spread": 92, "right_hand_Middle_Finger_Proximal": 3}, "joint_limit_hard_counts": {"left_hand_Finger_Spread": 6, "left_hand_Index_Finger_Proximal": 1, "left_hand_Middle_Finger_Distal": 2, "left_hand_Middle_Finger_Proximal": 5, "left_hand_Pinky": 2, "left_hand_Ring_Finger": 2, "left_hand_Thumb_Flexion": 3, "left_hand_index_spread": 1, "left_hand_j13": 3, "left_hand_j15": 1, "left_hand_j16": 1, "left_hand_j3": 2, "left_hand_j5": 12, "left_hand_ring_spread": 6, "right_hand_Index_Finger_Distal": 3, "right_hand_Index_Finger_Proximal": 3, "right_hand_Middle_Finger_Distal": 2, "right_hand_Middle_Finger_Proximal": 3}, "finger_joint_limit_saturation_counts": {"left_hand_Finger_Spread": 63, "left_hand_Index_Finger_Proximal": 31, "left_hand_Middle_Finger_Distal": 2, "left_hand_Middle_Finger_Proximal": 33, "left_hand_Pinky": 7, "left_hand_Thumb_Flexion": 208, "left_hand_index_spread": 6, "left_hand_j13": 17, "left_hand_j3": 13, "left_hand_j5": 97, "left_hand_ring_spread": 63}, "joint_limit_max_excess_by_joint": {"left_hand_Finger_Spread": 0.8473438620567322, "left_hand_Index_Finger_Distal": 0.0012909664073958993, "left_hand_Index_Finger_Proximal": 1.3137761354446411, "left_hand_Middle_Finger_Distal": 0.2840746343135834, "left_hand_Middle_Finger_Proximal": 1.161327600479126, "left_hand_Pinky": 0.44563859701156616, "left_hand_Ring_Finger": 0.16793042421340942, "left_hand_Thumb_Flexion": 0.5099955201148987, "left_hand_Thumb_Opposition": 0.0003590006672311574, "left_hand_index_spread": 0.4999296963214874, "left_hand_j12": 0.00015426118625327945, "left_hand_j13": 0.7007544040679932, "left_hand_j14": 0.0005723766516894102, "left_hand_j15": 0.2375551015138626, "left_hand_j16": 0.01262623444199562, "left_hand_j17": 0.0038716313429176807, "left_hand_j3": 0.2658616900444031, "left_hand_j4": 1.669423072003795e-10, "left_hand_j5": 0.9578635692596436, "left_hand_ring_spread": 1.0790948867797852, "right_hand_Finger_Spread": 0.0003398263070266694, "right_hand_Index_Finger_Distal": 0.006151827517896891, "right_hand_Index_Finger_Proximal": 0.008324503898620605, "right_hand_Middle_Finger_Distal": 0.005703694187104702, "right_hand_Middle_Finger_Proximal": 0.022973239421844482, "right_hand_Pinky": 0.0031171482987701893, "right_hand_Ring_Finger": 0.004389198962599039, "right_hand_Thumb_Flexion": 1.2860341680465126e-09, "right_hand_index_spread": 0.00040635233744978905, "right_hand_j12": 0.002977148164063692, "right_hand_j13": 0.0035823730286210775, "right_hand_j14": 3.495041892165318e-05, "right_hand_j15": 7.362635369645432e-05, "right_hand_j16": 1.1556140072643828e-10, "right_hand_j17": 4.7331440850006956e-11, "right_hand_j3": 1.6305644612302217e-09, "right_hand_j4": 2.9247292088196986e-11, "right_hand_j5": 0.00033456285018473864, "right_hand_ring_spread": 0.0022781407460570335}, "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": 556, "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": 0.005064717493951321, "hard_excess_rad": 0.005064717493951321, "hard_tolerance_rad": 0.005, "hard_lower": -0.9878599643707275, "hard_upper": 0.0, "operating_lower": -0.9878599643707275, "operating_upper": 0.0, "expanded_target": 0.1943301558494568, "shielded_target": 0.1943301558494568, "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": [1.5700000524520874, -1.5700000524520874, -1.986360788345337, 1.5700000524520874, 1.0592559576034546, -6.4499752205904315e-09, -1.7130953073501587, 1.5700000524520874, 0.12314864248037338, 7.847598126886624e-10, -2.540044069290161, -0.267961323261261, 2.0951404500202386e-10, 0.0, 0.0, 1.3263340425950787e-09, 9.497830966154197e-09, 0.1943301558494568, 0.0, 0.0, 0.0, 7.899168541491974e-10, -0.21417845785617828, 0.4749193787574768, 0.0, 0.1840321123600006, 0.27323275804519653, 0.31641885638237, 0.23006518185138702, 0.446420818567276], "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, -1.986360788345337, 1.5700000524520874, 1.0592559576034546, -6.4499752205904315e-09, -1.7130953073501587, 1.5700000524520874, 0.12314864248037338, 7.847598126886624e-10, -2.540044069290161, -0.267961323261261, 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], "shielded_full_target": [1.5700000524520874, -1.5700000524520874, -1.986360788345337, 1.5700000524520874, 1.0592559576034546, -6.4499752205904315e-09, -1.7130953073501587, 1.5700000524520874, 0.12314864248037338, 7.847598126886624e-10, -2.540044069290161, -0.267961323261261, 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": 489, "joint_limit_hard_episode_events": 18, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 350, "max_joint_limit_excess_rad": 1.3137761354446411, "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": 489, "joint_limit_active_step_rate": 0.14248251748251747, "finger_joint_limit_saturation_steps": 350, "finger_joint_limit_saturation_step_rate": 0.10198135198135198, "max_joint_limit_excess_rad": 1.3137761354446411, "max_joint_limit_excess_joint": "left_hand_Index_Finger_Proximal", "stage_completion": {"pour_soy_sauce": false, "pour_olive_oil": false}, "current_stage_completion": {"pour_soy_sauce": false, "pour_olive_oil": false}, "stage_first_completion_step": {"pour_soy_sauce": null, "pour_olive_oil": null}, "violation_counts": {}, "policy_query_count": 26, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3432, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_08_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_08_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..7a8c9e75d242549b134a3324e5433716d32fbeca --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_08_episode_13/summary.json @@ -0,0 +1,260 @@ +{ + "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": 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": 3432, + "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": { + "pour_tilt": 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": 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": 0.14248251748251747, + "finger_joint_limit_saturation_step_rate": 0.10198135198135198, + "max_joint_limit_excess_rad": 1.3137761354446411, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Finger_Spread": 95, + "left_hand_Index_Finger_Proximal": 34, + "left_hand_Middle_Finger_Distal": 15, + "left_hand_Middle_Finger_Proximal": 44, + "left_hand_Pinky": 20, + "left_hand_Ring_Finger": 14, + "left_hand_Thumb_Flexion": 276, + "left_hand_index_spread": 11, + "left_hand_j13": 38, + "left_hand_j15": 3, + "left_hand_j16": 1, + "left_hand_j3": 44, + "left_hand_j5": 129, + "left_hand_ring_spread": 92, + "right_hand_Middle_Finger_Proximal": 3 + }, + "joint_limit_hard_counts": { + "left_hand_Finger_Spread": 6, + "left_hand_Index_Finger_Proximal": 1, + "left_hand_Middle_Finger_Distal": 2, + "left_hand_Middle_Finger_Proximal": 5, + "left_hand_Pinky": 2, + "left_hand_Ring_Finger": 2, + "left_hand_Thumb_Flexion": 3, + "left_hand_index_spread": 1, + "left_hand_j13": 3, + "left_hand_j15": 1, + "left_hand_j16": 1, + "left_hand_j3": 2, + "left_hand_j5": 12, + "left_hand_ring_spread": 6, + "right_hand_Index_Finger_Distal": 3, + "right_hand_Index_Finger_Proximal": 3, + "right_hand_Middle_Finger_Distal": 2, + "right_hand_Middle_Finger_Proximal": 3 + }, + "joint_limit_hard_episode_events": 18, + "finger_joint_limit_saturation_counts": { + "left_hand_Finger_Spread": 63, + "left_hand_Index_Finger_Proximal": 31, + "left_hand_Middle_Finger_Distal": 2, + "left_hand_Middle_Finger_Proximal": 33, + "left_hand_Pinky": 7, + "left_hand_Thumb_Flexion": 208, + "left_hand_index_spread": 6, + "left_hand_j13": 17, + "left_hand_j3": 13, + "left_hand_j5": 97, + "left_hand_ring_spread": 63 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.8473438620567322, + "left_hand_Index_Finger_Distal": 0.0012909664073958993, + "left_hand_Index_Finger_Proximal": 1.3137761354446411, + "left_hand_Middle_Finger_Distal": 0.2840746343135834, + "left_hand_Middle_Finger_Proximal": 1.161327600479126, + "left_hand_Pinky": 0.44563859701156616, + "left_hand_Ring_Finger": 0.16793042421340942, + "left_hand_Thumb_Flexion": 0.5099955201148987, + "left_hand_Thumb_Opposition": 0.0003590006672311574, + "left_hand_index_spread": 0.4999296963214874, + "left_hand_j12": 0.00015426118625327945, + "left_hand_j13": 0.7007544040679932, + "left_hand_j14": 0.0005723766516894102, + "left_hand_j15": 0.2375551015138626, + "left_hand_j16": 0.01262623444199562, + "left_hand_j17": 0.0038716313429176807, + "left_hand_j3": 0.2658616900444031, + "left_hand_j4": 1.669423072003795e-10, + "left_hand_j5": 0.9578635692596436, + "left_hand_ring_spread": 1.0790948867797852, + "right_hand_Finger_Spread": 0.0003398263070266694, + "right_hand_Index_Finger_Distal": 0.006151827517896891, + "right_hand_Index_Finger_Proximal": 0.008324503898620605, + "right_hand_Middle_Finger_Distal": 0.005703694187104702, + "right_hand_Middle_Finger_Proximal": 0.022973239421844482, + "right_hand_Pinky": 0.0031171482987701893, + "right_hand_Ring_Finger": 0.004389198962599039, + "right_hand_Thumb_Flexion": 1.2860341680465126e-09, + "right_hand_index_spread": 0.00040635233744978905, + "right_hand_j12": 0.002977148164063692, + "right_hand_j13": 0.0035823730286210775, + "right_hand_j14": 3.495041892165318e-05, + "right_hand_j15": 7.362635369645432e-05, + "right_hand_j16": 1.1556140072643828e-10, + "right_hand_j17": 4.7331440850006956e-11, + "right_hand_j3": 1.6305644612302217e-09, + "right_hand_j4": 2.9247292088196986e-11, + "right_hand_j5": 0.00033456285018473864, + "right_hand_ring_spread": 0.0022781407460570335 + }, + "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": 30.016991719471132, + "joint_effort_rms": 42.90005114763714, + "joint_jerk_rms": 3014.4164100664675, + "joint_velocity_rms": 0.600446569550194 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9541585121505719, + "mean_kinematic_grasp_stability": 0.7811280462062213, + "per_object_best_kinematic_grasp_stability": { + "obj_146_olive_oil_1": 0.8003576208691824, + "obj_172_soy_sauce_1": 0.9541585121505719 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9750874125874126, + "mean_duration_score": 0.05440462315462316, + "mean_hold_score": 0.04993444055944056, + "mean_kinematic_stability_score": 0.027539770859834726, + "mean_legacy_gsi": 0.23517703988945, + "mean_lift_score": 0.060023310023310024, + "mean_motion_stability_score": 0.04422016086080268 + } + }, + "tool": { + "tool_selection_accuracy": 1.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 1, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3432, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_08_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_08_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..556618c34bad54a6f426e4e384c16e9d954dd3ac --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_08_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/08_frypan_stand_pour.yaml", "episode_index": 14, "seed": 200800013, "success": false, "steps": 3432, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200800013, "base_seed": 200800000, "seed_policy": "episode_seed = base_seed 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"pitch_deg": -25.370324439145836, "yaw_deg": 47.16873646589235, "angle_deg": 0.9045231013900941}, "dome": {"intensity": 193.15300916705516, "color": [0.8219823651574294, 0.9849894737821279, 0.8677870497228335], "exposure": 0.05736482588600589}, "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": 0.03617342747091053, "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": [-0.002949933007915101, 0.0005413717152376631, 0.003736011211203253], "target_offset_m": [-0.0026766551131434005, -0.003658375174738107, 0.0007746511676272475], "distance_offset_m": -0.02343536846688871, "offset_xyz_offset_m": [0.0, 0.0, 0.0], 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"clutter": {"tabletop": {"enabled": true, "count": 1, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_007_tuna_fish_can", "uri": "dex2bench_dataset/Objects/007_tuna_fish_can/usd_decomposition_linux/textured.usd", "scale": [0.8074002951772467, 0.8074002951772467, 0.8074002951772467], "body_type": "dynamic", "category": "food", "asset_code": "007", "asset_id": "clutter_007_tuna_fish_can", "asset_split": "unseen", "spawn_position": [0.5104183563970935, 0.06436091260223484, 0.7887716416661846], "spawn_yaw_deg": 220.13507854446127, "obj_id": "distractor_00_clutter_007_tuna_fish_can"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_333_portable_stove_6": {"position": [0.0, 0.02, 0.8188324014031768], "rpy_deg": [90.0, 0.0, 0.0]}, "obj_223_chefmate_frypan_1": {"position": [-0.4, 0.15, 0.9161734274709106], "rpy_deg": [-90.0, 0.0, -52.959007834221694]}, "obj_182_bread_2": {"position": [-0.2, 0.33, 0.9361734274709106], "rpy_deg": [90.0, 0.0, 8.199224745918102]}, "obj_172_soy_sauce_1": {"position": [0.3306041524949679, 0.19427967631226997, 0.7861734297458746], "rpy_deg": [90.0, 0.0, 1.0838263204452367]}, "obj_146_olive_oil_1": {"position": [0.3292228007995484, 0.3244444642036277, 0.7861734324826305], "rpy_deg": [90.0, 0.0, -4.092759726245163]}}, "_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": 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": 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": 0.22387618692860178, "mean_kinematic_grasp_stability": 0.12789349215615298, "per_object_best_kinematic_grasp_stability": {"obj_146_olive_oil_1": 0.0, "obj_172_soy_sauce_1": 0.22387618692860178}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.2107652012481632, "mean_kinematic_stability_score": 0.00013042751239700914, "mean_lift_score": 0.040501165501165504, "mean_hold_score": 0.018633449883449865, "mean_motion_stability_score": 0.017540529377889795, "mean_duration_score": 0.03113344988344989, "mean_anti_slip_score": 0.9603729603729604}, "robot_motion_metrics": {"joint_velocity_rms": 0.49286093673938974, "joint_acceleration_rms": 18.62477919198499, "joint_jerk_rms": 1816.119504420013, "joint_effort_rms": 31.712887126292703}, "tool_selection_accuracy": 1.0, "tool_switch_success_rate": 0.0, "tool_switch_total": 1, "tool_switch_successful": 0, "safety_violation_rate": 0.0005827505827506028, "safety_violation_rate_time": 0.0005827505827506028, "safety_violation_rate_event": 0.0002913752913752914, "safety_violation_step_rate": 0.0005827505827505828, "safety_violation_events_per_step": 0.0002913752913752914, "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": 30, "left_hand_Index_Finger_Distal": 64, "left_hand_Index_Finger_Proximal": 82, "left_hand_Middle_Finger_Distal": 26, "left_hand_Middle_Finger_Proximal": 125, "left_hand_Pinky": 25, "left_hand_Thumb_Flexion": 74, "left_hand_Thumb_Opposition": 10, "left_hand_index_spread": 56, "left_hand_j12": 133, "left_hand_j13": 86, "left_hand_j16": 1, "left_hand_j3": 115, "left_hand_j5": 16, "left_hand_ring_spread": 49, "right_hand_Index_Finger_Distal": 18, "right_hand_Index_Finger_Proximal": 1, "right_hand_Middle_Finger_Distal": 18, "right_hand_Middle_Finger_Proximal": 24, "right_hand_Pinky": 7, "right_hand_Ring_Finger": 28, "right_hand_Thumb_Flexion": 30, "right_hand_j12": 1, "right_hand_j13": 8, "right_hand_j3": 9}, "joint_limit_hard_counts": {"left_hand_Finger_Spread": 1, "left_hand_Index_Finger_Distal": 1, "left_hand_Index_Finger_Proximal": 1, "left_hand_Middle_Finger_Distal": 1, "left_hand_Middle_Finger_Proximal": 1, "left_hand_Pinky": 1, "left_hand_Ring_Finger": 2, "left_hand_Thumb_Flexion": 11, "left_hand_Thumb_Opposition": 1, "left_hand_index_spread": 5, "left_hand_j12": 1, "left_hand_j13": 1, "left_hand_j16": 1, "left_hand_j3": 1, "left_hand_j5": 10, "left_hand_ring_spread": 1, "right_hand_Index_Finger_Distal": 4, "right_hand_Index_Finger_Proximal": 4, "right_hand_Middle_Finger_Distal": 2, "right_hand_Middle_Finger_Proximal": 9, "right_hand_Pinky": 2, "right_hand_Ring_Finger": 2, "right_hand_Thumb_Flexion": 4, "right_hand_j12": 2, "right_hand_j13": 3, "right_hand_j14": 1, "right_hand_j3": 2}, "finger_joint_limit_saturation_counts": {"left_hand_Finger_Spread": 21, "left_hand_Index_Finger_Distal": 59, "left_hand_Index_Finger_Proximal": 74, "left_hand_Middle_Finger_Distal": 21, "left_hand_Middle_Finger_Proximal": 118, "left_hand_Pinky": 5, "left_hand_Thumb_Flexion": 19, "left_hand_index_spread": 36, "left_hand_j12": 127, "left_hand_j13": 75, "left_hand_j3": 97, "left_hand_ring_spread": 40, "right_hand_Ring_Finger": 10, "right_hand_Thumb_Flexion": 17}, "joint_limit_max_excess_by_joint": {"left_hand_Finger_Spread": 0.4711160361766815, "left_hand_Index_Finger_Distal": 0.7536532878875732, "left_hand_Index_Finger_Proximal": 1.1505028009414673, "left_hand_Middle_Finger_Distal": 0.4651150703430176, "left_hand_Middle_Finger_Proximal": 1.446799397468567, "left_hand_Pinky": 0.21472086012363434, "left_hand_Ring_Finger": 0.009531599469482899, "left_hand_Thumb_Flexion": 0.3162287771701813, "left_hand_Thumb_Opposition": 0.09022094309329987, "left_hand_index_spread": 0.7858690023422241, "left_hand_j12": 1.524500846862793, "left_hand_j13": 1.586573600769043, "left_hand_j14": 0.002611132338643074, "left_hand_j15": 0.001353575848042965, "left_hand_j16": 0.014156644232571125, "left_hand_j17": 0.002347418572753668, "left_hand_j3": 1.0915818214416504, "left_hand_j4": 0.0037593196611851454, "left_hand_j5": 0.12889449298381805, "left_hand_ring_spread": 0.6082929968833923, "right_hand_Finger_Spread": 0.002514712745323777, "right_hand_Index_Finger_Distal": 0.22093699872493744, "right_hand_Index_Finger_Proximal": 0.01021045446395874, "right_hand_Middle_Finger_Distal": 0.24609430134296417, "right_hand_Middle_Finger_Proximal": 0.24769504368305206, "right_hand_Pinky": 0.08501354604959488, "right_hand_Ring_Finger": 0.3449985682964325, "right_hand_Thumb_Flexion": 0.41061514616012573, "right_hand_index_spread": 0.0016010317485779524, "right_hand_j12": 0.01678406447172165, "right_hand_j13": 0.05512632429599762, "right_hand_j14": 0.005011037923395634, "right_hand_j15": 0.00018847592582460493, "right_hand_j16": 1.0902179853333749e-10, "right_hand_j17": 4.8228237375935734e-11, "right_hand_j3": 0.10381489992141724, "right_hand_j4": 2.6111951001439593e-07, "right_hand_j5": 0.0017082779668271542, "right_hand_ring_spread": 0.0022981527727097273}, "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": 462, "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": 0.005138941574841738, "hard_excess_rad": 0.005138941574841738, "hard_tolerance_rad": 0.005, "hard_lower": -0.9878599643707275, "hard_upper": 0.0, "operating_lower": -0.9878599643707275, "operating_upper": 0.0, "expanded_target": 0.1943301558494568, "shielded_target": 0.1943301558494568, "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": [1.5700000524520874, -1.5700000524520874, -1.8386938571929932, 1.5700000524520874, 1.2189167737960815, -2.8039218946673827e-08, -1.8897520303726196, 1.5700000524520874, 0.6186991333961487, 4.1355057156522435e-09, -2.303286552429199, 0.21528255939483643, 5.357252419457836e-10, 0.0, 0.0, 5.418275605961753e-09, 0.0, 0.1943301558494568, 0.0, 0.0, 0.0, 0.0, -0.21417845785617828, 0.4749193787574768, 0.0, 0.1840321123600006, 0.27323275804519653, 0.31641885638237, 0.23006518185138702, 0.446420818567276], "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, -1.8386938571929932, 1.5700000524520874, 1.2189167737960815, -2.8039218946673827e-08, -1.8897520303726196, 1.5700000524520874, 0.6186991333961487, 4.1355057156522435e-09, -2.303286552429199, 0.21528255939483643, 5.357252419457836e-10, 2.7091378029808766e-09, 5.357252419457836e-10, 0.0, 0.0, 5.418275605961753e-09, 2.7091378029808766e-09, 0.0, 0.1943301558494568, 0.0, 0.1943301558494568, 0.0, 0.0, 0.0, 0.0, 0.0, -0.21417845785617828, 0.4749193787574768, 0.0, 0.0, 0.1840321123600006, 0.0, 0.0, 0.0, 0.0, 0.0, -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], "shielded_full_target": [1.5700000524520874, -1.5700000524520874, -1.8386938571929932, 1.5700000524520874, 1.2189167737960815, -2.8039218946673827e-08, -1.8897520303726196, 1.5700000524520874, 0.6186991333961487, 4.1355057156522435e-09, -2.303286552429199, 0.21528255939483643, 5.357252419457836e-10, 2.7091378029808766e-09, 5.357252419457836e-10, 0.0, 0.0, 5.418275605961753e-09, 2.7091378029808766e-09, 0.0, 0.1943301558494568, 0.0, 0.1943301558494568, 0.0, 0.0, 0.0, 0.0, 0.0, -0.21417845785617828, 0.4749193787574768, 0.0, 0.0, 0.1840321123600006, 0.0, 0.0, 0.0, 0.0, 0.0, -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": 250, "joint_limit_hard_episode_events": 30, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 168, "max_joint_limit_excess_rad": 1.586573600769043, "max_joint_limit_excess_joint": "left_hand_j13", "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": 250, "joint_limit_active_step_rate": 0.07284382284382285, "finger_joint_limit_saturation_steps": 168, "finger_joint_limit_saturation_step_rate": 0.04895104895104895, "max_joint_limit_excess_rad": 1.586573600769043, "max_joint_limit_excess_joint": "left_hand_j13", "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": 3222, "pour_olive_oil": null}, "violation_counts": {"high_speed_obj_182_bread_2": 1}, "policy_query_count": 31, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3432, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_08_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_08_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4e5c30a50ff3297f069e3eb4343be276203b7d53 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_08_episode_14/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": 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": 3432, + "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": 0.0005827505827505828 + }, + "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": 0.0002913752913752914, + "violation_counts": { + "high_speed_obj_182_bread_2": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.07284382284382285, + "finger_joint_limit_saturation_step_rate": 0.04895104895104895, + "max_joint_limit_excess_rad": 1.586573600769043, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Finger_Spread": 30, + "left_hand_Index_Finger_Distal": 64, + "left_hand_Index_Finger_Proximal": 82, + "left_hand_Middle_Finger_Distal": 26, + "left_hand_Middle_Finger_Proximal": 125, + "left_hand_Pinky": 25, + "left_hand_Thumb_Flexion": 74, + "left_hand_Thumb_Opposition": 10, + "left_hand_index_spread": 56, + "left_hand_j12": 133, + "left_hand_j13": 86, + "left_hand_j16": 1, + "left_hand_j3": 115, + "left_hand_j5": 16, + "left_hand_ring_spread": 49, + "right_hand_Index_Finger_Distal": 18, + "right_hand_Index_Finger_Proximal": 1, + "right_hand_Middle_Finger_Distal": 18, + "right_hand_Middle_Finger_Proximal": 24, + "right_hand_Pinky": 7, + "right_hand_Ring_Finger": 28, + "right_hand_Thumb_Flexion": 30, + "right_hand_j12": 1, + "right_hand_j13": 8, + "right_hand_j3": 9 + }, + "joint_limit_hard_counts": { + "left_hand_Finger_Spread": 1, + "left_hand_Index_Finger_Distal": 1, + "left_hand_Index_Finger_Proximal": 1, + "left_hand_Middle_Finger_Distal": 1, + "left_hand_Middle_Finger_Proximal": 1, + "left_hand_Pinky": 1, + "left_hand_Ring_Finger": 2, + "left_hand_Thumb_Flexion": 11, + "left_hand_Thumb_Opposition": 1, + "left_hand_index_spread": 5, + "left_hand_j12": 1, + "left_hand_j13": 1, + "left_hand_j16": 1, + "left_hand_j3": 1, + "left_hand_j5": 10, + "left_hand_ring_spread": 1, + "right_hand_Index_Finger_Distal": 4, + 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"finger_joint_limit_saturation_steps": 24, "finger_joint_limit_saturation_step_rate": 0.012461059190031152, "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": 27, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1926, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_09_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..5952addfa8e34fad67e267488e09f9bdc4b5e5f6 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_09_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": 200900000, + "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": 1926, + "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": { + "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": 21.383333333333333, + "expert_time_step": 1283, + "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": 0.07840083073727934, + "finger_joint_limit_saturation_step_rate": 0.012461059190031152, + "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": 83 + }, + "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": 7 + }, + "joint_limit_hard_episode_events": 10, + "finger_joint_limit_saturation_counts": { + "multi_leap_r_10": 24 + }, + "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": 0.1964666247367859, + "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": 20.03053806042303, + "joint_effort_rms": 57.81172782233023, + "joint_jerk_rms": 1935.6726010837483, + "joint_velocity_rms": 0.6848673221005468 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9311121923083419, + "mean_kinematic_grasp_stability": 0.7529948879279342, + "per_object_best_kinematic_grasp_stability": { + "obj_200_cleaner_2": 0.9311121923083419, + "obj_209_soap_3": 0.02246273753045599 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7429906542056075, + "mean_duration_score": 0.3467030114226376, + "mean_hold_score": 0.29762461059189954, + "mean_kinematic_stability_score": 0.0736965401736322, + "mean_legacy_gsi": 0.39785841951318784, + "mean_lift_score": 0.3546209761163032, + "mean_motion_stability_score": 0.27824013295751826 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1926, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_09_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65146a1f051e31a5d6d2a42781e267907b5984ef --- /dev/null +++ b/gpt6_astra_1x_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": false, "steps": 1926, "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", "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, 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"latched_chain_depth_progress_score": 0.0, "latched_chain_depth": 0, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9122669042408711, "mean_kinematic_grasp_stability": 0.7944317638694305, "per_object_best_kinematic_grasp_stability": {"obj_200_cleaner_2": 0.9122669042408711, "obj_209_soap_3": 0.0}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4047564486437203, "mean_kinematic_stability_score": 0.034854353087729426, "mean_lift_score": 0.39641744548286606, "mean_hold_score": 0.3271806853582569, "mean_motion_stability_score": 0.31157576968107475, "mean_duration_score": 0.39213395638629284, "mean_anti_slip_score": 0.647196261682243}, "robot_motion_metrics": {"joint_velocity_rms": 0.7958115241073105, "joint_acceleration_rms": 26.175970797005668, "joint_jerk_rms": 2607.602485691295, "joint_effort_rms": 74.5533408342128}, "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": {"leap_l_10": 155, "leap_l_13": 6, "leap_l_2": 161, "leap_l_6": 12, "multi_leap_r_10": 254, "multi_leap_r_11": 19}, "joint_limit_hard_counts": {"leap_l_10": 4, "leap_l_13": 3, "leap_l_2": 23, "leap_l_6": 1, "multi_leap_r_10": 4, "multi_leap_r_11": 1}, "finger_joint_limit_saturation_counts": {"leap_l_10": 120, "leap_l_2": 115, "multi_leap_r_10": 193}, "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_5": 0.0017271935939788818}, "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": 410, "joint_limit_hard_episode_events": 27, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 313, "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": 410, "joint_limit_active_step_rate": 0.21287642782969884, "finger_joint_limit_saturation_steps": 313, "finger_joint_limit_saturation_step_rate": 0.16251298026998962, "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": {}, "policy_query_count": 22, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1926, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_09_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..56854bdd3137bed4510489bd8503b1d79e9d1d46 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_09_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": 200900000, + "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": 1926, + "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": { + "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": 21.383333333333333, + "expert_time_step": 1283, + "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": 0.21287642782969884, + "finger_joint_limit_saturation_step_rate": 0.16251298026998962, + "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": 161, + "leap_l_6": 12, + "multi_leap_r_10": 254, + "multi_leap_r_11": 19 + }, + "joint_limit_hard_counts": { + "leap_l_10": 4, + "leap_l_13": 3, + "leap_l_2": 23, + "leap_l_6": 1, + "multi_leap_r_10": 4, + "multi_leap_r_11": 1 + }, + "joint_limit_hard_episode_events": 27, + "finger_joint_limit_saturation_counts": { + "leap_l_10": 120, + "leap_l_2": 115, + "multi_leap_r_10": 193 + }, + "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_5": 0.0017271935939788818 + }, + "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": 26.175970797005668, + "joint_effort_rms": 74.5533408342128, + "joint_jerk_rms": 2607.602485691295, + "joint_velocity_rms": 0.7958115241073105 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9122669042408711, + "mean_kinematic_grasp_stability": 0.7944317638694305, + "per_object_best_kinematic_grasp_stability": { + "obj_200_cleaner_2": 0.9122669042408711, + "obj_209_soap_3": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.647196261682243, + "mean_duration_score": 0.39213395638629284, + "mean_hold_score": 0.3271806853582569, + "mean_kinematic_stability_score": 0.034854353087729426, + "mean_legacy_gsi": 0.4047564486437203, + "mean_lift_score": 0.39641744548286606, + "mean_motion_stability_score": 0.31157576968107475 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1926, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_09_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de25c49b91624257437a5c951521fd4eeff34470 --- /dev/null +++ b/gpt6_astra_1x_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": false, "steps": 1926, "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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-0.11173804849386215, 0.7831103205680847, 0.005177834536880255, -0.07383470982313156, -0.15323999524116516, -0.002555298386141658, 0.0013288123300299048, -0.07294584065675735]}, "joint_limit_active_steps": 122, "joint_limit_hard_episode_events": 12, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 58, "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": 122, "joint_limit_active_step_rate": 0.06334371754932502, "finger_joint_limit_saturation_steps": 58, "finger_joint_limit_saturation_step_rate": 0.030114226375908618, "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": 22, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1926, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_09_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..6a269a34b653b55f806cd500922243d0ce23a61f --- /dev/null +++ b/gpt6_astra_1x_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": 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": 1926, + "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": 0.0005192107995846313 + }, + "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": 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"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": 23.137908939346595, + "joint_effort_rms": 72.81419727575634, + "joint_jerk_rms": 2226.3625475094327, + "joint_velocity_rms": 0.7963124639032532 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9106933733242342, + "mean_kinematic_grasp_stability": 0.7407847372654092, + "per_object_best_kinematic_grasp_stability": { + "obj_200_cleaner_2": 0.9106933733242342, + "obj_209_soap_3": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6998961578400831, + "mean_duration_score": 0.33242471443406024, + "mean_hold_score": 0.16391484942886694, + "mean_kinematic_stability_score": 0.027308263938652155, + "mean_legacy_gsi": 0.3062970553970822, + "mean_lift_score": 0.2466251298026999, + "mean_motion_stability_score": 0.1444030641426367 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1926, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_09_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc3849f49914f3a32b91394d81278dc1360ef574 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_09_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/09_cleaner_moisturizer_box_loading.yaml", "episode_index": 8, "seed": 200900007, "success": true, "steps": 1737, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200900007, "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": 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", 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0.437974750995636, -1.666703701019287, 0.03724425286054611, 0.281110942363739, 0.0, -2.442999839782715, 0.0, 0.0, 1.3309375047683716, 1.600000023841858, 0.7993614673614502, 1.3452484607696533, -0.48056480288505554, -0.0010000000474974513, -0.017822669818997383, -0.30455464124679565, 0.0, 0.00047898193588480353, 0.0, 0.0, -0.35871273279190063, -1.340000033378601, -0.0037071953993290663, -0.3230780065059662, -0.4384777247905731, 1.3730000257492065, 0.1755552589893341, -0.4196805953979492, -0.36466890573501587, -0.00371547881513834, 0.04928302764892578, -0.31519341468811035]}, "joint_limit_active_steps": 2, "joint_limit_hard_episode_events": 1, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.015935957431793213, "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": 2, "joint_limit_active_step_rate": 0.0011514104778353484, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.015935957431793213, "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": {}, "policy_query_count": 22, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1926, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_09_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..91648c57b8363b5a7a6624084a331ff9f5a70b11 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_09_episode_08/summary.json @@ -0,0 +1,183 @@ +{ + "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": 1926, + "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": 28.949999999999637 + }, + "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": 0.7386298215313852, + "expert_time_s": 21.383333333333333, + "expert_time_step": 1283, + "avg_steps_to_success": 1737, + "avg_policy_steps_to_success": 579, + "avg_policy_queries_to_success": 22 + }, + "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": 0.0011514104778353484, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.015935957431793213, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "multi_leap_r_2": 2 + }, + "joint_limit_hard_counts": { + "multi_leap_r_2": 1 + }, + "joint_limit_hard_episode_events": 1, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "leap_l_13": 0.0004010200500488281, + "leap_l_15": 5.8531761169433594e-05, + "leap_l_2": 0.0032777786254882812, + "leap_l_3": 2.682209014892578e-07, + "multi_leap_r_2": 0.015935957431793213 + }, + "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": 11.415190933415465, + "joint_effort_rms": 46.29538993515488, + "joint_jerk_rms": 1149.3899055284617, + "joint_velocity_rms": 0.4941765771649214 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9958362182983074, + "mean_kinematic_grasp_stability": 0.6098049831721171, + "per_object_best_kinematic_grasp_stability": { + "obj_200_cleaner_2": 0.9286596444989348, + "obj_209_soap_3": 0.9958362182983074 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7449625791594704, + "mean_duration_score": 0.4196891191709845, + "mean_hold_score": 0.4010794473229714, + "mean_kinematic_stability_score": 0.10637358082967845, + "mean_legacy_gsi": 0.4630796648456724, + "mean_lift_score": 0.42918825561312607, + "mean_motion_stability_score": 0.36175214876248446 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1737, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_09_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d38c17b323ad82433d52915b5bab0169dca9732a --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_09_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/09_cleaner_moisturizer_box_loading.yaml", "episode_index": 9, "seed": 200900008, "success": false, "steps": 1926, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200900008, "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": 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", 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"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": 0.9439789729259311, "mean_kinematic_grasp_stability": 0.7172943833716512, "per_object_best_kinematic_grasp_stability": {"obj_200_cleaner_2": 0.9439789729259311, "obj_209_soap_3": 0.0}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.35557194448778906, "mean_kinematic_stability_score": 0.022904259905169547, "mean_lift_score": 0.31723779854620976, "mean_hold_score": 0.2756619937694706, "mean_motion_stability_score": 0.2225569219905354, "mean_duration_score": 0.3742211838006231, "mean_anti_slip_score": 0.6516095534787124}, "robot_motion_metrics": {"joint_velocity_rms": 0.7375441823178053, "joint_acceleration_rms": 30.23323028029551, "joint_jerk_rms": 3128.409943570657, "joint_effort_rms": 58.44376230782966}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.00051921079958464, "safety_violation_rate_time": 0.00051921079958464, "safety_violation_rate_event": 0.0005192107995846313, "safety_violation_step_rate": 0.0005192107995846313, "safety_violation_events_per_step": 0.0005192107995846313, "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": 73, "leap_l_2": 10, "leap_l_6": 5, "multi_leap_r_10": 68, "multi_leap_r_2": 13, "multi_leap_r_6": 32, "multi_leap_r_9": 32}, "joint_limit_hard_counts": {"leap_l_10": 2, "leap_l_13": 1, "leap_l_2": 10, "leap_l_6": 1, "multi_leap_r_10": 3, "multi_leap_r_2": 1, "multi_leap_r_6": 2, "multi_leap_r_9": 5}, "finger_joint_limit_saturation_counts": {"leap_l_10": 55, "multi_leap_r_10": 34, "multi_leap_r_2": 1, "multi_leap_r_6": 17}, "joint_limit_max_excess_by_joint": {"leap_l_10": 0.6829098463058472, "leap_l_13": 0.0077822208404541016, "leap_l_15": 0.00017690658569335938, "leap_l_2": 0.034457504749298096, "leap_l_3": 4.172325134277344e-07, "leap_l_6": 0.018787264823913574, "multi_leap_r_10": 1.1505019664764404, "multi_leap_r_2": 0.2693138122558594, "multi_leap_r_6": 0.5772594213485718, "multi_leap_r_9": 0.14962145686149597}, "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": 110, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "leap_l_10", "role": "finger", "qpos": -0.518876314163208, "hard_excess_rad": 0.012876391410827637, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.24851351976394653, "shielded_target": -0.24851351976394653}], "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": [-1.7074575424194336, -1.65494704246521, 1.8688610792160034, -0.04228191450238228, -1.43260657787323, -2.801527738571167, 0.29413434863090515, 1.4445843696594238, -2.596163511276245, 1.03280508518219, 2.0147387981414795, -2.3305606842041016, 1.1671202182769775, -1.0403717756271362, 0.39283132553100586, -1.3636409044265747, 0.055844496935606, 0.22861330211162567, -2.0086886882781982, 0.35192301869392395, 0.6057834625244141, 0.12275858968496323, 0.14667785167694092, -0.3892265558242798, -0.0008222208125516772, -0.0294993594288826, -0.24851351976394653, 0.0058973403647542, -0.3009333312511444, -1.1017777919769287, -0.01644928567111492, -0.26255863904953003, -0.14437264204025269, 1.0118281841278076, 0.006690080743283033, -0.0953991562128067, -0.19799581170082092, -0.0033016076777130365, 0.0017169099301099777, -0.09425065666437149], "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": [-1.7074575424194336, -1.65494704246521, 1.8688610792160034, -0.04228191450238228, -1.43260657787323, -2.801527738571167, 0.29413434863090515, 1.4445843696594238, -2.596163511276245, 1.03280508518219, 2.0147387981414795, -2.3305606842041016, 1.1671202182769775, -1.0403717756271362, 0.39283132553100586, -1.3636409044265747, 0.055844496935606, 0.22861330211162567, 0.0, -2.0086886882781982, 0.0, 0.0, 0.35192301869392395, 0.6057834625244141, 0.12275858968496323, 0.14667785167694092, -0.3892265558242798, -0.0008222208125516772, -0.0294993594288826, -0.24851351976394653, 0.0, 0.0058973403647542, 0.0, 0.0, -0.3009333312511444, -1.1017777919769287, -0.01644928567111492, -0.26255863904953003, -0.14437264204025269, 1.0118281841278076, 0.006690080743283033, -0.0953991562128067, -0.19799581170082092, -0.0033016076777130365, 0.0017169099301099777, -0.09425065666437149], "shielded_full_target": [-1.7074575424194336, -1.65494704246521, 1.8688610792160034, -0.04228191450238228, -1.43260657787323, -2.801527738571167, 0.29413434863090515, 1.4445843696594238, -2.596163511276245, 1.03280508518219, 2.0147387981414795, -2.3305606842041016, 1.1671202182769775, -1.0403717756271362, 0.39283132553100586, -1.3636409044265747, 0.055844496935606, 0.22861330211162567, 0.0, -2.0086886882781982, 0.0, 0.0, 0.35192301869392395, 0.6057834625244141, 0.12275858968496323, 0.14667785167694092, -0.3892265558242798, -0.0008222208125516772, -0.0294993594288826, -0.24851351976394653, 0.0, 0.0058973403647542, 0.0, 0.0, -0.3009333312511444, -1.1017777919769287, -0.01644928567111492, -0.26255863904953003, -0.14437264204025269, 1.0118281841278076, 0.006690080743283033, -0.0953991562128067, -0.19799581170082092, -0.0033016076777130365, 0.0017169099301099777, -0.09425065666437149]}, "joint_limit_active_steps": 179, "joint_limit_hard_episode_events": 18, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 90, "max_joint_limit_excess_rad": 1.1505019664764404, "max_joint_limit_excess_joint": "multi_leap_r_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": 179, "joint_limit_active_step_rate": 0.09293873312564901, "finger_joint_limit_saturation_steps": 90, "finger_joint_limit_saturation_step_rate": 0.04672897196261682, "max_joint_limit_excess_rad": 1.1505019664764404, "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": {"drop_to_table_obj_200_cleaner_2": 1}, "policy_query_count": 30, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1926, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_09_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..5bbdc7733c75a2961afd1fae1d5ab44116099212 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_09_episode_09/summary.json @@ -0,0 +1,208 @@ +{ + "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": 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": 1926, + "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": 0.0005192107995846313 + }, + "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": 21.383333333333333, + "expert_time_step": 1283, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0005192107995846313, + "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": 0.09293873312564901, + "finger_joint_limit_saturation_step_rate": 0.04672897196261682, + "max_joint_limit_excess_rad": 1.1505019664764404, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_10": 73, + "leap_l_2": 10, + "leap_l_6": 5, + "multi_leap_r_10": 68, + "multi_leap_r_2": 13, + "multi_leap_r_6": 32, + "multi_leap_r_9": 32 + }, + "joint_limit_hard_counts": { + "leap_l_10": 2, + "leap_l_13": 1, + "leap_l_2": 10, + "leap_l_6": 1, + "multi_leap_r_10": 3, + "multi_leap_r_2": 1, + "multi_leap_r_6": 2, + "multi_leap_r_9": 5 + }, + "joint_limit_hard_episode_events": 18, + "finger_joint_limit_saturation_counts": { + "leap_l_10": 55, + "multi_leap_r_10": 34, + "multi_leap_r_2": 1, + "multi_leap_r_6": 17 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_10": 0.6829098463058472, + "leap_l_13": 0.0077822208404541016, + "leap_l_15": 0.00017690658569335938, + "leap_l_2": 0.034457504749298096, + "leap_l_3": 4.172325134277344e-07, + "leap_l_6": 0.018787264823913574, + "multi_leap_r_10": 1.1505019664764404, + "multi_leap_r_2": 0.2693138122558594, + "multi_leap_r_6": 0.5772594213485718, + "multi_leap_r_9": 0.14962145686149597 + }, + "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": 30.23323028029551, + "joint_effort_rms": 58.44376230782966, + "joint_jerk_rms": 3128.409943570657, + "joint_velocity_rms": 0.7375441823178053 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9439789729259311, + "mean_kinematic_grasp_stability": 0.7172943833716512, + "per_object_best_kinematic_grasp_stability": { + "obj_200_cleaner_2": 0.9439789729259311, + "obj_209_soap_3": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6516095534787124, + "mean_duration_score": 0.3742211838006231, + "mean_hold_score": 0.2756619937694706, + "mean_kinematic_stability_score": 0.022904259905169547, + "mean_legacy_gsi": 0.35557194448778906, + "mean_lift_score": 0.31723779854620976, + "mean_motion_stability_score": 0.2225569219905354 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1926, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_09_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b29865029de53a18191cf2a33ae3f15c21879d4f --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_09_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/09_cleaner_moisturizer_box_loading.yaml", "episode_index": 10, "seed": 200900009, "success": false, "steps": 1926, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200900009, "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": 180.0, "base_yaw_deg": 180.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan20", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan20_physics/scene.usda", "scene_offset": [0.08, 1.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": 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"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": 26, "leap_l_12": 8, "leap_l_2": 79, "leap_l_5": 13, "leap_l_6": 13, "leap_l_9": 35, "multi_leap_r_9": 1}, "joint_limit_hard_counts": {"leap_l_10": 3, "leap_l_11": 1, "leap_l_12": 1, "leap_l_13": 1, "leap_l_2": 11, "leap_l_3": 2, "leap_l_5": 1, "leap_l_6": 1, "leap_l_9": 1, "multi_leap_r_9": 1}, "finger_joint_limit_saturation_counts": {"leap_l_12": 2, "leap_l_2": 34, "leap_l_5": 2, "leap_l_9": 3}, "joint_limit_max_excess_by_joint": {"leap_l_10": 0.2322961688041687, "leap_l_11": 0.009804397821426392, "leap_l_12": 0.2714962959289551, "leap_l_13": 0.009455680847167969, "leap_l_15": 0.0019141435623168945, "leap_l_2": 1.1051429510116577, "leap_l_3": 0.007471174001693726, "leap_l_5": 0.2800409197807312, "leap_l_6": 0.20080357789993286, "leap_l_9": 0.2903289794921875, "multi_leap_r_9": 0.01524999737739563}, "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": 283, "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": -0.5385349988937378, "hard_excess_rad": 0.03253507614135742, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.3311195969581604, "shielded_target": -0.3311195969581604}], "command_context_available": true, "active_joint_names": 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"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": [-1.6869367361068726, -1.6422654390335083, 1.8242446184158325, -0.035969723016023636, -1.453117847442627, -2.6176750659942627, 0.2502235174179077, 1.463307499885559, -2.44296932220459, 0.8786194324493408, 1.9483444690704346, -2.217017889022827, 0.9928828477859497, -1.1194391250610352, 0.33418622612953186, -1.1600652933120728, 0.04750756919384003, 0.19448401033878326, 0.0, -1.708815097808838, 0.0, 0.0, 0.29938504099845886, 0.5153470635414124, 0.10443218052387238, 0.12478057295084, -0.3311195969581604, -0.0006994716241024435, -0.02509545348584652, -0.21141336858272552, 0.0, 0.005016936454921961, 0.0, 0.0, -0.25600752234458923, -0.9372952580451965, -0.013993599452078342, -0.22336170077323914, -0.12281949818134308, 0.8607741594314575, 0.005691335536539555, -0.08115717023611069, -0.16843736171722412, 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"joint_limit_hard_episode_events": 12, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 37, "max_joint_limit_excess_rad": 1.1051429510116577, "max_joint_limit_excess_joint": "leap_l_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": 94, "joint_limit_active_step_rate": 0.04880581516095535, "finger_joint_limit_saturation_steps": 37, "finger_joint_limit_saturation_step_rate": 0.01921079958463136, "max_joint_limit_excess_rad": 1.1051429510116577, "max_joint_limit_excess_joint": "leap_l_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": {}, "policy_query_count": 19, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1926, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_09_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0bc382fb927f739712f3dfa90b82aa30de546c62 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_09_episode_10/summary.json @@ -0,0 +1,209 @@ +{ + "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": 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": 1926, + "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": { + "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": 21.383333333333333, + "expert_time_step": 1283, + "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": 0.04880581516095535, + "finger_joint_limit_saturation_step_rate": 0.01921079958463136, + "max_joint_limit_excess_rad": 1.1051429510116577, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_10": 26, + "leap_l_12": 8, + "leap_l_2": 79, + "leap_l_5": 13, + "leap_l_6": 13, + "leap_l_9": 35, + "multi_leap_r_9": 1 + }, + "joint_limit_hard_counts": { + "leap_l_10": 3, + "leap_l_11": 1, + "leap_l_12": 1, + "leap_l_13": 1, + "leap_l_2": 11, + "leap_l_3": 2, + "leap_l_5": 1, + "leap_l_6": 1, + "leap_l_9": 1, + "multi_leap_r_9": 1 + }, + "joint_limit_hard_episode_events": 12, + "finger_joint_limit_saturation_counts": { + "leap_l_12": 2, + "leap_l_2": 34, + "leap_l_5": 2, + "leap_l_9": 3 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_10": 0.2322961688041687, + "leap_l_11": 0.009804397821426392, + "leap_l_12": 0.2714962959289551, + "leap_l_13": 0.009455680847167969, + "leap_l_15": 0.0019141435623168945, + "leap_l_2": 1.1051429510116577, + "leap_l_3": 0.007471174001693726, + "leap_l_5": 0.2800409197807312, + "leap_l_6": 0.20080357789993286, + "leap_l_9": 0.2903289794921875, + "multi_leap_r_9": 0.01524999737739563 + }, + "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": 24.531498971448684, + "joint_effort_rms": 80.77960126334072, + "joint_jerk_rms": 2368.982611366419, + "joint_velocity_rms": 0.8443412298189348 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9750116993947728, + "mean_kinematic_grasp_stability": 0.7027474806369315, + "per_object_best_kinematic_grasp_stability": { + "obj_200_cleaner_2": 0.9750116993947728, + "obj_209_soap_3": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6900311526479751, + "mean_duration_score": 0.3386552440290758, + "mean_hold_score": 0.29354880581516035, + "mean_kinematic_stability_score": 0.02335194120496553, + "mean_legacy_gsi": 0.37843438570070886, + "mean_lift_score": 0.342938733125649, + "mean_motion_stability_score": 0.2773400010774688 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1926, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_11/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_09_episode_11/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da3a622b1c491ecc1e36a51b9dd77b4584d50ead --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_09_episode_11/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/09_cleaner_moisturizer_box_loading.yaml", "episode_index": 11, "seed": 200900010, "success": false, "steps": 1926, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200900010, "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": 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": 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"table_height": {"enabled": true, "height_offset_m": 0.005076938625851901, "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": [-0.001918311716103004, 0.0045577395856989, -0.0013982455038198016], "target_offset_m": [-0.0013538627654683744, -0.004745087232734063, 0.0012257040449137205], "distance_offset_m": -0.012709747204578802, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.8505279028163144, -0.3526522644277885, 0.9018970386104614], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.001444880083371184, -0.004148672983150801, -0.00335567942655542], "target_offset_m": [-0.0030368594360313294, 0.0014302711680035454, 0.0007795899848958817], "distance_offset_m": -0.021866539977831584, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.7495353939402294, 0.3311976057851045, 0.18933466728402215], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [-0.0018844737349862696, -0.0018111403739056332, -0.002768949756794671], "target_offset_m": [-0.0031609627804498686, -0.003436830874805904, 0.0025948537444497374], "distance_offset_m": -0.008178315352121216, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.4471095021830327, -0.6572164296848331, 0.641623481607408], "has_offset": true}, "cam_stereo_right": {"enabled": true, "position_offset_m": [-0.0018844737349862696, -0.0018111403739056332, -0.002768949756794671], "target_offset_m": [-0.0031609627804498686, -0.003436830874805904, 0.0025948537444497374], "distance_offset_m": -0.008178315352121216, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.4471095021830327, -0.6572164296848331, 0.641623481607408], "has_offset": true}, "cam_wrist_right": {"enabled": true, "position_offset_m": [0.0, 0.0, 0.0], "target_offset_m": 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"unseen", "spawn_position": [0.7645224625847836, 0.1755496744615391, 0.7552665025955826], "spawn_yaw_deg": 22.22720951294964, "obj_id": "distractor_00_clutter_055_baseball"}, {"name": "clutter_053_mini_soccer_ball", "uri": "dex2bench_dataset/Objects/053_mini_soccer_ball/usd_decomposition_linux/textured.usd", "scale": [1.0417619102949405, 1.0417619102949405, 1.0417619102949405], "body_type": "dynamic", "category": "ball", "asset_code": "053", "asset_id": "clutter_053_mini_soccer_ball", "asset_split": "unseen", "spawn_position": [-0.6657979836720409, 0.23127466039491162, 0.7556217801302083], "spawn_yaw_deg": 17.117353457362803, "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_154_wooden_box_1": {"position": [-0.13523464961041984, 0.26702913711949994, 0.7550769386258519], "rpy_deg": [90.0, 0.0, -6.008211050570679]}, "obj_200_cleaner_2": {"position": [-0.12, 0.02, 0.7550769391130505], "rpy_deg": [90.0, 0.0, 2.368433019604222]}, "obj_209_soap_3": {"position": [0.2704982676004974, 0.16351020075628175, 0.7550769386120028], "rpy_deg": [90.0, 0.0, -2.1607376720391365]}}, "_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": 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": 21.383333333333333, "expert_time_step": 1283, "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": 0.9987444609480111, "mean_kinematic_grasp_stability": 0.7645212558082111, "per_object_best_kinematic_grasp_stability": {"obj_200_cleaner_2": 0.9987444609480111, "obj_209_soap_3": 0.991318702797046}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4973764457263405, "mean_kinematic_stability_score": 0.32152763094737846, "mean_lift_score": 0.4205607476635514, "mean_hold_score": 0.3755062305295961, "mean_motion_stability_score": 0.33749250239232953, "mean_duration_score": 0.411993769470405, "mean_anti_slip_score": 0.998182762201453}, "robot_motion_metrics": {"joint_velocity_rms": 0.6018895098679727, "joint_acceleration_rms": 26.646824393405993, "joint_jerk_rms": 2735.1028407177046, "joint_effort_rms": 51.84875221699538}, "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": {"leap_l_10": 18, "leap_l_2": 12, "multi_leap_r_10": 112, "multi_leap_r_2": 17, "multi_leap_r_6": 56}, "joint_limit_hard_counts": {"leap_l_10": 2, "leap_l_2": 2, "multi_leap_r_10": 1, "multi_leap_r_2": 1, "multi_leap_r_6": 1}, "finger_joint_limit_saturation_counts": {"multi_leap_r_10": 102}, "joint_limit_max_excess_by_joint": {"leap_l_10": 0.2259906530380249, "leap_l_13": 0.005186319351196289, "leap_l_15": 0.0003687143325805664, "leap_l_2": 0.1087689995765686, "leap_l_3": 6.556510925292969e-07, "multi_leap_r_1": 0.002553403377532959, "multi_leap_r_10": 0.5988067388534546, "multi_leap_r_2": 0.10969597101211548, "multi_leap_r_3": 0.00038492679595947266, "multi_leap_r_5": 0.002109438180923462, "multi_leap_r_6": 0.1016809344291687}, "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": 121, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "leap_l_10", "role": "finger", "qpos": -0.5854073762893677, "hard_excess_rad": 0.0794074535369873, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.25346532464027405, "shielded_target": -0.25346532464027405}], "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": [-1.7101964950561523, -1.6566396951675415, 1.8748160600662231, -0.04312441125512123, -1.4298689365386963, -2.8260669708251953, 0.29999515414237976, 1.4420853853225708, -2.616610288619995, 1.05338454246521, 2.0236005783081055, -2.345715284347534, 1.1903759241104126, -1.0298186540603638, 0.4006587564945221, -1.3908123970031738, 0.05695723369717598, 0.2331685721874237, -2.048713207244873, 0.35893532633781433, 0.617854118347168, 0.1252046376466751, 0.14960050582885742, -0.3969821631908417, -0.0008386042318306863, -0.030087152495980263, -0.25346532464027405, 0.006014848593622446, -0.3069296181201935, -1.1237314939498901, -0.016777047887444496, -0.267790287733078, -0.14724935591220856, 1.031989574432373, 0.006823384668678045, -0.09730005264282227, -0.20194101333618164, -0.0033673946745693684, 0.0017511205514892936, -0.0961286649107933], "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": [-1.7101964950561523, -1.6566396951675415, 1.8748160600662231, -0.04312441125512123, -1.4298689365386963, -2.8260669708251953, 0.29999515414237976, 1.4420853853225708, -2.616610288619995, 1.05338454246521, 2.0236005783081055, -2.345715284347534, 1.1903759241104126, -1.0298186540603638, 0.4006587564945221, -1.3908123970031738, 0.05695723369717598, 0.2331685721874237, 0.0, -2.048713207244873, 0.0, 0.0, 0.35893532633781433, 0.617854118347168, 0.1252046376466751, 0.14960050582885742, -0.3969821631908417, -0.0008386042318306863, -0.030087152495980263, -0.25346532464027405, 0.0, 0.006014848593622446, 0.0, 0.0, -0.3069296181201935, -1.1237314939498901, -0.016777047887444496, -0.267790287733078, -0.14724935591220856, 1.031989574432373, 0.006823384668678045, -0.09730005264282227, -0.20194101333618164, -0.0033673946745693684, 0.0017511205514892936, -0.0961286649107933], "shielded_full_target": [-1.7101964950561523, -1.6566396951675415, 1.8748160600662231, -0.04312441125512123, -1.4298689365386963, -2.8260669708251953, 0.29999515414237976, 1.4420853853225708, -2.616610288619995, 1.05338454246521, 2.0236005783081055, -2.345715284347534, 1.1903759241104126, -1.0298186540603638, 0.4006587564945221, -1.3908123970031738, 0.05695723369717598, 0.2331685721874237, 0.0, -2.048713207244873, 0.0, 0.0, 0.35893532633781433, 0.617854118347168, 0.1252046376466751, 0.14960050582885742, -0.3969821631908417, -0.0008386042318306863, -0.030087152495980263, -0.25346532464027405, 0.0, 0.006014848593622446, 0.0, 0.0, -0.3069296181201935, -1.1237314939498901, -0.016777047887444496, -0.267790287733078, -0.14724935591220856, 1.031989574432373, 0.006823384668678045, -0.09730005264282227, -0.20194101333618164, -0.0033673946745693684, 0.0017511205514892936, -0.0961286649107933]}, "joint_limit_active_steps": 138, "joint_limit_hard_episode_events": 4, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 102, "max_joint_limit_excess_rad": 0.5988067388534546, "max_joint_limit_excess_joint": "multi_leap_r_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": 138, "joint_limit_active_step_rate": 0.07165109034267912, "finger_joint_limit_saturation_steps": 102, "finger_joint_limit_saturation_step_rate": 0.0529595015576324, "max_joint_limit_excess_rad": 0.5988067388534546, "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": 19, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1926, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_09_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4d83cb2e2f4276b16e34634bdb6115ca097f12eb --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_09_episode_11/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": 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": 1926, + "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": { + "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": 21.383333333333333, + "expert_time_step": 1283, + "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": 0.07165109034267912, + "finger_joint_limit_saturation_step_rate": 0.0529595015576324, + "max_joint_limit_excess_rad": 0.5988067388534546, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_10": 18, + "leap_l_2": 12, + "multi_leap_r_10": 112, + "multi_leap_r_2": 17, + "multi_leap_r_6": 56 + }, + "joint_limit_hard_counts": { + "leap_l_10": 2, + "leap_l_2": 2, + "multi_leap_r_10": 1, + "multi_leap_r_2": 1, + "multi_leap_r_6": 1 + }, + "joint_limit_hard_episode_events": 4, + "finger_joint_limit_saturation_counts": { + "multi_leap_r_10": 102 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_10": 0.2259906530380249, + "leap_l_13": 0.005186319351196289, + "leap_l_15": 0.0003687143325805664, + "leap_l_2": 0.1087689995765686, + "leap_l_3": 6.556510925292969e-07, + "multi_leap_r_1": 0.002553403377532959, + "multi_leap_r_10": 0.5988067388534546, + "multi_leap_r_2": 0.10969597101211548, + "multi_leap_r_3": 0.00038492679595947266, + "multi_leap_r_5": 0.002109438180923462, + "multi_leap_r_6": 0.1016809344291687 + }, + "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": 26.646824393405993, + "joint_effort_rms": 51.84875221699538, + "joint_jerk_rms": 2735.1028407177046, + "joint_velocity_rms": 0.6018895098679727 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9987444609480111, + "mean_kinematic_grasp_stability": 0.7645212558082111, + "per_object_best_kinematic_grasp_stability": { + "obj_200_cleaner_2": 0.9987444609480111, + "obj_209_soap_3": 0.991318702797046 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.998182762201453, + "mean_duration_score": 0.411993769470405, + "mean_hold_score": 0.3755062305295961, + "mean_kinematic_stability_score": 0.32152763094737846, + "mean_legacy_gsi": 0.4973764457263405, + "mean_lift_score": 0.4205607476635514, + "mean_motion_stability_score": 0.33749250239232953 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1926, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_09_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35b6d2aaa7e6ab3700ffc9ec7bc0f9540c204331 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_09_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/09_cleaner_moisturizer_box_loading.yaml", "episode_index": 12, "seed": 200900011, "success": true, "steps": 1774, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200900011, "base_seed": 200900000, "seed_policy": "episode_seed = base_seed + episode_index - 1", 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"clutter": {"tabletop": {"enabled": true, "count": 2, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_053_mini_soccer_ball", "uri": "dex2bench_dataset/Objects/053_mini_soccer_ball/usd_decomposition_linux/textured.usd", "scale": [1.0880086562616933, 1.0880086562616933, 1.0880086562616933], "body_type": "dynamic", "category": "ball", "asset_code": "053", "asset_id": "clutter_053_mini_soccer_ball", "asset_split": "unseen", "spawn_position": [0.8465549047492812, 0.28311688561784476, 0.7200347028349979], "spawn_yaw_deg": 216.97068034363605, "obj_id": "distractor_00_clutter_053_mini_soccer_ball"}, {"name": "clutter_055_baseball", "uri": "dex2bench_dataset/Objects/055_baseball/usd_decomposition_linux/textured.usd", "scale": [1.1419609758372515, 1.1419609758372515, 1.1419609758372515], "body_type": "dynamic", "category": "ball", "asset_code": "055", "asset_id": "clutter_055_baseball", "asset_split": "unseen", "spawn_position": [-0.669870747197497, 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"per_object_best_kinematic_grasp_stability": {"obj_200_cleaner_2": 0.8745959089104471, "obj_209_soap_3": 0.9867292988046362}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.45735210499863543, "mean_kinematic_stability_score": 0.07514857621705594, "mean_lift_score": 0.4512401352874859, "mean_hold_score": 0.4023393461104868, "mean_motion_stability_score": 0.37762194591042186, "mean_duration_score": 0.39757609921082027, "mean_anti_slip_score": 0.6956031567080045}, "robot_motion_metrics": {"joint_velocity_rms": 0.5798567235839525, "joint_acceleration_rms": 18.043680442595686, "joint_jerk_rms": 1781.7705853362538, "joint_effort_rms": 53.10112544873384}, "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": {"multi_leap_r_10": 36, "multi_leap_r_2": 106, "multi_leap_r_6": 31}, "joint_limit_hard_counts": {"multi_leap_r_10": 3, "multi_leap_r_2": 4, "multi_leap_r_5": 1, "multi_leap_r_6": 1, "multi_leap_r_9": 1}, "finger_joint_limit_saturation_counts": {"multi_leap_r_10": 24, "multi_leap_r_2": 41, "multi_leap_r_6": 24}, "joint_limit_max_excess_by_joint": {"leap_l_13": 0.0024106502532958984, "leap_l_15": 2.9087066650390625e-05, "leap_l_2": 0.002071976661682129, "leap_l_3": 2.2649765014648438e-05, "multi_leap_r_1": 0.004976987838745117, "multi_leap_r_10": 0.35482078790664673, "multi_leap_r_2": 0.37410664558410645, "multi_leap_r_3": 0.00039336085319519043, "multi_leap_r_5": 0.006681501865386963, "multi_leap_r_6": 0.39431244134902954, "multi_leap_r_9": 0.005293399095535278}, "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": 1148, "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": -0.5291862487792969, "hard_excess_rad": 0.023186326026916504, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.14939022064208984, "shielded_target": -0.14939022064208984}], "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": [-1.375148057937622, -1.1560380458831787, 1.5696296691894531, -0.06445890665054321, -1.242140769958496, -1.8397692441940308, -0.2793338894844055, 1.8426883220672607, -2.241509437561035, 0.7433579564094543, 0.5161153674125671, -3.3885650634765625, 0.7792288661003113, -0.8788755536079407, 0.47776782512664795, -1.6584821939468384, 0.06791897863149643, 0.2780432105064392, -2.442999839782715, 0.13217473030090332, 1.1116598844528198, -0.00183367810677737, 0.03746418654918671, -0.47338366508483887, -0.0010000000474974513, -0.035877592861652374, -0.3022461533546448, -0.004276773892343044, -0.3659999966621399, -1.340000033378601, -0.020005887374281883, -0.31932806968688965, -0.14939022064208984, 1.0290613174438477, -0.027145877480506897, -0.10344917327165604, -0.1766902059316635, -0.00035500965896062553, -0.01042654737830162, -0.07239264994859695], "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": [-1.375148057937622, -1.1560380458831787, 1.5696296691894531, -0.06445890665054321, -1.242140769958496, -1.8397692441940308, -0.2793338894844055, 1.8426883220672607, -2.241509437561035, 0.7433579564094543, 0.5161153674125671, -3.3885650634765625, 0.7792288661003113, -0.8788755536079407, 0.47776782512664795, -1.6584821939468384, 0.06791897863149643, 0.2780432105064392, 0.0, -2.442999839782715, 0.0, 0.0, 0.13217473030090332, 1.1116598844528198, -0.00183367810677737, 0.03746418654918671, -0.47338366508483887, -0.0010000000474974513, -0.035877592861652374, -0.3022461533546448, 0.0, -0.004276773892343044, 0.0, 0.0, -0.3659999966621399, -1.340000033378601, -0.020005887374281883, -0.31932806968688965, -0.14939022064208984, 1.0290613174438477, -0.027145877480506897, -0.10344917327165604, -0.1766902059316635, -0.00035500965896062553, -0.01042654737830162, -0.07239264994859695], "shielded_full_target": [-1.375148057937622, -1.1560380458831787, 1.5696296691894531, -0.06445890665054321, -1.242140769958496, -1.8397692441940308, -0.2793338894844055, 1.8426883220672607, -2.241509437561035, 0.7433579564094543, 0.5161153674125671, -3.3885650634765625, 0.7792288661003113, -0.8788755536079407, 0.47776782512664795, -1.6584821939468384, 0.06791897863149643, 0.2780432105064392, 0.0, -2.442999839782715, 0.0, 0.0, 0.13217473030090332, 1.1116598844528198, -0.00183367810677737, 0.03746418654918671, -0.47338366508483887, -0.0010000000474974513, -0.035877592861652374, -0.3022461533546448, 0.0, -0.004276773892343044, 0.0, 0.0, -0.3659999966621399, -1.340000033378601, -0.020005887374281883, -0.31932806968688965, -0.14939022064208984, 1.0290613174438477, -0.027145877480506897, -0.10344917327165604, -0.1766902059316635, -0.00035500965896062553, -0.01042654737830162, -0.07239264994859695]}, "joint_limit_active_steps": 141, "joint_limit_hard_episode_events": 7, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 89, "max_joint_limit_excess_rad": 0.39431244134902954, "max_joint_limit_excess_joint": "multi_leap_r_6", "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": 141, "joint_limit_active_step_rate": 0.0794813979706877, "finger_joint_limit_saturation_steps": 89, "finger_joint_limit_saturation_step_rate": 0.050169109357384445, "max_joint_limit_excess_rad": 0.39431244134902954, "max_joint_limit_excess_joint": "multi_leap_r_6", "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": 22, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1926, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_09_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..7294ee37697706da1eca5df4f8dba3c3daec3d81 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_09_episode_12/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": 1926, + "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": 29.56666666666627 + }, + "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": 0.7232243517474731, + "expert_time_s": 21.383333333333333, + "expert_time_step": 1283, + "avg_steps_to_success": 1774, + "avg_policy_steps_to_success": 592, + "avg_policy_queries_to_success": 22 + }, + "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": 0.0794813979706877, + "finger_joint_limit_saturation_step_rate": 0.050169109357384445, + "max_joint_limit_excess_rad": 0.39431244134902954, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "multi_leap_r_10": 36, + "multi_leap_r_2": 106, + "multi_leap_r_6": 31 + }, + "joint_limit_hard_counts": { + "multi_leap_r_10": 3, + "multi_leap_r_2": 4, + "multi_leap_r_5": 1, + "multi_leap_r_6": 1, + "multi_leap_r_9": 1 + }, + "joint_limit_hard_episode_events": 7, + "finger_joint_limit_saturation_counts": { + "multi_leap_r_10": 24, + "multi_leap_r_2": 41, + "multi_leap_r_6": 24 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_13": 0.0024106502532958984, + "leap_l_15": 2.9087066650390625e-05, + "leap_l_2": 0.002071976661682129, + 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"runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 171, "joint_limit_active_step_rate": 0.08878504672897196, "finger_joint_limit_saturation_steps": 8, "finger_joint_limit_saturation_step_rate": 0.004153686396677051, "max_joint_limit_excess_rad": 0.3684377074241638, "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, "high_speed_obj_154_wooden_box_1": 1}, "policy_query_count": 21, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1926, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_09_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ea1f65f43a062395c8393559651fec7646d34a23 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_09_episode_13/summary.json @@ -0,0 +1,207 @@ +{ + "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": 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": 1926, + "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": 0.004153686396677051 + }, + "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": 21.383333333333333, + "expert_time_step": 1283, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0010384215991692627, + "violation_counts": { + "drop_to_table_obj_200_cleaner_2": 1, + "high_speed_obj_154_wooden_box_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.08878504672897196, + "finger_joint_limit_saturation_step_rate": 0.004153686396677051, + "max_joint_limit_excess_rad": 0.3684377074241638, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_10": 15, + "leap_l_11": 13, + "leap_l_2": 75, + "leap_l_5": 58, + "leap_l_6": 7, + "leap_l_9": 8, + "multi_leap_r_10": 12 + }, + "joint_limit_hard_counts": { + "leap_l_10": 3, + "leap_l_11": 9, + "leap_l_13": 1, + "leap_l_2": 21, + "leap_l_5": 2, + "leap_l_6": 2, + "leap_l_9": 1, + "multi_leap_r_10": 1 + }, + "joint_limit_hard_episode_events": 23, + "finger_joint_limit_saturation_counts": { + "leap_l_10": 4, + "leap_l_6": 4 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_10": 0.3684377074241638, + "leap_l_11": 0.04692891240119934, + "leap_l_13": 0.006959438323974609, + "leap_l_15": 0.0012236833572387695, + "leap_l_2": 0.13951867818832397, + "leap_l_3": 0.000400543212890625, + "leap_l_5": 0.19392192363739014, + "leap_l_6": 0.32280123233795166, + "leap_l_9": 0.14318323135375977, + "multi_leap_r_10": 0.19418972730636597 + }, + "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": 31.630596740269237, + "joint_effort_rms": 64.63865023697431, + "joint_jerk_rms": 3170.6363631048384, + "joint_velocity_rms": 0.7738242151590141 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8927545657356754, + "mean_kinematic_grasp_stability": 0.7340449915383175, + "per_object_best_kinematic_grasp_stability": { + "obj_200_cleaner_2": 0.8927545657356754, + "obj_209_soap_3": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6295430944963655, + "mean_duration_score": 0.4009605399792316, + "mean_hold_score": 0.03612409138110071, + "mean_kinematic_stability_score": 0.025725875871670006, + "mean_legacy_gsi": 0.2261382785404553, + "mean_lift_score": 0.037642782969885775, + "mean_motion_stability_score": 0.027690298816323334 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1926, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_09_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eea4f163737501ab4cc0d8acfdf36674657611e5 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_09_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/09_cleaner_moisturizer_box_loading.yaml", "episode_index": 14, "seed": 200900013, "success": false, "steps": 1926, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200900013, "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, "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_wood_wood1373_jpg", "asset_uri": 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1, "cameras": {"cam_chest": {"enabled": true, "position_offset_m": [-0.0034139202024724125, 0.000665200409462368, -0.001661883186091746], "target_offset_m": [-0.003260792640222645, 0.002239725368020802, -0.0031166912457597285], "distance_offset_m": -0.001482720220173598, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.031789388865675505, -0.9344796526211863, 0.23249699106278143], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [0.003063371506340639, -0.00038556915195569596, 0.0032799073947132667], "target_offset_m": [-0.0008037710184531062, 0.002068933559302877, 0.0013328507854361302], "distance_offset_m": -0.004759405344720909, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.09505145101928325, -0.35512921709590284, 0.37303375198965116], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [0.00012774225419912022, -0.0038493915254059464, 0.0022941810162388733], "target_offset_m": [0.004630793602961832, 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[90.0, 0.0, 1.0457902299209252]}}, "_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": 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": 21.383333333333333, "expert_time_step": 1283, "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": 0.07102005444982773, "mean_kinematic_grasp_stability": 0.06031336303102032, "per_object_best_kinematic_grasp_stability": {"obj_200_cleaner_2": 0.07102005444982773, "obj_209_soap_3": 0.0}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.20041308123631257, "mean_kinematic_stability_score": 0.00010960372305740972, "mean_lift_score": 0.0018172377985462098, "mean_hold_score": 0.00027258566978193146, "mean_motion_stability_score": 0.0007306914870493983, "mean_duration_score": 0.0, "mean_anti_slip_score": 1.0}, "robot_motion_metrics": {"joint_velocity_rms": 0.7462754523169377, "joint_acceleration_rms": 26.25907690177704, "joint_jerk_rms": 2563.971109968893, "joint_effort_rms": 62.65378740468451}, "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": {"leap_l_10": 45, "leap_l_13": 2, "leap_l_2": 51, "leap_l_6": 21, "leap_l_9": 16, "multi_leap_r_10": 75, "multi_leap_r_5": 9, "multi_leap_r_6": 100}, "joint_limit_hard_counts": {"leap_l_10": 2, "leap_l_11": 2, "leap_l_13": 3, "leap_l_2": 20, "leap_l_6": 1, "leap_l_9": 2, "multi_leap_r_10": 3, "multi_leap_r_5": 1, "multi_leap_r_6": 1, "multi_leap_r_9": 2}, "finger_joint_limit_saturation_counts": {"leap_l_10": 29, "leap_l_6": 9, "multi_leap_r_10": 45, "multi_leap_r_6": 93}, "joint_limit_max_excess_by_joint": {"joint7": 0.002178192138671875, "leap_l_10": 0.37683868408203125, "leap_l_11": 0.008174777030944824, "leap_l_12": 0.003462076187133789, "leap_l_13": 0.013275623321533203, "leap_l_15": 0.000523686408996582, "leap_l_2": 0.14942312240600586, "leap_l_6": 0.31148213148117065, "leap_l_9": 0.12477514147758484, "multi_leap_r_10": 0.5781030654907227, "multi_leap_r_5": 0.06958889961242676, "multi_leap_r_6": 0.5509781837463379, "multi_leap_r_9": 0.006399810314178467}, "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": 151, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "leap_l_9", "role": "finger", "qpos": -0.32370060682296753, "hard_excess_rad": 0.009700596332550049, "hard_tolerance_rad": 0.0050880002975463865, "hard_lower": -0.3140000104904175, "hard_upper": 2.2300000190734863, "operating_lower": -0.31400007009506226, "operating_upper": 2.2300000190734863, "expanded_target": 0.2522822916507721, "shielded_target": 0.2522822916507721}], "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": [-1.8368861675262451, -1.2001497745513916, 1.8109391927719116, 0.06816457211971283, -1.20021653175354, -2.7195253372192383, 0.3773891031742096, 1.4262601137161255, -2.4419989585876465, 1.5474475622177124, 1.930524230003357, -3.0706980228424072, 1.1533161401748657, -0.5183607935905457, 0.38734859228134155, -1.5379303693771362, 0.02627328597009182, 0.2522822916507721, -2.265327215194702, 0.13417337834835052, 0.5668941736221313, 0.034409429877996445, 0.057143665850162506, -0.4538477659225464, -0.0009272721945308149, -0.032567087560892105, -0.28460246324539185, 0.010469773784279823, -0.3364182114601135, -1.242545485496521, -0.014009613543748856, -0.29969915747642517, -0.08181120455265045, 1.061431646347046, 0.017227021977305412, -0.07001754641532898, -0.07770846039056778, 0.007951246574521065, 0.007343605160713196, -0.051170796155929565], "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": [-1.8368861675262451, -1.2001497745513916, 1.8109391927719116, 0.06816457211971283, -1.20021653175354, -2.7195253372192383, 0.3773891031742096, 1.4262601137161255, -2.4419989585876465, 1.5474475622177124, 1.930524230003357, -3.0706980228424072, 1.1533161401748657, -0.5183607935905457, 0.38734859228134155, -1.5379303693771362, 0.02627328597009182, 0.2522822916507721, 0.0, -2.265327215194702, 0.0, 0.0, 0.13417337834835052, 0.5668941736221313, 0.034409429877996445, 0.057143665850162506, -0.4538477659225464, -0.0009272721945308149, -0.032567087560892105, -0.28460246324539185, 0.0, 0.010469773784279823, 0.0, 0.0, -0.3364182114601135, -1.242545485496521, -0.014009613543748856, -0.29969915747642517, -0.08181120455265045, 1.061431646347046, 0.017227021977305412, -0.07001754641532898, -0.07770846039056778, 0.007951246574521065, 0.007343605160713196, -0.051170796155929565], "shielded_full_target": [-1.8368861675262451, -1.2001497745513916, 1.8109391927719116, 0.06816457211971283, -1.20021653175354, -2.7195253372192383, 0.3773891031742096, 1.4262601137161255, -2.4419989585876465, 1.5474475622177124, 1.930524230003357, -3.0706980228424072, 1.1533161401748657, -0.5183607935905457, 0.38734859228134155, -1.5379303693771362, 0.02627328597009182, 0.2522822916507721, 0.0, -2.265327215194702, 0.0, 0.0, 0.13417337834835052, 0.5668941736221313, 0.034409429877996445, 0.057143665850162506, -0.4538477659225464, -0.0009272721945308149, -0.032567087560892105, -0.28460246324539185, 0.0, 0.010469773784279823, 0.0, 0.0, -0.3364182114601135, -1.242545485496521, -0.014009613543748856, -0.29969915747642517, -0.08181120455265045, 1.061431646347046, 0.017227021977305412, -0.07001754641532898, -0.07770846039056778, 0.007951246574521065, 0.007343605160713196, -0.051170796155929565]}, "joint_limit_active_steps": 267, "joint_limit_hard_episode_events": 21, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 156, "max_joint_limit_excess_rad": 0.5781030654907227, "max_joint_limit_excess_joint": "multi_leap_r_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": 267, "joint_limit_active_step_rate": 0.13862928348909656, "finger_joint_limit_saturation_steps": 156, "finger_joint_limit_saturation_step_rate": 0.08099688473520249, "max_joint_limit_excess_rad": 0.5781030654907227, "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": 26, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1926, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_09_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_09_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..a75696e6863969ab67884f0da633de2c102cc55b --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_09_episode_14/summary.json @@ -0,0 +1,212 @@ +{ + "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": 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": 1926, + "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": { + "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": 21.383333333333333, + "expert_time_step": 1283, + "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": 0.13862928348909656, + "finger_joint_limit_saturation_step_rate": 0.08099688473520249, + "max_joint_limit_excess_rad": 0.5781030654907227, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_10": 45, + "leap_l_13": 2, + "leap_l_2": 51, + "leap_l_6": 21, + "leap_l_9": 16, + "multi_leap_r_10": 75, + "multi_leap_r_5": 9, + "multi_leap_r_6": 100 + }, + "joint_limit_hard_counts": { + "leap_l_10": 2, + "leap_l_11": 2, + "leap_l_13": 3, + "leap_l_2": 20, + "leap_l_6": 1, + "leap_l_9": 2, + "multi_leap_r_10": 3, + "multi_leap_r_5": 1, + "multi_leap_r_6": 1, + "multi_leap_r_9": 2 + }, + "joint_limit_hard_episode_events": 21, + "finger_joint_limit_saturation_counts": { + "leap_l_10": 29, + "leap_l_6": 9, + "multi_leap_r_10": 45, + "multi_leap_r_6": 93 + }, + "joint_limit_max_excess_by_joint": { + "joint7": 0.002178192138671875, + "leap_l_10": 0.37683868408203125, + "leap_l_11": 0.008174777030944824, + "leap_l_12": 0.003462076187133789, + "leap_l_13": 0.013275623321533203, + "leap_l_15": 0.000523686408996582, + "leap_l_2": 0.14942312240600586, + "leap_l_6": 0.31148213148117065, + "leap_l_9": 0.12477514147758484, + "multi_leap_r_10": 0.5781030654907227, + "multi_leap_r_5": 0.06958889961242676, + "multi_leap_r_6": 0.5509781837463379, + "multi_leap_r_9": 0.006399810314178467 + }, + "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": 26.25907690177704, + "joint_effort_rms": 62.65378740468451, + "joint_jerk_rms": 2563.971109968893, + "joint_velocity_rms": 0.7462754523169377 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.07102005444982773, + "mean_kinematic_grasp_stability": 0.06031336303102032, + "per_object_best_kinematic_grasp_stability": { + "obj_200_cleaner_2": 0.07102005444982773, + "obj_209_soap_3": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.0, + "mean_hold_score": 0.00027258566978193146, + "mean_kinematic_stability_score": 0.00010960372305740972, + "mean_legacy_gsi": 0.20041308123631257, + "mean_lift_score": 0.0018172377985462098, + "mean_motion_stability_score": 0.0007306914870493983 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1926, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_12_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_12_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83d4df4f29f47e7f332d5b329db24b400a81da4c --- /dev/null +++ b/gpt6_astra_1x_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, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan20", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan20_physics/scene.usda", "scene_offset": [0.08, 1.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_leather_leather0089_jpg", "asset_uri": "dex2bench_dataset/textures/leather/leather0089.jpg", "asset_category": "leather", "asset_id": "leather/leather0089.jpg", 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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": 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_1x_icl/source_runs/task_12_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_12_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0814159e4211e96f956ad41c673312adca1290b4 --- /dev/null +++ b/gpt6_astra_1x_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, + 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"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": 541, "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": 541, "joint_limit_active_step_rate": 0.15694807078619089, "finger_joint_limit_saturation_steps": 431, "finger_joint_limit_saturation_step_rate": 0.12503626341746446, "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": 25, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3447, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_12_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_12_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..819b7af90648571ee1c60774f70dfae1fcb3c2ee --- /dev/null +++ b/gpt6_astra_1x_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": 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": 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": 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": 1.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "tool_precision_place": 0.0 + } + }, + "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": null, + "expert_time_s": 38.28333333333333, + "expert_time_step": 2297, + "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": 0.15694807078619089, + "finger_joint_limit_saturation_step_rate": 0.12503626341746446, + "max_joint_limit_excess_rad": 0.9538151621818542, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 43, + "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 + }, + "joint_limit_hard_episode_events": 11, + "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": 9.374834775144336e-08, + "left_little_1_joint": 0.04250878095626831, + "left_little_2_joint": 6.544914867845364e-07, + "left_middle_1_joint": 0.02692592702805996, + "left_middle_2_joint": 1.9698507003340637e-07, + "left_ring_1_joint": 0.11615025997161865, + "left_ring_2_joint": 5.398441089710104e-07, + "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 + }, + "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": 57.00896442058713, + "joint_effort_rms": 42.86722474501402, + "joint_jerk_rms": 5961.799018321898, + "joint_velocity_rms": 1.2525816911292893 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9983773276219967, + "mean_kinematic_grasp_stability": 0.39790349853561197, + "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_anti_slip_score": 0.7480578925313502, + "mean_duration_score": 0.3967346807207556, + "mean_hold_score": 0.34217193695001075, + "mean_kinematic_stability_score": 0.11566559487458172, + "mean_legacy_gsi": 0.44652866762541676, + "mean_lift_score": 0.513393288850208, + "mean_motion_stability_score": 0.3431151629288157 + } + }, + "tool": { + "tool_selection_accuracy": 0.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 6, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3447, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_12_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_12_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8b885eb9f6c277f089291b4c6138b27c8ee3865 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_12_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/12_screwdriver_box_and_hammer.yaml", "episode_index": 7, "seed": 201200006, "success": true, "steps": 3079, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 201200006, "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": 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0.28253304714496635, 0.775888612812953], "rpy_deg": [90.0, 0.0, -8.011865546297605]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "tool_precision_place", "robot_key": "multi_ur5_rh56dfx_with_flange", "perturbation_axis": "inv+cov", "stable_success": true, "ever_instant_success": true, "at_end_success": true, "at_end_success_observed": true, "at_end_success_budget": null, "first_success_step": 3046, "stable_success_step": 3078, "first_stable_success_step": 3078, "steps_to_stable_success": 3079, "policy_steps_to_stable_success": 1027, "policy_queries_to_stable_success": 20, "time_to_stable_success_s": 51.316666666665036, "expert_time_s": 38.28333333333333, "expert_time_step": 2297, "success_hold_s": 0.49999999999999994, "terminal_success_rate": 1.0, "stage_completion_rate": 1.0, "normalized_progress_score": 1.0, "chain_depth_progress_score": 1.0, "current_stage_completion_rate": 1.0, "current_normalized_progress_score": 1.0, "current_chain_depth_progress_score": 1.0, "current_chain_depth": 4, "latched_stage_completion_rate": 1.0, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 4, "task_efficiency": 0.7460214355310403, "kinematic_grasp_stability_index": 0.9997286068105681, "mean_kinematic_grasp_stability": 0.48642067993828914, "per_object_best_kinematic_grasp_stability": {"obj_043_phillips_screwdriver_1": 0.39021080054594387, "obj_044_flat_screwdriver_2": 0.9997286068105681, "obj_048_hammer_3": 0.5428710353642773}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4538086996933859, "mean_kinematic_stability_score": 0.16766952960089992, "mean_lift_score": 0.4690916964382375, "mean_hold_score": 0.3525603550936483, "mean_motion_stability_score": 0.3387467109997972, "mean_duration_score": 0.39194182815488476, "mean_anti_slip_score": 0.8035076323482263}, "robot_motion_metrics": {"joint_velocity_rms": 1.1770842481165196, "joint_acceleration_rms": 55.823631590548196, "joint_jerk_rms": 5753.460930366836, "joint_effort_rms": 44.772875677821915}, "tool_selection_accuracy": 0.0, "tool_switch_success_rate": 0.0, "tool_switch_total": 6, "tool_switch_successful": 0, "safety_violation_rate": 0.0, "safety_violation_rate_time": 0.0, "safety_violation_rate_event": 0.0, "safety_violation_step_rate": 0.0, "safety_violation_events_per_step": 0.0, "episode_violation_rate": 0.0, "safety_hard_violation": false, "drop_violation": false, "high_speed_violation": false, "excessive_impact_violation": null, "robot_constraint_violation": true, "finger_joint_limit_saturation": true, "impact_metric_available": false, "chain_depth": 4, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_index_1_joint": 6, "left_little_1_joint": 32, "left_middle_1_joint": 27, "left_ring_1_joint": 23, "left_thumb_2_joint": 482, "right_index_1_joint": 77, "right_middle_1_joint": 113, "right_ring_1_joint": 69, "right_thumb_2_joint": 273, "right_thumb_3_joint": 19}, "joint_limit_hard_counts": {"left_index_1_joint": 1, "left_little_1_joint": 1, "left_middle_1_joint": 1, "left_ring_1_joint": 1, "left_thumb_2_joint": 1, "left_thumb_4_joint": 2, "right_index_1_joint": 4, "right_middle_1_joint": 2, "right_ring_1_joint": 2, "right_thumb_2_joint": 2, "right_thumb_3_joint": 1}, "finger_joint_limit_saturation_counts": {"left_little_1_joint": 6, "left_thumb_2_joint": 291, "right_index_1_joint": 40, "right_middle_1_joint": 79, "right_ring_1_joint": 23, "right_thumb_2_joint": 254}, "joint_limit_max_excess_by_joint": {"left_index_1_joint": 0.039517853409051895, "left_index_2_joint": 8.936711282103715e-08, "left_little_1_joint": 0.13607805967330933, "left_little_2_joint": 0.0004608979797922075, "left_middle_1_joint": 0.09417147934436798, "left_middle_2_joint": 6.726151013936033e-08, "left_ring_1_joint": 0.09049873799085617, "left_ring_2_joint": 1.7752026906237006e-05, "left_thumb_1_joint": 1.6255909940809943e-05, "left_thumb_2_joint": 0.4083523750305176, "left_thumb_3_joint": 0.0011008548317477107, "left_thumb_4_joint": 0.009052425622940063, "right_index_1_joint": 0.17147788405418396, "right_index_2_joint": 1.34430092657567e-06, "right_little_2_joint": 3.986513547715731e-06, "right_middle_1_joint": 0.30515244603157043, "right_middle_2_joint": 1.0809752893692348e-05, "right_ring_1_joint": 0.2909194231033325, "right_ring_2_joint": 1.1809496754722204e-05, "right_thumb_1_joint": 6.022195884725079e-05, "right_thumb_2_joint": 0.3879449963569641, "right_thumb_3_joint": 0.16770410537719727, "right_thumb_4_joint": 0.0015472471714019775}, "joint_limit_baseline_checks": [{"phase": "post_reset", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}, {"phase": "post_home", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}], "first_joint_limit_hard_event": {"sim_step": 252, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_middle_1_joint", "role": "finger", "qpos": -0.01816951297223568, "hard_excess_rad": 0.01816951297223568, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3442769050598145, "operating_lower": 0.0, "operating_upper": 1.3442769050598145, "expanded_target": 0.32567158341407776, "shielded_target": 0.32567158341407776}], "command_context_available": true, "active_joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "L_arm_shoulder_pan_joint", "elbow_joint", "L_arm_shoulder_lift_joint", "wrist_1_joint", "L_arm_elbow_joint", "wrist_2_joint", "L_arm_wrist_1_joint", "wrist_3_joint", "L_arm_wrist_2_joint", "L_arm_wrist_3_joint", "right_index_1_joint", "right_little_1_joint", "right_middle_1_joint", "right_ring_1_joint", "right_thumb_1_joint", "right_thumb_2_joint", "left_index_1_joint", "left_little_1_joint", "left_middle_1_joint", "left_ring_1_joint", "left_thumb_1_joint", "left_thumb_2_joint"], "raw_active_action": [1.9985383749008179, -1.4305733442306519, -1.5699794292449951, 2.1850829124450684, 1.562464952468872, -0.47811049222946167, -1.5838395357131958, 1.9935656785964966, -0.003596596885472536, 0.049832236021757126, -1.5699987411499023, 0.0028283274732530117, 0.25318819284439087, 0.4190038740634918, 0.32567158341407776, 0.26254916191101074, 0.4979952573776245, 0.173112154006958, 0.004607485141605139, 0.0026043641846626997, 0.00537152448669076, 0.00413545360788703, 0.0, 0.0], "full_joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "L_arm_shoulder_pan_joint", "elbow_joint", "L_arm_shoulder_lift_joint", "wrist_1_joint", "L_arm_elbow_joint", "wrist_2_joint", "L_arm_wrist_1_joint", "wrist_3_joint", "L_arm_wrist_2_joint", "L_arm_wrist_3_joint", "right_index_1_joint", "right_little_1_joint", "right_middle_1_joint", "right_ring_1_joint", "right_thumb_1_joint", "right_index_2_joint", "right_little_2_joint", "right_middle_2_joint", "right_ring_2_joint", "right_thumb_2_joint", "left_index_1_joint", "left_little_1_joint", "left_middle_1_joint", "left_ring_1_joint", "left_thumb_1_joint", "right_thumb_3_joint", "left_index_2_joint", "left_little_2_joint", "left_middle_2_joint", "left_ring_2_joint", "left_thumb_2_joint", "right_thumb_4_joint", "left_thumb_3_joint", "left_thumb_4_joint"], "expanded_full_target": [1.9985383749008179, -1.4305733442306519, -1.5699794292449951, 2.1850829124450684, 1.562464952468872, -0.47811049222946167, -1.5838395357131958, 1.9935656785964966, -0.003596596885472536, 0.049832236021757126, -1.5699987411499023, 0.0028283274732530117, 0.25318819284439087, 0.4190038740634918, 0.32567158341407776, 0.26254916191101074, 0.4979952573776245, 0.1327858865261078, 0.3179854154586792, 0.21374259889125824, 0.14324115216732025, 0.173112154006958, 0.004607485141605139, 0.0026043641846626997, 0.00537152448669076, 0.00413545360788703, 0.0, 0.19778063893318176, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.24849370121955872, 0.0, 0.10000000149011612], "shielded_full_target": [1.9985383749008179, -1.4305733442306519, -1.5699794292449951, 2.1850829124450684, 1.562464952468872, -0.47811049222946167, -1.5838395357131958, 1.9935656785964966, -0.003596596885472536, 0.049832236021757126, -1.5699987411499023, 0.0028283274732530117, 0.25318819284439087, 0.4190038740634918, 0.32567158341407776, 0.26254916191101074, 0.4979952573776245, 0.1327858865261078, 0.3179854154586792, 0.21374259889125824, 0.14324115216732025, 0.173112154006958, 0.004607485141605139, 0.0026043641846626997, 0.00537152448669076, 0.00413545360788703, 0.0, 0.19778063893318176, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.24849370121955872, 0.0, 0.10000000149011612]}, "joint_limit_active_steps": 908, "joint_limit_hard_episode_events": 5, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 634, "max_joint_limit_excess_rad": 0.4083523750305176, "max_joint_limit_excess_joint": "left_thumb_2_joint", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_ur5_rh56dfx_with_flange", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 908, "joint_limit_active_step_rate": 0.29490094186424165, "finger_joint_limit_saturation_steps": 634, "finger_joint_limit_saturation_step_rate": 0.20591101006820398, "max_joint_limit_excess_rad": 0.4083523750305176, "max_joint_limit_excess_joint": "left_thumb_2_joint", "stage_completion": {"place_flat_right": true, "place_phillips_left": true, "hammer_strike_wood": true, "place_hammer": true}, "current_stage_completion": {"place_flat_right": true, "place_phillips_left": true, "hammer_strike_wood": true, "place_hammer": true}, "stage_first_completion_step": {"place_flat_right": 652, "place_phillips_left": 2183, "hammer_strike_wood": 2856, "place_hammer": 3033}, "violation_counts": {}, "policy_query_count": 20, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3447, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_12_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_12_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..97c9015a2aab77e880a19eab56fa032b276d54b7 --- /dev/null +++ b/gpt6_astra_1x_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, + 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"runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 92, "joint_limit_active_step_rate": 0.060486522024983565, "finger_joint_limit_saturation_steps": 58, "finger_joint_limit_saturation_step_rate": 0.0381328073635766, "max_joint_limit_excess_rad": 0.4419640302658081, "max_joint_limit_excess_joint": "right_index_1_joint", "stage_completion": {"place_flat_right": true, "place_phillips_left": false, "hammer_strike_wood": false, "place_hammer": false}, "current_stage_completion": {"place_flat_right": true, "place_phillips_left": false, "hammer_strike_wood": false, "place_hammer": false}, "stage_first_completion_step": {"place_flat_right": 522, "place_phillips_left": null, "hammer_strike_wood": null, "place_hammer": null}, "violation_counts": {}, "policy_query_count": 10, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3447, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_12_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_12_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..dd4fbe016531d40effda0693f8a9a5e04a6d48bf --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_12_episode_08/summary.json @@ -0,0 +1,212 @@ +{ + "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": 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": 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": 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": { + "tool_precision_place": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.25, + "current_chain_depth_progress_score": 0.25, + "latched_chain_depth_progress_score": 0.25, + "avg_current_chain_depth": 1, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 38.28333333333333, + "expert_time_step": 2297, + "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": 0.060486522024983565, + "finger_joint_limit_saturation_step_rate": 0.0381328073635766, + "max_joint_limit_excess_rad": 0.4419640302658081, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 14, + "left_middle_1_joint": 12, + "left_ring_1_joint": 5, + "right_index_1_joint": 75, + "right_middle_1_joint": 3, + "right_thumb_2_joint": 21 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 1, + "left_middle_1_joint": 1, + "left_ring_1_joint": 1, + "right_index_1_joint": 1, + "right_middle_1_joint": 3, + "right_thumb_2_joint": 1 + }, + "joint_limit_hard_episode_events": 5, + "finger_joint_limit_saturation_counts": { + "right_index_1_joint": 58 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.16551737487316132, + "left_index_2_joint": 4.06286204679418e-07, + "left_little_2_joint": 7.533550160587765e-06, + "left_middle_1_joint": 0.06523647159337997, + "left_middle_2_joint": 9.926910934154876e-06, + "left_ring_1_joint": 0.04061346501111984, + "left_ring_2_joint": 1.390966644976288e-06, + "left_thumb_1_joint": 1.6255909940809943e-05, + "left_thumb_2_joint": 9.385548764839768e-06, + "left_thumb_3_joint": 1.3376778042584192e-05, + "right_index_1_joint": 0.4419640302658081, + "right_index_2_joint": 8.284590649054735e-07, + "right_little_1_joint": 0.0027540570590645075, + "right_little_2_joint": 1.2788687854481395e-05, + "right_middle_1_joint": 0.02029823139309883, + "right_middle_2_joint": 4.109100245841546e-06, + "right_ring_2_joint": 1.3244720321381465e-05, + "right_thumb_1_joint": 0.0003198256599716842, + "right_thumb_2_joint": 0.09289491176605225, + "right_thumb_3_joint": 0.0001373872219119221, + "right_thumb_4_joint": 0.0010805130004882812 + }, + "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": 50.6165675320996, + "joint_effort_rms": 39.20617457879011, + "joint_jerk_rms": 5178.4687987199695, + "joint_velocity_rms": 1.098147709146361 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9958457053400873, + "mean_kinematic_grasp_stability": 0.32485188661925346, + "per_object_best_kinematic_grasp_stability": { + "obj_043_phillips_screwdriver_1": 0.007620793767486733, + "obj_044_flat_screwdriver_2": 0.9958457053400873, + "obj_048_hammer_3": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.884213602162322, + "mean_duration_score": 0.21181240412009641, + "mean_hold_score": 0.15644312952005104, + "mean_kinematic_stability_score": 0.0698399519556186, + "mean_legacy_gsi": 0.3194022561831321, + "mean_lift_score": 0.27788735481043175, + "mean_motion_stability_score": 0.14684702696184587 + } + }, + "tool": { + "tool_selection_accuracy": 0.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 3, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1521, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_12_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_12_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb52088f67f6fe5f3d200e437f7eaa3223d75bdc --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_12_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/12_screwdriver_box_and_hammer.yaml", "episode_index": 9, "seed": 201200008, "success": true, "steps": 2996, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 201200008, "base_seed": 201200000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": 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"obj_044_flat_screwdriver_2": {"position": [0.2361313389749346, 0.024106690874706852, 0.7680312469211856], "rpy_deg": [0.0, 0.0, 3.0888506979483346]}, "obj_048_hammer_3": {"position": [-0.27, 0.11, 0.7998472480295675], "rpy_deg": [0.0, 180.0, -37.983394222581154]}, "obj_036_wood_block_4": {"position": [-0.1, 0.06, 0.8292412450729387], "rpy_deg": [90.0, 0.0, -4.239365910183519]}, "obj_154_wooden_box_1": {"position": [0.49865703380907395, 0.27197663459208843, 0.7676242469070929], "rpy_deg": [90.0, 0.0, 0.3063505342044621]}}, "_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": 2863, "stable_success_step": 2995, "first_stable_success_step": 2995, "steps_to_stable_success": 2996, "policy_steps_to_stable_success": 999, "policy_queries_to_stable_success": 18, "time_to_stable_success_s": 49.93333333333178, "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": 0.7666889185581013, "kinematic_grasp_stability_index": 0.9989462564800933, "mean_kinematic_grasp_stability": 0.4633995206111789, "per_object_best_kinematic_grasp_stability": {"obj_043_phillips_screwdriver_1": 0.9946958465103337, "obj_044_flat_screwdriver_2": 0.9989462564800933, "obj_048_hammer_3": 0.7135548129483468}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.5137379799487307, "mean_kinematic_stability_score": 0.25242590708859947, "mean_lift_score": 0.54884290164664, "mean_hold_score": 0.4094292389853197, "mean_motion_stability_score": 0.4002384778166959, "mean_duration_score": 0.45905651980418377, "mean_anti_slip_score": 0.859924343569173}, "robot_motion_metrics": {"joint_velocity_rms": 1.2331952280026495, "joint_acceleration_rms": 54.77595790327174, "joint_jerk_rms": 5647.715152492588, "joint_effort_rms": 49.3253583988972}, "tool_selection_accuracy": 0.0, "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": 4, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_little_1_joint": 83, "left_middle_1_joint": 80, "left_ring_1_joint": 85, "right_index_1_joint": 20, "right_middle_1_joint": 80, "right_thumb_3_joint": 20, "right_thumb_4_joint": 8}, "joint_limit_hard_counts": {"left_little_1_joint": 1, "left_middle_1_joint": 1, "left_ring_1_joint": 1, "left_thumb_2_joint": 1, "right_index_1_joint": 2, "right_middle_1_joint": 1, "right_thumb_3_joint": 1, "right_thumb_4_joint": 1}, "finger_joint_limit_saturation_counts": {"left_little_1_joint": 77, "left_middle_1_joint": 64, "left_ring_1_joint": 79, "right_middle_1_joint": 62, "right_thumb_3_joint": 2}, "joint_limit_max_excess_by_joint": {"left_index_2_joint": 9.431624903299962e-08, "left_little_1_joint": 0.3615534007549286, "left_little_2_joint": 1.27028471297308e-07, "left_middle_1_joint": 0.25084924697875977, "left_middle_2_joint": 5.109043499373911e-08, "left_ring_1_joint": 0.3951120376586914, "left_ring_2_joint": 4.4097504314777325e-07, "left_thumb_1_joint": 1.5596138837281615e-05, "left_thumb_2_joint": 0.006132294423878193, "left_thumb_3_joint": 0.002520132577046752, "left_thumb_4_joint": 0.002307713031768799, "right_index_1_joint": 0.04264330118894577, "right_index_2_joint": 3.4628357070687343e-07, "right_little_2_joint": 1.6522761825399357e-06, "right_middle_1_joint": 0.17704108357429504, "right_middle_2_joint": 2.4523897081962787e-06, "right_ring_1_joint": 0.0003298262017779052, "right_ring_2_joint": 6.868164064144366e-07, "right_thumb_1_joint": 1.8437211110722274e-05, "right_thumb_2_joint": 2.9074522899463773e-05, "right_thumb_3_joint": 0.2506626844406128, "right_thumb_4_joint": 0.05127860605716705}, "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": 305, "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": -0.02220943570137024, "hard_excess_rad": 0.02220943570137024, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3442769050598145, "operating_lower": 0.0, "operating_upper": 1.3442769050598145, "expanded_target": 0.3458159565925598, "shielded_target": 0.3458159565925598}], "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": [1.9825143814086914, -1.4672117233276367, -1.990827202796936, 2.257913827896118, 1.7749875783920288, -0.5197008848190308, -2.0200018882751465, 1.9752007722854614, 0.44457027316093445, 0.0309380404651165, -1.8428627252578735, -0.14287249743938446, 0.27443137764930725, 0.44424009323120117, 0.3458159565925598, 0.2952952980995178, 0.5284961462020874, 0.18768060207366943, 0.0, 0.0, 0.0, 0.0, 0.07199123501777649, 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": [1.9825143814086914, -1.4672117233276367, -1.990827202796936, 2.257913827896118, 1.7749875783920288, -0.5197008848190308, -2.0200018882751465, 1.9752007722854614, 0.44457027316093445, 0.0309380404651165, -1.8428627252578735, -0.14287249743938446, 0.27443137764930725, 0.44424009323120117, 0.3458159565925598, 0.2952952980995178, 0.5284961462020874, 0.15651240944862366, 0.3461717665195465, 0.23624184727668762, 0.17981532216072083, 0.18768060207366943, 0.0, 0.0, 0.0, 0.0, 0.07199123501777649, 0.21442508697509766, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.0, 0.26099035143852234, 0.0, 0.10000000149011612], "shielded_full_target": [1.9825143814086914, -1.4672117233276367, -1.990827202796936, 2.257913827896118, 1.7749875783920288, -0.5197008848190308, -2.0200018882751465, 1.9752007722854614, 0.44457027316093445, 0.0309380404651165, -1.8428627252578735, -0.14287249743938446, 0.27443137764930725, 0.44424009323120117, 0.3458159565925598, 0.2952952980995178, 0.5284961462020874, 0.15651240944862366, 0.3461717665195465, 0.23624184727668762, 0.17981532216072083, 0.18768060207366943, 0.0, 0.0, 0.0, 0.0, 0.07199123501777649, 0.21442508697509766, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.0, 0.26099035143852234, 0.0, 0.10000000149011612]}, "joint_limit_active_steps": 166, "joint_limit_hard_episode_events": 4, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 142, "max_joint_limit_excess_rad": 0.3951120376586914, "max_joint_limit_excess_joint": "left_ring_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": 166, "joint_limit_active_step_rate": 0.05540720961281709, "finger_joint_limit_saturation_steps": 142, "finger_joint_limit_saturation_step_rate": 0.04739652870493992, "max_joint_limit_excess_rad": 0.3951120376586914, "max_joint_limit_excess_joint": "left_ring_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": 615, "place_phillips_left": 1790, "hammer_strike_wood": 2131, "place_hammer": 2716}, "violation_counts": {}, "policy_query_count": 18, "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_1x_icl/source_runs/task_12_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_12_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4add37b8ee16884a86a2a2c7bcb25d6c1488a8f9 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_12_episode_09/summary.json @@ -0,0 +1,220 @@ +{ + "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": 49.93333333333178 + }, + "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": 0.7666889185581013, + "expert_time_s": 38.28333333333333, + "expert_time_step": 2297, + "avg_steps_to_success": 2996, + "avg_policy_steps_to_success": 999, + "avg_policy_queries_to_success": 18 + }, + "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": 0.05540720961281709, + "finger_joint_limit_saturation_step_rate": 0.04739652870493992, + "max_joint_limit_excess_rad": 0.3951120376586914, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_little_1_joint": 83, + "left_middle_1_joint": 80, + "left_ring_1_joint": 85, + "right_index_1_joint": 20, + "right_middle_1_joint": 80, + "right_thumb_3_joint": 20, + "right_thumb_4_joint": 8 + }, + "joint_limit_hard_counts": { + "left_little_1_joint": 1, + "left_middle_1_joint": 1, + "left_ring_1_joint": 1, + "left_thumb_2_joint": 1, + "right_index_1_joint": 2, + "right_middle_1_joint": 1, + "right_thumb_3_joint": 1, + "right_thumb_4_joint": 1 + }, + "joint_limit_hard_episode_events": 4, + "finger_joint_limit_saturation_counts": { + "left_little_1_joint": 77, + "left_middle_1_joint": 64, + "left_ring_1_joint": 79, + "right_middle_1_joint": 62, + "right_thumb_3_joint": 2 + }, + "joint_limit_max_excess_by_joint": { + "left_index_2_joint": 9.431624903299962e-08, + "left_little_1_joint": 0.3615534007549286, + "left_little_2_joint": 1.27028471297308e-07, + "left_middle_1_joint": 0.25084924697875977, + "left_middle_2_joint": 5.109043499373911e-08, + "left_ring_1_joint": 0.3951120376586914, + "left_ring_2_joint": 4.4097504314777325e-07, + "left_thumb_1_joint": 1.5596138837281615e-05, + "left_thumb_2_joint": 0.006132294423878193, + "left_thumb_3_joint": 0.002520132577046752, + "left_thumb_4_joint": 0.002307713031768799, + "right_index_1_joint": 0.04264330118894577, + "right_index_2_joint": 3.4628357070687343e-07, + "right_little_2_joint": 1.6522761825399357e-06, + "right_middle_1_joint": 0.17704108357429504, + "right_middle_2_joint": 2.4523897081962787e-06, + "right_ring_1_joint": 0.0003298262017779052, + "right_ring_2_joint": 6.868164064144366e-07, + "right_thumb_1_joint": 1.8437211110722274e-05, + "right_thumb_2_joint": 2.9074522899463773e-05, + "right_thumb_3_joint": 0.2506626844406128, + "right_thumb_4_joint": 0.05127860605716705 + }, + "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": 54.77595790327174, + "joint_effort_rms": 49.3253583988972, + 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a/gpt6_astra_1x_icl/source_runs/task_12_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_12_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8d83ab0777f67d3f751a1cc074cec8f5839739fe --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_12_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/12_screwdriver_box_and_hammer.yaml", "episode_index": 10, "seed": 201200009, "success": false, "steps": 3447, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 201200009, "base_seed": 201200000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 180.0, "base_yaw_deg": 180.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", 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"policy_query_count": 16, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3447, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_12_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_12_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..89a2bb124ca5592dc79018f3e9d2b16769401180 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_12_episode_10/summary.json @@ -0,0 +1,233 @@ +{ + "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": 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": 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": 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": 0.12010443864229765 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "tool_precision_place": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 0.25, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 38.28333333333333, + "expert_time_step": 2297, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0011604293588627793, + "violation_counts": { + "drop_obj_044_flat_screwdriver_2": 1, + "drop_to_table_obj_044_flat_screwdriver_2": 1, + "high_speed_obj_044_flat_screwdriver_2": 1, + "high_speed_obj_154_wooden_box_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.08297069915868871, + "finger_joint_limit_saturation_step_rate": 0.05250942848854076, + "max_joint_limit_excess_rad": 5.223601818084717, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 23, + "left_little_1_joint": 134, + "left_middle_1_joint": 9, + "left_ring_1_joint": 35, + "right_index_1_joint": 15, + "right_middle_1_joint": 40, + "right_ring_1_joint": 21, + "right_thumb_2_joint": 83, + "right_thumb_3_joint": 3 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 2, + "left_little_1_joint": 1, + "left_middle_1_joint": 1, + "left_ring_1_joint": 1, + "left_thumb_2_joint": 3, + "right_index_1_joint": 4, + "right_little_1_joint": 1, + "right_middle_1_joint": 1, + "right_ring_1_joint": 1, + "right_thumb_2_joint": 2, + "right_thumb_3_joint": 1 + }, + "joint_limit_hard_episode_events": 9, + "finger_joint_limit_saturation_counts": { + "left_index_1_joint": 3, + "left_little_1_joint": 131, + "left_ring_1_joint": 30, + "right_middle_1_joint": 12, + "right_ring_1_joint": 1, + "right_thumb_2_joint": 38 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.27173134684562683, + "left_index_2_joint": 1.139794562732277e-06, + "left_little_1_joint": 5.223601818084717, + "left_little_2_joint": 3.088395033046254e-07, + "left_middle_1_joint": 0.11173391342163086, + "left_middle_2_joint": 5.354714630811941e-06, + "left_ring_1_joint": 0.7387237548828125, + "left_ring_2_joint": 6.684924755973043e-07, + "left_thumb_1_joint": 1.6255909940809943e-05, + "left_thumb_2_joint": 0.006393492221832275, + "left_thumb_3_joint": 1.6682848581694998e-05, + "left_thumb_4_joint": 0.001190871000289917, + "right_index_1_joint": 0.07315216213464737, + "right_index_2_joint": 5.972166491119424e-06, + "right_little_1_joint": 0.008457639254629612, + "right_little_2_joint": 1.8698920030146837e-05, + "right_middle_1_joint": 0.2538032531738281, + "right_middle_2_joint": 8.047911251196638e-06, + "right_ring_1_joint": 0.17822466790676117, + "right_ring_2_joint": 1.2381527994875796e-05, + "right_thumb_1_joint": 4.22874181822408e-05, + "right_thumb_2_joint": 0.2742761969566345, + "right_thumb_3_joint": 0.01765209436416626, + "right_thumb_4_joint": 0.0013084113597869873 + }, + "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": 57.50570595880071, + "joint_effort_rms": 49.04251809172387, + "joint_jerk_rms": 5966.060235850036, + "joint_velocity_rms": 1.0659175273063461 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9966114286944273, + "mean_kinematic_grasp_stability": 0.43472381571605645, + "per_object_best_kinematic_grasp_stability": { + "obj_043_phillips_screwdriver_1": 0.06207806980792848, + "obj_044_flat_screwdriver_2": 0.9966114286944273, + "obj_048_hammer_3": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.784385778293524, + "mean_duration_score": 0.26791412822744415, + "mean_hold_score": 0.1818151049221556, + "mean_kinematic_stability_score": 0.04056749658311522, + "mean_legacy_gsi": 0.3229740600571325, + "mean_lift_score": 0.26718885987815494, + "mean_motion_stability_score": 0.17532632756675492 + } + }, + "tool": { + "tool_selection_accuracy": 0.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 4, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3447, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_12_episode_11/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_12_episode_11/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f15d03cc8e2435d570f1f5e3afac4d1b5a08bbdc --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_12_episode_11/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/12_screwdriver_box_and_hammer.yaml", "episode_index": 11, "seed": 201200010, "success": false, "steps": 3447, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 201200010, "base_seed": 201200000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, 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{"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_043_phillips_screwdriver_1": {"position": [-0.4469679222783523, 0.10007397459603962, 0.7493498311250897], "rpy_deg": [0.0, 0.0, 7.798875293229081]}, "obj_044_flat_screwdriver_2": {"position": [0.2612619640479573, 0.03977048602205942, 0.7493978311413394], "rpy_deg": [0.0, 0.0, 5.183385440257622]}, "obj_048_hammer_3": {"position": [-0.27, 0.11, 0.7812138322497213], "rpy_deg": [0.0, 180.0, -20.75453603983994]}, "obj_036_wood_block_4": {"position": [-0.1, 0.06, 0.8106078292930925], "rpy_deg": [90.0, 0.0, 1.9306178782424954]}, "obj_154_wooden_box_1": {"position": [0.5169765035733196, 0.28371039876994614, 0.7489908311272466], "rpy_deg": [90.0, 0.0, -4.882479511471303]}}, "_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": false, "ever_instant_success": true, "at_end_success": false, "at_end_success_observed": false, "at_end_success_budget": false, "first_success_step": 3382, "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": 38.28333333333333, "expert_time_step": 2297, "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": 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": null, "kinematic_grasp_stability_index": 0.9989932177721748, "mean_kinematic_grasp_stability": 0.450179213494548, "per_object_best_kinematic_grasp_stability": {"obj_043_phillips_screwdriver_1": 0.98657446938488, "obj_044_flat_screwdriver_2": 0.9989932177721748, "obj_048_hammer_3": 0.44672674912705074}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.5068415756041256, "mean_kinematic_stability_score": 0.24021747413817965, "mean_lift_score": 0.5336041001837346, "mean_hold_score": 0.41351900203075337, "mean_motion_stability_score": 0.4007066432773657, "mean_duration_score": 0.41293556393643555, "mean_anti_slip_score": 0.8494342906875165}, "robot_motion_metrics": {"joint_velocity_rms": 1.2456019586924902, "joint_acceleration_rms": 55.65390094503623, "joint_jerk_rms": 5826.508776483151, "joint_effort_rms": 43.94998846293091}, "tool_selection_accuracy": 0.0, "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": 4, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_index_1_joint": 57, "left_middle_1_joint": 53, "left_ring_1_joint": 49, "left_thumb_2_joint": 29, "right_index_1_joint": 224, "right_middle_1_joint": 39, "right_ring_1_joint": 303}, "joint_limit_hard_counts": {"left_index_1_joint": 3, "left_middle_1_joint": 1, "left_ring_1_joint": 2, "left_thumb_2_joint": 10, "right_index_1_joint": 10, "right_middle_1_joint": 1, "right_ring_1_joint": 2, "right_thumb_4_joint": 1}, "finger_joint_limit_saturation_counts": {"left_index_1_joint": 30, "left_middle_1_joint": 36, "left_thumb_2_joint": 1, "right_index_1_joint": 142, "right_ring_1_joint": 282}, "joint_limit_max_excess_by_joint": {"left_index_1_joint": 0.27620208263397217, "left_index_2_joint": 5.268641416478204e-07, "left_little_1_joint": 0.00011646025814116001, "left_little_2_joint": 1.7820888160713366e-06, "left_middle_1_joint": 0.32757097482681274, "left_middle_2_joint": 1.1005318810930476e-05, "left_ring_1_joint": 0.11526957154273987, "left_ring_2_joint": 1.3142409898136975e-06, "left_thumb_1_joint": 1.6255909940809943e-05, "left_thumb_2_joint": 0.13050644099712372, "left_thumb_3_joint": 0.0003284690319560468, "left_thumb_4_joint": 0.0014515519142150879, "right_index_1_joint": 0.32288312911987305, "right_index_2_joint": 3.51361563843966e-06, "right_little_1_joint": 0.0005879491218365729, "right_little_2_joint": 3.0642575438832864e-05, "right_middle_1_joint": 0.053408145904541016, "right_middle_2_joint": 5.51865559828002e-05, "right_ring_1_joint": 0.23835313320159912, "right_ring_2_joint": 9.302130820287857e-06, "right_thumb_1_joint": 0.00010561359522398561, "right_thumb_2_joint": 3.476473648333922e-05, "right_thumb_3_joint": 9.314543422078714e-05, "right_thumb_4_joint": 0.006277114152908325}, "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": 92, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_ring_1_joint", "role": "finger", "qpos": -0.011000807397067547, "hard_excess_rad": 0.011000807397067547, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3442769050598145, "operating_lower": 0.0, "operating_upper": 1.3442769050598145, "expanded_target": 0.10290414839982986, "shielded_target": 0.10290414839982986}], "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": [1.8141626119613647, -1.552117109298706, -1.5699794292449951, 2.0426454544067383, 1.562464952468872, -0.31127312779426575, -1.5838395357131958, 1.7997921705245972, -0.003596596885472536, -0.038590267300605774, -1.5699987411499023, 0.0028283274732530117, 0.09320549666881561, 0.2050795704126358, 0.15928852558135986, 0.10290414839982986, 0.3044085204601288, 0.1139148622751236, 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": [1.8141626119613647, -1.552117109298706, -1.5699794292449951, 2.0426454544067383, 1.562464952468872, -0.31127312779426575, -1.5838395357131958, 1.7997921705245972, -0.003596596885472536, -0.038590267300605774, -1.5699987411499023, 0.0028283274732530117, 0.09320549666881561, 0.2050795704126358, 0.15928852558135986, 0.10290414839982986, 0.3044085204601288, -0.04589878022670746, 0.0790533721446991, 0.027909353375434875, -0.035066355019807816, 0.1139148622751236, 0.004607485141605139, 0.0026043641846626997, 0.00537152448669076, 0.00413545360788703, 0.0, 0.13014772534370422, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.1977149099111557, 0.0, 0.10000000149011612], "shielded_full_target": [1.8141626119613647, -1.552117109298706, -1.5699794292449951, 2.0426454544067383, 1.562464952468872, -0.31127312779426575, -1.5838395357131958, 1.7997921705245972, -0.003596596885472536, -0.038590267300605774, -1.5699987411499023, 0.0028283274732530117, 0.09320549666881561, 0.2050795704126358, 0.15928852558135986, 0.10290414839982986, 0.3044085204601288, -0.04589878022670746, 0.0790533721446991, 0.027909353375434875, -0.035066355019807816, 0.1139148622751236, 0.004607485141605139, 0.0026043641846626997, 0.00537152448669076, 0.00413545360788703, 0.0, 0.13014772534370422, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.1977149099111557, 0.0, 0.10000000149011612]}, "joint_limit_active_steps": 670, "joint_limit_hard_episode_events": 14, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 461, "max_joint_limit_excess_rad": 0.32757097482681274, "max_joint_limit_excess_joint": "left_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": 670, "joint_limit_active_step_rate": 0.19437191760951553, "finger_joint_limit_saturation_steps": 461, "finger_joint_limit_saturation_step_rate": 0.1337394836089353, "max_joint_limit_excess_rad": 0.32757097482681274, "max_joint_limit_excess_joint": "left_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": 510, "place_phillips_left": 1952, "hammer_strike_wood": 3193, "place_hammer": 3314}, "violation_counts": {}, "policy_query_count": 26, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3447, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_12_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_12_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..c037681aa48a36b3c2cbd3fd1ef15a248c2f9982 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_12_episode_11/summary.json @@ -0,0 +1,222 @@ +{ + "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": 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": 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": 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": 1.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "tool_precision_place": 0.0 + } + }, + "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": null, + "expert_time_s": 38.28333333333333, + "expert_time_step": 2297, + "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": 0.19437191760951553, + "finger_joint_limit_saturation_step_rate": 0.1337394836089353, + "max_joint_limit_excess_rad": 0.32757097482681274, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 57, + "left_middle_1_joint": 53, + "left_ring_1_joint": 49, + "left_thumb_2_joint": 29, + "right_index_1_joint": 224, + "right_middle_1_joint": 39, + "right_ring_1_joint": 303 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 3, + "left_middle_1_joint": 1, + "left_ring_1_joint": 2, + "left_thumb_2_joint": 10, + "right_index_1_joint": 10, + "right_middle_1_joint": 1, + "right_ring_1_joint": 2, + "right_thumb_4_joint": 1 + }, + "joint_limit_hard_episode_events": 14, + "finger_joint_limit_saturation_counts": { + "left_index_1_joint": 30, + "left_middle_1_joint": 36, + "left_thumb_2_joint": 1, + "right_index_1_joint": 142, + "right_ring_1_joint": 282 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.27620208263397217, + "left_index_2_joint": 5.268641416478204e-07, + "left_little_1_joint": 0.00011646025814116001, + "left_little_2_joint": 1.7820888160713366e-06, + "left_middle_1_joint": 0.32757097482681274, + "left_middle_2_joint": 1.1005318810930476e-05, + "left_ring_1_joint": 0.11526957154273987, + "left_ring_2_joint": 1.3142409898136975e-06, + "left_thumb_1_joint": 1.6255909940809943e-05, + "left_thumb_2_joint": 0.13050644099712372, + "left_thumb_3_joint": 0.0003284690319560468, + "left_thumb_4_joint": 0.0014515519142150879, + "right_index_1_joint": 0.32288312911987305, + "right_index_2_joint": 3.51361563843966e-06, + "right_little_1_joint": 0.0005879491218365729, + "right_little_2_joint": 3.0642575438832864e-05, + "right_middle_1_joint": 0.053408145904541016, + "right_middle_2_joint": 5.51865559828002e-05, + "right_ring_1_joint": 0.23835313320159912, + "right_ring_2_joint": 9.302130820287857e-06, + "right_thumb_1_joint": 0.00010561359522398561, + "right_thumb_2_joint": 3.476473648333922e-05, + "right_thumb_3_joint": 9.314543422078714e-05, + "right_thumb_4_joint": 0.006277114152908325 + }, + "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": 55.65390094503623, + "joint_effort_rms": 43.94998846293091, + "joint_jerk_rms": 5826.508776483151, + "joint_velocity_rms": 1.2456019586924902 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9989932177721748, + "mean_kinematic_grasp_stability": 0.450179213494548, + "per_object_best_kinematic_grasp_stability": { + "obj_043_phillips_screwdriver_1": 0.98657446938488, + "obj_044_flat_screwdriver_2": 0.9989932177721748, + "obj_048_hammer_3": 0.44672674912705074 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8494342906875165, + "mean_duration_score": 0.41293556393643555, + "mean_hold_score": 0.41351900203075337, + "mean_kinematic_stability_score": 0.24021747413817965, + "mean_legacy_gsi": 0.5068415756041256, + "mean_lift_score": 0.5336041001837346, + "mean_motion_stability_score": 0.4007066432773657 + } + }, + "tool": { + "tool_selection_accuracy": 0.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 3, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3447, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_12_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_12_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85e205401d2ec1e52221ec078c019884a6c963a2 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_12_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/12_screwdriver_box_and_hammer.yaml", "episode_index": 12, "seed": 201200011, "success": false, "steps": 3447, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 201200011, "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": 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, 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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": 563, "joint_limit_active_step_rate": 0.16333043225993618, "finger_joint_limit_saturation_steps": 378, "finger_joint_limit_saturation_step_rate": 0.10966057441253264, "max_joint_limit_excess_rad": 1.3297919034957886, "max_joint_limit_excess_joint": "right_little_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": 572, "place_phillips_left": 1696, "hammer_strike_wood": 2124, "place_hammer": 3267}, "violation_counts": {"drop_to_table_obj_048_hammer_3": 1}, "policy_query_count": 29, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3447, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_12_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_12_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8b987c95e7bc90f40d8a5aa0c4411d863f05e40a --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_12_episode_12/summary.json @@ -0,0 +1,229 @@ +{ + "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": 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": 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": 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": 0.0002901073397156948 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 1.0, + "at_end_success_rate": 1.0, + "task_family_success_rate": { + "tool_precision_place": 0.0 + } + }, + "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": null, + "expert_time_s": 38.28333333333333, + "expert_time_step": 2297, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0002901073397156948, + "violation_counts": { + "drop_to_table_obj_048_hammer_3": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.16333043225993618, + "finger_joint_limit_saturation_step_rate": 0.10966057441253264, + "max_joint_limit_excess_rad": 1.3297919034957886, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 64, + "left_little_1_joint": 36, + "left_middle_1_joint": 40, + "left_ring_1_joint": 44, + "left_thumb_2_joint": 296, + "right_index_1_joint": 36, + "right_little_1_joint": 77, + "right_middle_1_joint": 79, + "right_ring_1_joint": 12, + "right_thumb_3_joint": 17, + "right_thumb_4_joint": 2 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 2, + "left_little_1_joint": 1, + "left_middle_1_joint": 2, + "left_ring_1_joint": 6, + "left_thumb_2_joint": 2, + "right_index_1_joint": 2, + "right_little_1_joint": 1, + "right_middle_1_joint": 1, + "right_ring_1_joint": 2, + "right_thumb_3_joint": 1, + "right_thumb_4_joint": 1 + }, + "joint_limit_hard_episode_events": 9, + "finger_joint_limit_saturation_counts": { + "left_little_1_joint": 9, + "left_thumb_2_joint": 239, + "right_little_1_joint": 68, + "right_middle_1_joint": 62 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.11161916702985764, + "left_index_2_joint": 1.7964147502880223e-07, + "left_little_1_joint": 0.18328437209129333, + "left_little_2_joint": 0.0012188783148303628, + "left_middle_1_joint": 0.09780771285295486, + "left_middle_2_joint": 4.173805052687385e-07, + "left_ring_1_joint": 0.085422083735466, + "left_ring_2_joint": 0.004270508419722319, + "left_thumb_1_joint": 2.2825703126727603e-05, + "left_thumb_2_joint": 0.4792882204055786, + "left_thumb_3_joint": 0.0014912317274138331, + "left_thumb_4_joint": 0.0012706518173217773, + "right_index_1_joint": 0.1389056295156479, + "right_index_2_joint": 9.00558177363564e-07, + "right_little_1_joint": 1.3297919034957886, + "right_little_2_joint": 1.4397036238733563e-06, + "right_middle_1_joint": 0.19639453291893005, + "right_middle_2_joint": 2.0282784873870696e-07, + "right_ring_1_joint": 0.03310880437493324, + "right_ring_2_joint": 1.727663629935705e-06, + "right_thumb_2_joint": 8.153643284458667e-05, + "right_thumb_3_joint": 0.1576973795890808, + "right_thumb_4_joint": 0.012945632450282574 + }, + "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": 58.30348562644027, + "joint_effort_rms": 46.242209481130516, + "joint_jerk_rms": 6051.193745873109, + "joint_velocity_rms": 1.2101484091022756 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9985322046743232, + "mean_kinematic_grasp_stability": 0.534915875796627, + "per_object_best_kinematic_grasp_stability": { + "obj_043_phillips_screwdriver_1": 0.9985322046743232, + "obj_044_flat_screwdriver_2": 0.9846217670990769, + "obj_048_hammer_3": 0.7646237104599612 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7445443703059049, + "mean_duration_score": 0.5150984753247555, + "mean_hold_score": 0.43699835605840626, + "mean_kinematic_stability_score": 0.1755119975416261, + "mean_legacy_gsi": 0.5188630308060914, + "mean_lift_score": 0.5758630693356542, + "mean_motion_stability_score": 0.42493516740447873 + } + }, + "tool": { + "tool_selection_accuracy": 0.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 3, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3447, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_12_episode_13/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_12_episode_13/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c52c3d79c4ce79bd4e3b5c21fc58c2128adcac5 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_12_episode_13/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/12_screwdriver_box_and_hammer.yaml", "episode_index": 13, "seed": 201200012, "success": false, "steps": 3447, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 201200012, "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": 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", 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"bottle", "asset_code": "006", "asset_id": "clutter_006_mustard_bottle", "asset_split": "unseen", "spawn_position": [0.8989262988868058, 0.25749695020184493, 0.7079663895134312], "spawn_yaw_deg": 5.411847280781772, "obj_id": "distractor_02_clutter_006_mustard_bottle"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_043_phillips_screwdriver_1": {"position": [-0.46817864854886115, 0.10880895656265951, 0.7045870181770589], "rpy_deg": [0.0, 0.0, -9.204652684591279]}, "obj_044_flat_screwdriver_2": {"position": [0.2641117083828827, 0.04437410371236353, 0.7046350181933086], "rpy_deg": [0.0, 0.0, -0.47205069536728317]}, "obj_048_hammer_3": {"position": [-0.27, 0.11, 0.7364510193016905], "rpy_deg": [0.0, 180.0, -23.665775257359712]}, "obj_036_wood_block_4": {"position": [-0.1, 0.06, 0.7658450163450617], "rpy_deg": [90.0, 0.0, 4.376593297050075]}, "obj_154_wooden_box_1": {"position": [0.5134658094675489, 0.2896150592345389, 0.7042280181792159], "rpy_deg": [90.0, 0.0, -7.970018766143618]}}, "_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": false, "ever_instant_success": true, "at_end_success": false, "at_end_success_observed": false, "at_end_success_budget": false, "first_success_step": 3407, "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": 38.28333333333333, "expert_time_step": 2297, "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": 0.75, "current_chain_depth_progress_score": 0.75, "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": 4, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9997018376908225, "mean_kinematic_grasp_stability": 0.5233053243049839, "per_object_best_kinematic_grasp_stability": {"obj_043_phillips_screwdriver_1": 0.9626611153401432, "obj_044_flat_screwdriver_2": 0.9997018376908225, "obj_048_hammer_3": 0.5191047384699587}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4840540523279984, "mean_kinematic_stability_score": 0.26840841699193835, "mean_lift_score": 0.5129097766173484, "mean_hold_score": 0.36199110337492474, "mean_motion_stability_score": 0.3323349019390514, "mean_duration_score": 0.4098604261354523, "mean_anti_slip_score": 0.9312445604873703}, "robot_motion_metrics": {"joint_velocity_rms": 1.1997037767613037, "joint_acceleration_rms": 57.240424224905446, "joint_jerk_rms": 5907.4880932042815, "joint_effort_rms": 45.94011367231304}, "tool_selection_accuracy": 0.0, "tool_switch_success_rate": 0.0, "tool_switch_total": 5, "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_soft_counts": {"left_index_1_joint": 18, "left_ring_1_joint": 9, "right_middle_1_joint": 7}, "joint_limit_hard_counts": {"left_index_1_joint": 3, "left_ring_1_joint": 1, "left_thumb_2_joint": 1, "right_little_1_joint": 2, "right_middle_1_joint": 2}, "joint_limit_max_excess_by_joint": {"left_index_1_joint": 0.05351048707962036, "left_index_2_joint": 1.2242597335898608e-07, "left_little_2_joint": 3.7307600564417953e-07, "left_middle_2_joint": 1.9308393461869855e-07, "left_ring_1_joint": 0.2031792402267456, "left_ring_2_joint": 8.399154580729373e-07, "left_thumb_1_joint": 1.6394951671827585e-05, "left_thumb_2_joint": 0.007378148380666971, "left_thumb_3_joint": 0.0043116225861012936, "left_thumb_4_joint": 0.0011421144008636475, "right_index_1_joint": 0.0020786968525499105, "right_index_2_joint": 2.8298248366809275e-07, "right_little_1_joint": 0.007862255908548832, "right_little_2_joint": 1.2740816828227253e-06, "right_middle_1_joint": 0.04511798173189163, "right_middle_2_joint": 1.987951236515073e-06, "right_ring_2_joint": 2.0494251202762825e-06, "right_thumb_1_joint": 1.6679627151461318e-05, "right_thumb_2_joint": 1.0096350706589874e-05, "right_thumb_3_joint": 1.5712719687144272e-05, "right_thumb_4_joint": 0.0009963810443878174}, "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": 664, "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": -0.010772405192255974, "hard_excess_rad": 0.010772405192255974, "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": [1.1952388286590576, -1.2392562627792358, -1.5699794292449951, 1.6090984344482422, 1.562464952468872, -0.1013263538479805, -1.5838395357131958, 1.2169556617736816, -0.003596596885472536, -0.16108588874340057, -1.5699987411499023, 0.0028283274732530117, 0.0, 0.0, 0.0, 0.0, 0.20000000298023224, 0.07999999821186066, 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": [1.1952388286590576, -1.2392562627792358, -1.5699794292449951, 1.6090984344482422, 1.562464952468872, -0.1013263538479805, -1.5838395357131958, 1.2169556617736816, -0.003596596885472536, -0.16108588874340057, -1.5699987411499023, 0.0028283274732530117, 0.0, 0.0, 0.0, 0.0, 0.20000000298023224, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.07999999821186066, 0.004607485141605139, 0.0026043641846626997, 0.00537152448669076, 0.00413545360788703, 0.0, 0.09139999747276306, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.16862311959266663, 0.0, 0.10000000149011612], "shielded_full_target": [1.1952388286590576, -1.2392562627792358, -1.5699794292449951, 1.6090984344482422, 1.562464952468872, -0.1013263538479805, -1.5838395357131958, 1.2169556617736816, -0.003596596885472536, -0.16108588874340057, -1.5699987411499023, 0.0028283274732530117, 0.0, 0.0, 0.0, 0.0, 0.20000000298023224, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.07999999821186066, 0.004607485141605139, 0.0026043641846626997, 0.00537152448669076, 0.00413545360788703, 0.0, 0.09139999747276306, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.16862311959266663, 0.0, 0.10000000149011612]}, "joint_limit_active_steps": 34, "joint_limit_hard_episode_events": 8, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.2031792402267456, "max_joint_limit_excess_joint": "left_ring_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": 34, "joint_limit_active_step_rate": 0.009863649550333623, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.2031792402267456, "max_joint_limit_excess_joint": "left_ring_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": false}, "stage_first_completion_step": {"place_flat_right": 597, "place_phillips_left": 2179, "hammer_strike_wood": 3006, "place_hammer": 3135}, "violation_counts": {}, "policy_query_count": 23, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3447, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_12_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_12_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..f2177aa79a9e5832b699db4f92fc1022188ea637 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_12_episode_13/summary.json @@ -0,0 +1,206 @@ +{ + "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": 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": 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": 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": 1.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "tool_precision_place": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.75, + "current_chain_depth_progress_score": 0.75, + "latched_chain_depth_progress_score": 1.0, + "avg_current_chain_depth": 3, + "avg_latched_chain_depth": 4 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 38.28333333333333, + "expert_time_step": 2297, + "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": 0.0, + "joint_limit_active_step_rate": 0.009863649550333623, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.2031792402267456, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 18, + "left_ring_1_joint": 9, + "right_middle_1_joint": 7 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 3, + "left_ring_1_joint": 1, + "left_thumb_2_joint": 1, + "right_little_1_joint": 2, + "right_middle_1_joint": 2 + }, + "joint_limit_hard_episode_events": 8, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.05351048707962036, + "left_index_2_joint": 1.2242597335898608e-07, + "left_little_2_joint": 3.7307600564417953e-07, + "left_middle_2_joint": 1.9308393461869855e-07, + "left_ring_1_joint": 0.2031792402267456, + "left_ring_2_joint": 8.399154580729373e-07, + "left_thumb_1_joint": 1.6394951671827585e-05, + "left_thumb_2_joint": 0.007378148380666971, + "left_thumb_3_joint": 0.0043116225861012936, + "left_thumb_4_joint": 0.0011421144008636475, + "right_index_1_joint": 0.0020786968525499105, + "right_index_2_joint": 2.8298248366809275e-07, + "right_little_1_joint": 0.007862255908548832, + "right_little_2_joint": 1.2740816828227253e-06, + "right_middle_1_joint": 0.04511798173189163, + "right_middle_2_joint": 1.987951236515073e-06, + "right_ring_2_joint": 2.0494251202762825e-06, + "right_thumb_1_joint": 1.6679627151461318e-05, + "right_thumb_2_joint": 1.0096350706589874e-05, + "right_thumb_3_joint": 1.5712719687144272e-05, + "right_thumb_4_joint": 0.0009963810443878174 + }, + "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": 57.240424224905446, + "joint_effort_rms": 45.94011367231304, + "joint_jerk_rms": 5907.4880932042815, + "joint_velocity_rms": 1.1997037767613037 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9997018376908225, + "mean_kinematic_grasp_stability": 0.5233053243049839, + "per_object_best_kinematic_grasp_stability": { + "obj_043_phillips_screwdriver_1": 0.9626611153401432, + "obj_044_flat_screwdriver_2": 0.9997018376908225, + "obj_048_hammer_3": 0.5191047384699587 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9312445604873703, + "mean_duration_score": 0.4098604261354523, + "mean_hold_score": 0.36199110337492474, + "mean_kinematic_stability_score": 0.26840841699193835, + "mean_legacy_gsi": 0.4840540523279984, + "mean_lift_score": 0.5129097766173484, + "mean_motion_stability_score": 0.3323349019390514 + } + }, + "tool": { + "tool_selection_accuracy": 0.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 5, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3447, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_12_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_12_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10f42f831d3759084c35d500fbe5d3b4cc67e899 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_12_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/12_screwdriver_box_and_hammer.yaml", "episode_index": 14, "seed": 201200013, "success": true, "steps": 3375, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 201200013, "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": 90.0, "base_yaw_deg": 90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan10", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan10_physics/scene.usda", "scene_offset": [-0.73022, 0.88397, 0.0]}, "table_surface": {"enabled": true, "clean_surface": 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"obj_id": "distractor_02_clutter_007_tuna_fish_can"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_043_phillips_screwdriver_1": {"position": [-0.4321743666764787, 0.13529109100414283, 0.7216018291860762], "rpy_deg": [0.0, 0.0, 5.431815696608863]}, "obj_044_flat_screwdriver_2": {"position": [0.26743487425735823, 0.034516807827914275, 0.7216498292023259], "rpy_deg": [0.0, 0.0, 2.4758873050832833]}, "obj_048_hammer_3": {"position": [-0.27, 0.11, 0.7534658303107078], "rpy_deg": [0.0, 180.0, -30.166077877850444]}, "obj_036_wood_block_4": {"position": [-0.1, 0.06, 0.782859827354079], "rpy_deg": [90.0, 0.0, -7.430002891265072]}, "obj_154_wooden_box_1": {"position": [0.5091014625312201, 0.28719665814476586, 0.7212428291882331], "rpy_deg": [90.0, 0.0, -2.772681189273647]}}, "_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": 3230, "stable_success_step": 3374, "first_stable_success_step": 3374, "steps_to_stable_success": 3375, "policy_steps_to_stable_success": 1125, "policy_queries_to_stable_success": 20, "time_to_stable_success_s": 56.24999999999809, "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": 0.6805925925926157, "kinematic_grasp_stability_index": 0.9913351134984368, "mean_kinematic_grasp_stability": 0.6370428798400994, "per_object_best_kinematic_grasp_stability": {"obj_043_phillips_screwdriver_1": 0.9913351134984368, "obj_044_flat_screwdriver_2": 0.9794289136028062, "obj_048_hammer_3": 0.4817211033276465}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.5044559273607679, "mean_kinematic_stability_score": 0.1623908812708441, "mean_lift_score": 0.5591111111111111, "mean_hold_score": 0.44463703703703655, "mean_motion_stability_score": 0.4298595512258029, "mean_duration_score": 0.49326748971193585, "mean_anti_slip_score": 0.6856296296296325}, "robot_motion_metrics": {"joint_velocity_rms": 1.283755170245273, "joint_acceleration_rms": 63.57949838774375, "joint_jerk_rms": 6599.016889341408, "joint_effort_rms": 46.80557815864135}, "tool_selection_accuracy": 0.0, "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": 4, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_little_1_joint": 3, "left_thumb_2_joint": 6, "left_thumb_3_joint": 20, "left_thumb_4_joint": 4, "right_index_1_joint": 10, "right_thumb_3_joint": 50}, "joint_limit_hard_counts": {"left_little_1_joint": 2, "left_thumb_2_joint": 4, "left_thumb_3_joint": 1, "left_thumb_4_joint": 2, "right_index_1_joint": 4, "right_thumb_3_joint": 1, "right_thumb_4_joint": 1}, "finger_joint_limit_saturation_counts": {"right_thumb_3_joint": 36}, "joint_limit_max_excess_by_joint": {"left_index_2_joint": 1.08761057049378e-07, "left_little_1_joint": 0.01662297174334526, "left_little_2_joint": 0.0018775563221424818, "left_middle_2_joint": 1.6801367337393458e-06, "left_ring_2_joint": 0.001883951248601079, "left_thumb_1_joint": 2.228927223768551e-05, "left_thumb_2_joint": 0.047564659267663956, "left_thumb_3_joint": 0.09909138828516006, "left_thumb_4_joint": 0.03685218095779419, "right_index_1_joint": 0.07673466950654984, "right_index_2_joint": 1.100990516533784e-06, "right_little_2_joint": 4.44172968627754e-07, "right_middle_2_joint": 1.0454394328007766e-07, "right_ring_2_joint": 1.1357818721080548e-06, "right_thumb_1_joint": 2.48352371272631e-05, "right_thumb_2_joint": 5.526792665477842e-05, "right_thumb_3_joint": 0.40510305762290955, "right_thumb_4_joint": 0.007208675146102905}, "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": 241, "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": -0.009307545609772205, "hard_excess_rad": 0.009307545609772205, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.6068440079689026, "operating_lower": 0.0, "operating_upper": 0.6068440079689026, "expanded_target": 0.22444215416908264, "shielded_target": 0.22444215416908264, "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": [1.8940284252166748, -1.3604682683944702, -1.5699794292449951, 2.315476894378662, 1.562464952468872, -0.6895476579666138, -1.5838395357131958, 1.8928601741790771, -0.003596596885472536, 0.019815361127257347, -1.5699987411499023, 0.0028283274732530117, 0.47556164860725403, 0.48113441467285156, 0.45534154772758484, 0.4620650112628937, 0.5523826479911804, 0.19644828140735626, 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": [1.8940284252166748, -1.3604682683944702, -1.5699794292449951, 2.315476894378662, 1.562464952468872, -0.6895476579666138, -1.5838395357131958, 1.8928601741790771, -0.003596596885472536, 0.019815361127257347, -1.5699987411499023, 0.0028283274732530117, 0.47556164860725403, 0.48113441467285156, 0.45534154772758484, 0.4620650112628937, 0.5523826479911804, 0.3811548054218292, 0.3873790204524994, 0.35857096314430237, 0.3660804033279419, 0.19644828140735626, 0.004607485141605139, 0.0026043641846626997, 0.00537152448669076, 0.00413545360788703, 0.0, 0.22444215416908264, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.26851117610931396, 0.0, 0.10000000149011612], "shielded_full_target": [1.8940284252166748, -1.3604682683944702, -1.5699794292449951, 2.315476894378662, 1.562464952468872, -0.6895476579666138, -1.5838395357131958, 1.8928601741790771, -0.003596596885472536, 0.019815361127257347, -1.5699987411499023, 0.0028283274732530117, 0.47556164860725403, 0.48113441467285156, 0.45534154772758484, 0.4620650112628937, 0.5523826479911804, 0.3811548054218292, 0.3873790204524994, 0.35857096314430237, 0.3660804033279419, 0.19644828140735626, 0.004607485141605139, 0.0026043641846626997, 0.00537152448669076, 0.00413545360788703, 0.0, 0.22444215416908264, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.26851117610931396, 0.0, 0.10000000149011612]}, "joint_limit_active_steps": 93, "joint_limit_hard_episode_events": 15, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 36, "max_joint_limit_excess_rad": 0.40510305762290955, "max_joint_limit_excess_joint": "right_thumb_3_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": 93, "joint_limit_active_step_rate": 0.027555555555555555, "finger_joint_limit_saturation_steps": 36, "finger_joint_limit_saturation_step_rate": 0.010666666666666666, "max_joint_limit_excess_rad": 0.40510305762290955, "max_joint_limit_excess_joint": "right_thumb_3_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": 637, "place_phillips_left": 1834, "hammer_strike_wood": 2826, "place_hammer": 3027}, "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_1x_icl/source_runs/task_12_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_12_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..25496603d7e23f67a81252cfeb87620c286e062c --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_12_episode_14/summary.json @@ -0,0 +1,210 @@ +{ + "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": 56.24999999999809 + }, + "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": 0.6805925925926157, + "expert_time_s": 38.28333333333333, + "expert_time_step": 2297, + "avg_steps_to_success": 3375, + "avg_policy_steps_to_success": 1125, + "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": 0.027555555555555555, + "finger_joint_limit_saturation_step_rate": 0.010666666666666666, + "max_joint_limit_excess_rad": 0.40510305762290955, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_little_1_joint": 3, + "left_thumb_2_joint": 6, + "left_thumb_3_joint": 20, + 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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": 137, "joint_limit_hard_episode_events": 11, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 103, "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": 137, "joint_limit_active_step_rate": 0.055219669488109635, "finger_joint_limit_saturation_steps": 103, "finger_joint_limit_saturation_step_rate": 0.041515517936316, "max_joint_limit_excess_rad": 2.4376306533813477, "max_joint_limit_excess_joint": "left_finger4_joint4", "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, "drop_to_table_obj_172_soy_sauce_2": 1}, "policy_query_count": 26, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2481, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_21_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_21_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..fc1e54a2db527809be023710803efae9c597a08b --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_21_episode_05/summary.json @@ -0,0 +1,229 @@ +{ + "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": 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": 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": 0.0008061265618702137 + }, + "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": 0.0008061265618702137, + "violation_counts": { + "drop_to_table_obj_171_msg_4": 1, + "drop_to_table_obj_172_soy_sauce_2": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.055219669488109635, + "finger_joint_limit_saturation_step_rate": 0.041515517936316, + "max_joint_limit_excess_rad": 2.4376306533813477, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_finger2_joint4": 47, + "left_finger3_joint4": 55, + "left_finger4_joint2": 9, + "left_finger4_joint4": 55, + "left_finger5_joint4": 52, + "right_finger1_joint3": 27, + "right_finger2_joint1": 54, + "right_finger3_joint1": 38, + "right_finger4_joint1": 13, + "right_finger4_joint2": 12, + "right_finger5_joint2": 13 + }, + "joint_limit_hard_counts": { + "left_finger2_joint4": 1, + "left_finger3_joint4": 1, + "left_finger4_joint2": 1, + "left_finger4_joint4": 1, + "left_finger5_joint4": 1, + "right_finger1_joint2": 7, + "right_finger1_joint3": 3, + "right_finger2_joint1": 1, + "right_finger3_joint1": 1, + "right_finger4_joint1": 3, + "right_finger4_joint2": 2, + "right_finger5_joint2": 1 + }, + "joint_limit_hard_episode_events": 11, + "finger_joint_limit_saturation_counts": { + "left_finger2_joint4": 45, + "left_finger3_joint4": 53, + "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_joint2": 0.0006361007690429688, + "left_finger2_joint1": 0.0003159046173095703, + "left_finger2_joint2": 0.00010144710540771484, + "left_finger2_joint4": 1.8637301921844482, + "left_finger3_joint4": 2.3013296127319336, + "left_finger4_joint2": 0.11612790822982788, + "left_finger4_joint4": 2.4376306533813477, + "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 + }, + "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": 21.67315899293, + "joint_effort_rms": 38.34004220188495, + "joint_jerk_rms": 2102.6724100329016, + "joint_velocity_rms": 0.5516488160105915 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8017677595451561, + "mean_kinematic_grasp_stability": 0.29033138151622184, + "per_object_best_kinematic_grasp_stability": { + "obj_171_msg_4": 0.8017677595451561, + "obj_172_soy_sauce_2": 0.5787384341812049, + "obj_173_vinegar_3": 0.7191909028175901 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6725334766447221, + "mean_duration_score": 0.3360428142773957, + "mean_hold_score": 0.25316404675534354, + "mean_kinematic_stability_score": 0.008269548956259443, + "mean_legacy_gsi": 0.35459192396472294, + "mean_lift_score": 0.3542926239419589, + "mean_motion_stability_score": 0.2365682190866838 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2481, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_21_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_21_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2760ab90c18818ad502e344619c23f36fcb775d4 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_21_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/21_condiment_box_loading.yaml", "episode_index": 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"resolved_object_placements": {"obj_154_wooden_box_1": {"position": [0.5746617570890669, 0.13260363829894395, 0.7098305156418941], "rpy_deg": [90.0, 0.0, 2.2998829741180558]}, "obj_172_soy_sauce_2": {"position": [-0.41955200112804847, 0.20272770690446126, 0.7098305179168581], "rpy_deg": [90.0, 0.0, -6.4815059581162116]}, "obj_173_vinegar_3": {"position": [-0.23131072692644403, 0.08539068910879088, 0.7098305155810699], "rpy_deg": [90.0, 0.0, 9.69123790397516]}, "obj_171_msg_4": {"position": [0.02693613328243573, 0.24556552343070448, 0.7098305113918816], "rpy_deg": [90.0, 0.0, -2.330093360462639]}}, "_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": 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, 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{"mean_legacy_gsi": 0.3076125561495859, "mean_kinematic_stability_score": 0.056229298601854445, "mean_lift_score": 0.21563885530028215, "mean_hold_score": 0.1438532849657394, "mean_motion_stability_score": 0.137007166030938, "mean_duration_score": 0.2897845850687447, "mean_anti_slip_score": 0.8122620807022358}, "robot_motion_metrics": {"joint_velocity_rms": 0.3582012022603908, "joint_acceleration_rms": 13.945123283199464, "joint_jerk_rms": 1400.1775432330855, "joint_effort_rms": 40.721838938264966}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0004030632809351172, "safety_violation_rate_time": 0.0004030632809351172, "safety_violation_rate_event": 0.00040306328093510683, "safety_violation_step_rate": 0.00040306328093510683, "safety_violation_events_per_step": 0.00040306328093510683, "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": {"right_finger2_joint1": 34, "right_finger3_joint1": 15}, "joint_limit_hard_counts": {"right_finger1_joint2": 2, "right_finger2_joint1": 3, "right_finger3_joint1": 1}, "finger_joint_limit_saturation_counts": {"right_finger2_joint1": 6}, "joint_limit_max_excess_by_joint": {"right_finger1_joint2": 0.005415335297584534, "right_finger2_joint1": 0.14431679248809814, "right_finger2_joint2": 0.0009592175483703613, "right_finger3_joint1": 0.028411149978637695}, "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": 1290, "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": -0.16301532089710236, "hard_excess_rad": 0.00541532039642334, "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": [1.8682109117507935, -0.9862352013587952, -1.5700000524520874, 1.6278153657913208, 1.5700000524520874, 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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": [1.8682109117507935, -0.9862352013587952, -1.5700000524520874, 1.6278153657913208, 1.5700000524520874, -0.4193417727947235, -1.5700000524520874, 1.4521688222885132, -2.647447538972614e-10, 0.8961231112480164, -1.5700000524520874, 8.461909506429777e-10, 1.4700000286102295, 1.1658999919891357, 1.1361322402954102, 1.1239562034606934, 0.9551185369491577, -0.15760000050067902, 0.1481546014547348, 0.029821958392858505, 0.11560360342264175, 0.170923113822937, 0.10000000149011612, 3.806997772581866e-10, 2.5852295859607466e-09, 1.7226865489661236e-09, 7.707670057754967e-10, 0.0007344072218984365, -0.05568521097302437, -0.05515654385089874, -0.050709325820207596, -0.042992524802684784, -4.976387704691554e-11, 1.2265900795060958e-10, 1.2884973643600972e-10, 1.1473654665250521e-10, 8.112243515823181e-11, 0.040326688438653946, 0.030823731794953346, 0.03300275653600693, 0.03269309923052788, 0.029829323291778564, 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": [1.8682109117507935, -0.9862352013587952, -1.5700000524520874, 1.6278153657913208, 1.5700000524520874, -0.4193417727947235, -1.5700000524520874, 1.4521688222885132, -2.647447538972614e-10, 0.8961231112480164, -1.5700000524520874, 8.461909506429777e-10, 1.4700000286102295, 1.1658999919891357, 1.1361322402954102, 1.1239562034606934, 0.9551185369491577, -0.15760000050067902, 0.1481546014547348, 0.029821958392858505, 0.11560360342264175, 0.170923113822937, 0.10000000149011612, 3.806997772581866e-10, 2.5852295859607466e-09, 1.7226865489661236e-09, 7.707670057754967e-10, 0.0007344072218984365, -0.05568521097302437, -0.05515654385089874, -0.050709325820207596, -0.042992524802684784, -4.976387704691554e-11, 1.2265900795060958e-10, 1.2884973643600972e-10, 1.1473654665250521e-10, 8.112243515823181e-11, 0.040326688438653946, 0.030823731794953346, 0.03300275653600693, 0.03269309923052788, 0.029829323291778564, 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": 5, "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": 0.013704151551793631, "finger_joint_limit_saturation_steps": 6, "finger_joint_limit_saturation_step_rate": 0.0024183796856106408, "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": 18, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2481, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_21_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_21_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0fb66ed72152dd87d87c5b97194b3a3ef95b878b --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_21_episode_06/summary.json @@ -0,0 +1,190 @@ +{ + "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": 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": 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": 0.00040306328093510683 + }, + "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": 0.00040306328093510683, + "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": 0.013704151551793631, + "finger_joint_limit_saturation_step_rate": 0.0024183796856106408, + "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": 2, + "right_finger2_joint1": 3, + "right_finger3_joint1": 1 + }, + "joint_limit_hard_episode_events": 5, + "finger_joint_limit_saturation_counts": { + "right_finger2_joint1": 6 + }, + "joint_limit_max_excess_by_joint": { + "right_finger1_joint2": 0.005415335297584534, + "right_finger2_joint1": 0.14431679248809814, + "right_finger2_joint2": 0.0009592175483703613, + "right_finger3_joint1": 0.028411149978637695 + }, + "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": 13.945123283199464, + "joint_effort_rms": 40.721838938264966, + "joint_jerk_rms": 1400.1775432330855, + "joint_velocity_rms": 0.3582012022603908 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.999419691134364, + "mean_kinematic_grasp_stability": 0.5521301708358873, + "per_object_best_kinematic_grasp_stability": { + "obj_171_msg_4": 0.999419691134364, + "obj_172_soy_sauce_2": 0.0, + "obj_173_vinegar_3": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8122620807022358, + "mean_duration_score": 0.2897845850687447, + "mean_hold_score": 0.1438532849657394, + "mean_kinematic_stability_score": 0.056229298601854445, + "mean_legacy_gsi": 0.3076125561495859, + "mean_lift_score": 0.21563885530028215, + "mean_motion_stability_score": 0.137007166030938 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2481, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_21_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_21_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..329d43c203d2da067b14f7042c5c102de60b9c64 --- /dev/null +++ b/gpt6_astra_1x_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, 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"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_1x_icl/source_runs/task_21_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_21_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8dfbcffabfdee520c40800c129b8cadb18c6a0b5 --- /dev/null +++ b/gpt6_astra_1x_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": {}, + 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"max_joint_limit_excess_joint": "right_finger1_joint3", "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, "drop_to_table_obj_172_soy_sauce_2": 1}, "policy_query_count": 27, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2481, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_21_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_21_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..6d7d01a99c04a8fbf4088908452f694daaab0b40 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_21_episode_08/summary.json @@ -0,0 +1,194 @@ +{ + "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": 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": 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": 0.0008061265618702137 + }, + "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": 0.0008061265618702137, + "violation_counts": { + "drop_to_table_obj_171_msg_4": 1, + "drop_to_table_obj_172_soy_sauce_2": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.02539298669891173, + "finger_joint_limit_saturation_step_rate": 0.004433696090286175, + "max_joint_limit_excess_rad": 0.12658590078353882, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_finger1_joint2": 17, + "right_finger1_joint3": 46 + }, + "joint_limit_hard_counts": { + "right_finger1_joint2": 10, + "right_finger1_joint3": 1, + "right_finger4_joint2": 3, + "right_finger5_joint2": 1 + }, + "joint_limit_hard_episode_events": 8, + "finger_joint_limit_saturation_counts": { + "right_finger1_joint3": 11 + }, + "joint_limit_max_excess_by_joint": { + "left_finger1_joint2": 0.00391620397567749, + "right_finger1_joint2": 0.09196294844150543, + "right_finger1_joint3": 0.12658590078353882, + "right_finger2_joint2": 0.0008068084716796875, + "right_finger4_joint2": 0.007932603359222412, + "right_finger5_joint2": 0.006916671991348267 + }, + "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": 21.883964600887484, + "joint_effort_rms": 39.99005753309363, + "joint_jerk_rms": 2243.4433837228016, + "joint_velocity_rms": 0.6335121106353245 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.709266138625536, + "mean_kinematic_grasp_stability": 0.24776774716026048, + "per_object_best_kinematic_grasp_stability": { + "obj_171_msg_4": 0.709266138625536, + "obj_172_soy_sauce_2": 0.661740976428739, + "obj_173_vinegar_3": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6627256034752901, + "mean_duration_score": 0.3700389627838232, + "mean_hold_score": 0.2764543866720424, + "mean_kinematic_stability_score": 0.021837383062895455, + "mean_legacy_gsi": 0.37484665236461995, + "mean_lift_score": 0.3827757624613731, + "mean_motion_stability_score": 0.26914568177491804 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2481, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_21_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_21_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b94f95984f5ec35c10ebc22b8960a563fb13dddb --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_21_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/21_condiment_box_loading.yaml", "episode_index": 9, "seed": 202100008, "success": false, "steps": 2481, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202100008, "base_seed": 202100000, "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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"tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0004030632809351172, "safety_violation_rate_time": 0.0004030632809351172, "safety_violation_rate_event": 0.00040306328093510683, "safety_violation_step_rate": 0.00040306328093510683, "safety_violation_events_per_step": 0.00040306328093510683, "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": {"right_finger1_joint2": 3, "right_finger1_joint3": 38}, "joint_limit_hard_counts": {"right_finger1_joint2": 17, "right_finger1_joint3": 2, "right_finger5_joint2": 1}, "finger_joint_limit_saturation_counts": {"right_finger1_joint3": 3}, "joint_limit_max_excess_by_joint": {"right_finger1_joint2": 0.03194916248321533, "right_finger1_joint3": 0.29852747917175293, "right_finger5_joint2": 0.005727618932723999}, "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": 1443, "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": -0.16274398565292358, "hard_excess_rad": 0.005143985152244568, "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": [2.0636329650878906, -1.0386170148849487, -1.5700000524520874, 1.8532428741455078, 1.5700000524520874, -0.4820672869682312, -1.5700000524520874, 2.404463529586792, -5.606130670798848e-09, 1.17753267288208, -1.5700000524520874, 8.686921404432724e-09, 1.5, 1.2999999523162842, 1.2699999809265137, 1.2200000286102295, 1.100000023841858, -0.15760000050067902, 0.1481546014547348, 0.029821958392858505, 0.11560360342264175, 0.170923113822937, 0.10000000149011612, 3.806997772581866e-10, 2.5852295859607466e-09, 1.7226865489661236e-09, 7.707670057754967e-10, 0.2199999988079071, 0.18000000715255737, 0.18000000715255737, 0.18000000715255737, 0.18000000715255737, -4.976387704691554e-11, 1.2265900795060958e-10, 1.2884973643600972e-10, 1.1473654665250521e-10, 8.112243515823181e-11, 0.10000000149011612, 0.10000000149011612, 0.10000000149011612, 0.10000000149011612, 0.10000000149011612, 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": [2.0636329650878906, -1.0386170148849487, -1.5700000524520874, 1.8532428741455078, 1.5700000524520874, -0.4820672869682312, -1.5700000524520874, 2.404463529586792, -5.606130670798848e-09, 1.17753267288208, -1.5700000524520874, 8.686921404432724e-09, 1.5, 1.2999999523162842, 1.2699999809265137, 1.2200000286102295, 1.100000023841858, -0.15760000050067902, 0.1481546014547348, 0.029821958392858505, 0.11560360342264175, 0.170923113822937, 0.10000000149011612, 3.806997772581866e-10, 2.5852295859607466e-09, 1.7226865489661236e-09, 7.707670057754967e-10, 0.2199999988079071, 0.18000000715255737, 0.18000000715255737, 0.18000000715255737, 0.18000000715255737, -4.976387704691554e-11, 1.2265900795060958e-10, 1.2884973643600972e-10, 1.1473654665250521e-10, 8.112243515823181e-11, 0.10000000149011612, 0.10000000149011612, 0.10000000149011612, 0.10000000149011612, 0.10000000149011612, 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": [2.0636329650878906, -1.0386170148849487, -1.5700000524520874, 1.8532428741455078, 1.5700000524520874, -0.4820672869682312, -1.5700000524520874, 2.404463529586792, -5.606130670798848e-09, 1.17753267288208, -1.5700000524520874, 8.686921404432724e-09, 1.5, 1.2999999523162842, 1.2699999809265137, 1.2200000286102295, 1.100000023841858, -0.15760000050067902, 0.1481546014547348, 0.029821958392858505, 0.11560360342264175, 0.170923113822937, 0.10000000149011612, 3.806997772581866e-10, 2.5852295859607466e-09, 1.7226865489661236e-09, 7.707670057754967e-10, 0.2199999988079071, 0.18000000715255737, 0.18000000715255737, 0.18000000715255737, 0.18000000715255737, -4.976387704691554e-11, 1.2265900795060958e-10, 1.2884973643600972e-10, 1.1473654665250521e-10, 8.112243515823181e-11, 0.10000000149011612, 0.10000000149011612, 0.10000000149011612, 0.10000000149011612, 0.10000000149011612, 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": 38, "joint_limit_hard_episode_events": 18, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 3, "max_joint_limit_excess_rad": 0.29852747917175293, "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": 38, "joint_limit_active_step_rate": 0.015316404675534058, "finger_joint_limit_saturation_steps": 3, "finger_joint_limit_saturation_step_rate": 0.0012091898428053204, "max_joint_limit_excess_rad": 0.29852747917175293, "max_joint_limit_excess_joint": "right_finger1_joint3", "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": 21, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2481, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_21_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_21_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..38cfee0fac0ace2d481e94231c9f95e5b70ae8d1 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_21_episode_09/summary.json @@ -0,0 +1,189 @@ +{ + "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": 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": 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": 0.00040306328093510683 + }, + "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": 0.00040306328093510683, + "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": 0.015316404675534058, + "finger_joint_limit_saturation_step_rate": 0.0012091898428053204, + "max_joint_limit_excess_rad": 0.29852747917175293, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_finger1_joint2": 3, + "right_finger1_joint3": 38 + }, + "joint_limit_hard_counts": { + "right_finger1_joint2": 17, + "right_finger1_joint3": 2, + "right_finger5_joint2": 1 + }, + "joint_limit_hard_episode_events": 18, + "finger_joint_limit_saturation_counts": { + "right_finger1_joint3": 3 + }, + "joint_limit_max_excess_by_joint": { + "right_finger1_joint2": 0.03194916248321533, + "right_finger1_joint3": 0.29852747917175293, + "right_finger5_joint2": 0.005727618932723999 + }, + "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": 16.576455092135685, + "joint_effort_rms": 26.234149680818348, + "joint_jerk_rms": 1664.1590807513153, + "joint_velocity_rms": 0.4390544605988821 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8664105492895919, + "mean_kinematic_grasp_stability": 0.37763523615168393, + "per_object_best_kinematic_grasp_stability": { + "obj_171_msg_4": 0.8664105492895919, + "obj_172_soy_sauce_2": 0.0, + "obj_173_vinegar_3": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8274889157597738, + "mean_duration_score": 0.28745129652022033, + "mean_hold_score": 0.15116216579336442, + "mean_kinematic_stability_score": 0.03394303009344035, + "mean_legacy_gsi": 0.3144877979455833, + "mean_lift_score": 0.23350799408840522, + "mean_motion_stability_score": 0.13915175231584567 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2481, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_21_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_21_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fbb56e8ea949f1ae4829945ed23da2e968ab7551 --- /dev/null +++ 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"finger_joint_limit_saturation_steps": 22, "max_joint_limit_excess_rad": 0.5904448628425598, "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": 34, "joint_limit_active_step_rate": 0.0137429264349232, "finger_joint_limit_saturation_steps": 22, "finger_joint_limit_saturation_step_rate": 0.00889248181083266, "max_joint_limit_excess_rad": 0.5904448628425598, "max_joint_limit_excess_joint": "right_finger1_joint3", "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": 2072, "place_vinegar": 2307, "place_msg": 2307}, "violation_counts": {}, "policy_query_count": 22, "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_1x_icl/source_runs/task_21_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_21_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e02f3bab9ae91d6a66f03b4656bc507bdbe31edb --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_21_episode_10/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": 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": 41.233333333332276 + }, + "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": 0.6685529506871635, + "expert_time_s": 27.566666666666666, + "expert_time_step": 1654, + "avg_steps_to_success": 2474, + "avg_policy_steps_to_success": 825, + "avg_policy_queries_to_success": 22 + }, + "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": 0.0137429264349232, + "finger_joint_limit_saturation_step_rate": 0.00889248181083266, + "max_joint_limit_excess_rad": 0.5904448628425598, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_finger1_joint1": 12, + "right_finger1_joint2": 13, + "right_finger1_joint3": 24 + }, + "joint_limit_hard_counts": { + "right_finger1_joint1": 1, + "right_finger1_joint2": 2, + "right_finger1_joint3": 1, + "right_finger5_joint2": 1 + }, + "joint_limit_hard_episode_events": 3, + "finger_joint_limit_saturation_counts": { + "right_finger1_joint1": 4, + "right_finger1_joint3": 18 + }, + "joint_limit_max_excess_by_joint": { + "left_finger1_joint2": 0.00019738823175430298, + "right_finger1_joint1": 0.34683263301849365, + "right_finger1_joint2": 0.06287169456481934, + "right_finger1_joint3": 0.5904448628425598, + "right_finger5_joint2": 0.005665242671966553 + }, + "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": 19.344888687680047, + "joint_effort_rms": 28.124678368394203, + "joint_jerk_rms": 1956.0849086130056, + "joint_velocity_rms": 0.42517634947171595 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8083680329765526, + "mean_kinematic_grasp_stability": 0.3831856940144171, + "per_object_best_kinematic_grasp_stability": { + "obj_171_msg_4": 0.797975596368599, + "obj_172_soy_sauce_2": 0.8083680329765526, + "obj_173_vinegar_3": 0.6751840339254315 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8169855384891569, + "mean_duration_score": 0.4011048234977094, + "mean_hold_score": 0.3519469145782819, + "mean_kinematic_stability_score": 0.1535427450820367, + "mean_legacy_gsi": 0.4437525541433151, + "mean_lift_score": 0.4094583670169766, + "mean_motion_stability_score": 0.3084572595012795 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2474, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_21_episode_11/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_21_episode_11/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fbf7fdc4c61d1d47d28937df9714c050bb9fd85b --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_21_episode_11/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/21_condiment_box_loading.yaml", "episode_index": 11, "seed": 202100010, "success": false, "steps": 1356, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 202100010, "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": 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": 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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": [-0.004283460744240353, 0.004708462138943122, -0.0046722382477211825], "target_offset_m": [0.0003747629187482483, 0.004447499326463967, 0.004308821486526517], "distance_offset_m": -0.021818414735789778, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.21649509337417383, -0.6053863116722569, -0.5458005661376941], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [0.0031174631968947557, -0.0013983503845245906, -0.00446218561279504], "target_offset_m": [0.003909564448952797, 0.0009471081981241945, -0.0010755377022723675], "distance_offset_m": 0.012885793134130727, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.39873870739148365, -0.41106783278617165, 0.22253081271374953], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": 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"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": 27.566666666666666, "expert_time_step": 1654, "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": 0.8103364504399627, "mean_kinematic_grasp_stability": 0.31678135459483703, "per_object_best_kinematic_grasp_stability": {"obj_171_msg_4": 0.8103364504399627, "obj_172_soy_sauce_2": 0.0, "obj_173_vinegar_3": 0.0}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.34134681652617677, "mean_kinematic_stability_score": 0.0679818393710159, "mean_lift_score": 0.27728613569321536, "mean_hold_score": 0.18555801376597827, "mean_motion_stability_score": 0.16824852955095915, "mean_duration_score": 0.27323008849557523, "mean_anti_slip_score": 0.8699606686332316}, "robot_motion_metrics": {"joint_velocity_rms": 0.4639588901600429, "joint_acceleration_rms": 20.268217527722314, "joint_jerk_rms": 2077.43453916238, "joint_effort_rms": 30.440818499244557}, "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": 0, "robot_constraint_diagnostics": {"joint_limit_hard_counts": {"right_finger1_joint2": 4}, "joint_limit_max_excess_by_joint": {"right_finger1_joint2": 0.008175477385520935}, "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": 1053, "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": -0.16577546298503876, "hard_excess_rad": 0.008175462484359741, "hard_tolerance_rad": 0.005, "hard_lower": -0.15760000050067902, "hard_upper": 0.9311999678611755, "operating_lower": -0.15759998559951782, "operating_upper": 0.9311999678611755, "expanded_target": -0.1067691445350647, "shielded_target": -0.1067691445350647}], "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": [1.2398849725723267, -1.5036673545837402, -1.5700000524520874, 1.829107642173767, 1.5700000524520874, 0.3629823625087738, -1.5700000524520874, 1.5159684419631958, -2.647447538972614e-10, -0.3135741353034973, -1.5700000524520874, 8.461909506429777e-10, 1.4296679496765137, 1.4297573566436768, 1.39230215549469, 1.3801686763763428, 1.2142350673675537, -0.1067691445350647, 0.29838454723358154, 0.1269640326499939, 0.23832403123378754, 0.18877072632312775, 0.10000000149011612, 3.806997772581866e-10, 2.5852295859607466e-09, 1.7226865489661236e-09, 7.707670057754967e-10, 0.06723448634147644, -0.048803046345710754, -0.05106297507882118, -0.048016875982284546, -0.04414144903421402, -4.976387704691554e-11, 1.2265900795060958e-10, 1.2884973643600972e-10, 1.1473654665250521e-10, 8.112243515823181e-11, 0.03797019273042679, 0.03627192601561546, 0.03849394991993904, 0.03833349421620369, 0.036009225994348526, 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": [1.2398849725723267, -1.5036673545837402, -1.5700000524520874, 1.829107642173767, 1.5700000524520874, 0.3629823625087738, -1.5700000524520874, 1.5159684419631958, -2.647447538972614e-10, -0.3135741353034973, -1.5700000524520874, 8.461909506429777e-10, 1.4296679496765137, 1.4297573566436768, 1.39230215549469, 1.3801686763763428, 1.2142350673675537, -0.1067691445350647, 0.29838454723358154, 0.1269640326499939, 0.23832403123378754, 0.18877072632312775, 0.10000000149011612, 3.806997772581866e-10, 2.5852295859607466e-09, 1.7226865489661236e-09, 7.707670057754967e-10, 0.06723448634147644, -0.048803046345710754, -0.05106297507882118, -0.048016875982284546, -0.04414144903421402, -4.976387704691554e-11, 1.2265900795060958e-10, 1.2884973643600972e-10, 1.1473654665250521e-10, 8.112243515823181e-11, 0.03797019273042679, 0.03627192601561546, 0.03849394991993904, 0.03833349421620369, 0.036009225994348526, 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": [1.2398849725723267, -1.5036673545837402, -1.5700000524520874, 1.829107642173767, 1.5700000524520874, 0.3629823625087738, -1.5700000524520874, 1.5159684419631958, -2.647447538972614e-10, -0.3135741353034973, -1.5700000524520874, 8.461909506429777e-10, 1.4296679496765137, 1.4297573566436768, 1.39230215549469, 1.3801686763763428, 1.2142350673675537, -0.1067691445350647, 0.29838454723358154, 0.1269640326499939, 0.23832403123378754, 0.18877072632312775, 0.10000000149011612, 3.806997772581866e-10, 2.5852295859607466e-09, 1.7226865489661236e-09, 7.707670057754967e-10, 0.06723448634147644, -0.048803046345710754, -0.05106297507882118, -0.048016875982284546, -0.04414144903421402, -4.976387704691554e-11, 1.2265900795060958e-10, 1.2884973643600972e-10, 1.1473654665250521e-10, 8.112243515823181e-11, 0.03797019273042679, 0.03627192601561546, 0.03849394991993904, 0.03833349421620369, 0.036009225994348526, 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": 0, "joint_limit_hard_episode_events": 4, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.008175477385520935, "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": 0.008175477385520935, "max_joint_limit_excess_joint": "right_finger1_joint2", "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": {}, "policy_query_count": 14, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2481, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_21_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_21_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..599d247476e06982e9ab426c256975d3b343c2c4 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_21_episode_11/summary.json @@ -0,0 +1,178 @@ +{ + "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": 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": 0.0, + "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": { + "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": 0.0, + "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": 0.008175477385520935, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": { + "right_finger1_joint2": 4 + }, + "joint_limit_hard_episode_events": 4, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "right_finger1_joint2": 0.008175477385520935 + }, + "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": 20.268217527722314, + "joint_effort_rms": 30.440818499244557, + "joint_jerk_rms": 2077.43453916238, + "joint_velocity_rms": 0.4639588901600429 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8103364504399627, + "mean_kinematic_grasp_stability": 0.31678135459483703, + "per_object_best_kinematic_grasp_stability": { + "obj_171_msg_4": 0.8103364504399627, + "obj_172_soy_sauce_2": 0.0, + "obj_173_vinegar_3": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8699606686332316, + "mean_duration_score": 0.27323008849557523, + "mean_hold_score": 0.18555801376597827, + "mean_kinematic_stability_score": 0.0679818393710159, + "mean_legacy_gsi": 0.34134681652617677, + "mean_lift_score": 0.27728613569321536, + "mean_motion_stability_score": 0.16824852955095915 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1356, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_21_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_21_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5edb34148d50a98a6d958318fca2ac7fdb18cd6a --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_21_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/21_condiment_box_loading.yaml", "episode_index": 12, "seed": 202100011, "success": false, "steps": 2481, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202100011, "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": 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_leather_leather0083_jpg", "asset_uri": "dex2bench_dataset/textures/leather/leather0083.jpg", "asset_category": "leather", "asset_id": "leather/leather0083.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1146.8775712703468, "color": [0.7306014983745879, 0.7440823134310205, 0.7419642827100408], "pitch_deg": -28.737161694618802, "yaw_deg": 37.3002249374796, "angle_deg": 0.6320470203623132}, "dome": {"intensity": 323.78638527960874, "color": [0.9732617859837303, 0.8972452319358956, 0.9115212060855271], "exposure": 0.12637772638073563}, "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": 0.002905617872342961, "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": [0.002016975919392987, 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"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", 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"joint_limit_active_step_rate": 0.09673518742442563, "finger_joint_limit_saturation_steps": 162, "finger_joint_limit_saturation_step_rate": 0.06529625151148731, "max_joint_limit_excess_rad": 1.728808045387268, "max_joint_limit_excess_joint": "right_finger3_joint4", "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": {}, "policy_query_count": 18, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2481, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_21_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_21_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e732238a8cc43c3c9c21eb977e74a152e7c03688 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_21_episode_12/summary.json @@ -0,0 +1,214 @@ +{ + "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": 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": 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": { + "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": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.09673518742442563, + "finger_joint_limit_saturation_step_rate": 0.06529625151148731, + "max_joint_limit_excess_rad": 1.728808045387268, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_finger1_joint1": 75, + "right_finger1_joint2": 76, + "right_finger1_joint3": 33, + "right_finger2_joint1": 1, + "right_finger3_joint4": 72, + "right_finger4_joint2": 8, + "right_finger4_joint4": 46, + "right_finger5_joint1": 14, + "right_finger5_joint2": 14, + "right_finger5_joint4": 28 + }, + "joint_limit_hard_counts": { + "right_finger1_joint1": 1, + "right_finger1_joint2": 3, + "right_finger1_joint3": 1, + "right_finger2_joint1": 1, + "right_finger3_joint4": 2, + "right_finger4_joint2": 1, + "right_finger4_joint4": 3, + "right_finger5_joint1": 1, + "right_finger5_joint2": 1, + "right_finger5_joint4": 1 + }, + "joint_limit_hard_episode_events": 7, + "finger_joint_limit_saturation_counts": { + "right_finger1_joint1": 71, + "right_finger1_joint2": 43, + "right_finger3_joint4": 65, + "right_finger4_joint4": 36, + "right_finger5_joint2": 8, + "right_finger5_joint4": 24 + }, + "joint_limit_max_excess_by_joint": { + "right_finger1_joint1": 1.5812128782272339, + "right_finger1_joint2": 0.4886237382888794, + "right_finger1_joint3": 0.12822312116622925, + "right_finger2_joint1": 0.011133193969726562, + "right_finger3_joint4": 1.728808045387268, + "right_finger4_joint2": 0.20231959223747253, + "right_finger4_joint4": 1.2384870052337646, + "right_finger5_joint1": 0.23881781101226807, + "right_finger5_joint2": 0.40025654435157776, + "right_finger5_joint4": 0.6091189384460449 + }, + "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": 33.568678925861256, + "joint_effort_rms": 39.52691605482317, + "joint_jerk_rms": 3386.9550027419223, + "joint_velocity_rms": 0.6398450079116363 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9994795908408752, + "mean_kinematic_grasp_stability": 0.6063238724499689, + "per_object_best_kinematic_grasp_stability": { + "obj_171_msg_4": 0.9994795908408752, + "obj_172_soy_sauce_2": 0.0, + "obj_173_vinegar_3": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8781405347306267, + "mean_duration_score": 0.29551256213892246, + "mean_hold_score": 0.2373102243718949, + "mean_kinematic_stability_score": 0.1282216546065096, + "mean_legacy_gsi": 0.37522821687277835, + "mean_lift_score": 0.29772941018406557, + "mean_motion_stability_score": 0.2243924095345968 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2481, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_21_episode_13/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_21_episode_13/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a68bd1995e64aafba047615f0c5df9d03612139f --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_21_episode_13/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/21_condiment_box_loading.yaml", "episode_index": 13, "seed": 202100012, "success": false, "steps": 2481, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202100012, "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": 0.0, "base_yaw_deg": 0.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan207", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan207_physics/scene.usda", "scene_offset": [0.0, 0.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_leather_leather0125_jpg", "asset_uri": "dex2bench_dataset/textures/leather/leather0125.jpg", "asset_category": "leather", "asset_id": "leather/leather0125.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1432.597018221246, "color": [0.9389831205862268, 0.9777040867361856, 0.4386474022965518], "pitch_deg": -5.806024932728668, "yaw_deg": -15.59015109080218, "angle_deg": 0.9531635549680532}, "dome": {"intensity": 244.98634871239358, "color": [0.9066357881523112, 0.9992535304587346, 0.758342887205938], "exposure": 0.061595110243111706}, "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": 0.0363725124317586, "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": [-0.0032851801131038054, 0.004718176818985182, 0.0048295272339840415], "target_offset_m": [-0.003992387518042545, -0.003301430513732342, 0.0035492415577648194], "distance_offset_m": -0.010951300732271445, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.23996556084536813, -0.8804873113932634, 0.7741674265473137], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.0006304683234386035, -0.001112751037595249, -0.004817853465612627], "target_offset_m": [-0.00279006476626979, -0.0036116391208475497, 0.0022661798491522235], "distance_offset_m": -0.02376246662792091, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.8125110643771445, 0.5647898110883967, -0.6851356099906161], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [-0.0018768209360205314, -0.004370081198464254, -0.00176271871542961], "target_offset_m": [-0.0007144742134519754, 0.0016846277472605496, 0.0040648281829821315], "distance_offset_m": -0.016869265676763716, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.6546886219568742, 0.3127066407076904, -0.538157076435019], "has_offset": true}, "cam_stereo_right": {"enabled": true, "position_offset_m": [-0.0018768209360205314, -0.004370081198464254, -0.00176271871542961], "target_offset_m": [-0.0007144742134519754, 0.0016846277472605496, 0.0040648281829821315], "distance_offset_m": -0.016869265676763716, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.6546886219568742, 0.3127066407076904, -0.538157076435019], "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": [0.00023407771273203058, -0.002922853659822493, -0.00476881954093085], "rpy_offset_deg": [0.6270525021673845, 0.4942894248262535, -0.13135286998411622], "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": [-0.0010806702213665646, 0.0015335874233803866, 0.001148921478900158], "rpy_offset_deg": [0.9807188307485086, -0.10056811341016614, -0.55930623538469], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 3, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_040_large_marker", "uri": "dex2bench_dataset/Objects/040_large_marker/usd_decomposition_linux/textured.usd", "scale": [0.9597340706562192, 0.9597340706562192, 0.9597340706562192], "body_type": "dynamic", "category": "tool", "asset_code": "040", "asset_id": "clutter_040_large_marker", "asset_split": "unseen", "spawn_position": [-0.9123233846340025, 0.14567079511681186, 0.7866345198449338], "spawn_yaw_deg": 355.11534051340567, "obj_id": "distractor_00_clutter_040_large_marker"}, {"name": "clutter_028_skillet_lid", "uri": "dex2bench_dataset/Objects/028_skillet_lid/usd_decomposition_linux/textured.usd", "scale": [1.080229751992634, 1.080229751992634, 1.080229751992634], "body_type": "dynamic", "category": "kitchen", "asset_code": "028", "asset_id": "clutter_028_skillet_lid", "asset_split": "unseen", "placement_failed": true}, {"name": "clutter_018_plum", "uri": "dex2bench_dataset/Objects/018_plum/usd_decomposition_linux/textured.usd", "scale": [0.9021700100503388, 0.9021700100503388, 0.9021700100503388], "body_type": "dynamic", "category": "fruit", "asset_code": "018", "asset_id": "clutter_018_plum", "asset_split": "unseen", "spawn_position": [0.4086021145777168, 0.41589875227853923, 0.7866404569169901], "spawn_yaw_deg": 205.6460012780991, "obj_id": "distractor_02_clutter_018_plum"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_154_wooden_box_1": {"position": [0.5652430511919487, 0.1489915065877505, 0.7863725124317587], "rpy_deg": [90.0, 0.0, 4.55391477223114]}, "obj_172_soy_sauce_2": {"position": [-0.39034972579826743, 0.1826386575603731, 0.7863725147067226], "rpy_deg": [90.0, 0.0, -9.084824396784208]}, "obj_173_vinegar_3": {"position": [-0.23897496336151403, 0.09770745906100907, 0.7863725123709344], "rpy_deg": [90.0, 0.0, -5.755149064755871]}, "obj_171_msg_4": {"position": [0.05631834573809348, 0.26389351827970425, 0.7863725081817461], "rpy_deg": [90.0, 0.0, -6.610069384655175]}}, "_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": 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": 27.566666666666666, "expert_time_step": 1654, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.3333333333333333, "normalized_progress_score": 0.5, "chain_depth_progress_score": 0.5, "current_stage_completion_rate": 0.3333333333333333, "current_normalized_progress_score": 0.5, "current_chain_depth_progress_score": 0.5, "current_chain_depth": 1, "latched_stage_completion_rate": 0.3333333333333333, "latched_normalized_progress_score": 0.5, "latched_chain_depth_progress_score": 0.5, "latched_chain_depth": 1, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9151359297258445, "mean_kinematic_grasp_stability": 0.42021316756193344, "per_object_best_kinematic_grasp_stability": {"obj_171_msg_4": 0.9151359297258445, "obj_172_soy_sauce_2": 0.8146011347066507, "obj_173_vinegar_3": 0.6650016492366134}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4015374816845531, "mean_kinematic_stability_score": 0.02145384974788858, "mean_lift_score": 0.4212011285771866, "mean_hold_score": 0.32934300685207807, "mean_motion_stability_score": 0.3076762400990395, "mean_duration_score": 0.41146491110215416, "mean_anti_slip_score": 0.6167763894486958}, "robot_motion_metrics": {"joint_velocity_rms": 0.4670804823920277, "joint_acceleration_rms": 20.843210213208838, "joint_jerk_rms": 2134.338650213855, "joint_effort_rms": 39.11439020983844}, "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": 1, "robot_constraint_diagnostics": {"joint_limit_hard_counts": {"right_finger1_joint2": 2}, "joint_limit_max_excess_by_joint": {"left_finger1_joint2": 0.0006536096334457397, "right_finger1_joint2": 0.005264773964881897, "right_finger2_joint2": 0.0005231797695159912}, "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": 1257, "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": -0.16286475956439972, "hard_excess_rad": 0.005264759063720703, "hard_tolerance_rad": 0.005, "hard_lower": -0.15760000050067902, "hard_upper": 0.9311999678611755, "operating_lower": -0.15759998559951782, "operating_upper": 0.9311999678611755, "expanded_target": -0.1067691445350647, "shielded_target": -0.1067691445350647}], "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": [1.2467819452285767, -1.6512091159820557, -1.5700000524520874, 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"right_finger2_joint4", "right_finger3_joint4", "right_finger4_joint4", "right_finger5_joint4", "left_finger1_joint3", "left_finger2_joint3", "left_finger3_joint3", "left_finger4_joint3", "left_finger5_joint3", "left_finger1_joint4", "left_finger2_joint4", "left_finger3_joint4", "left_finger4_joint4", "left_finger5_joint4"], "expanded_full_target": [1.2467819452285767, -1.6512091159820557, -1.5700000524520874, 1.7488925457000732, 1.5700000524520874, 0.5905105471611023, -1.5700000524520874, 1.521295189857483, -2.647447538972614e-10, -0.3091869652271271, -1.5700000524520874, 8.461909506429777e-10, 1.4296679496765137, 1.4297573566436768, 1.39230215549469, 1.3801686763763428, 1.2142350673675537, -0.1067691445350647, 0.29838454723358154, 0.1269640326499939, 0.23832403123378754, 0.18877072632312775, 0.10000000149011612, 3.806997772581866e-10, 2.5852295859607466e-09, 1.7226865489661236e-09, 7.707670057754967e-10, 0.06723448634147644, -0.048803046345710754, -0.05106297507882118, 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"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": 0.005264773964881897, "max_joint_limit_excess_joint": "right_finger1_joint2", "stage_completion": {"place_soy_sauce": true, "place_vinegar": false, "place_msg": false}, "current_stage_completion": {"place_soy_sauce": true, "place_vinegar": false, "place_msg": false}, "stage_first_completion_step": {"place_soy_sauce": 1948, "place_vinegar": null, "place_msg": null}, "violation_counts": {}, "policy_query_count": 19, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2481, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_21_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_21_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..3e557509e33992ee6f19bff49b72e3edcb1fd02a --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_21_episode_13/summary.json @@ -0,0 +1,180 @@ +{ + "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": 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": 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": 0.5, + "latched_chain_depth_progress_score": 0.5, + "avg_current_chain_depth": 1, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 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": 0.0, + "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": 0.005264773964881897, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": { + "right_finger1_joint2": 2 + }, + "joint_limit_hard_episode_events": 2, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_finger1_joint2": 0.0006536096334457397, + "right_finger1_joint2": 0.005264773964881897, + "right_finger2_joint2": 0.0005231797695159912 + }, + "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": 20.843210213208838, + "joint_effort_rms": 39.11439020983844, + "joint_jerk_rms": 2134.338650213855, + "joint_velocity_rms": 0.4670804823920277 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9151359297258445, + "mean_kinematic_grasp_stability": 0.42021316756193344, + "per_object_best_kinematic_grasp_stability": { + "obj_171_msg_4": 0.9151359297258445, + "obj_172_soy_sauce_2": 0.8146011347066507, + "obj_173_vinegar_3": 0.6650016492366134 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6167763894486958, + "mean_duration_score": 0.41146491110215416, + "mean_hold_score": 0.32934300685207807, + "mean_kinematic_stability_score": 0.02145384974788858, + "mean_legacy_gsi": 0.4015374816845531, + "mean_lift_score": 0.4212011285771866, + "mean_motion_stability_score": 0.3076762400990395 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2481, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_21_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_21_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5ecc4bcd83a0e0f40593fdfd35e4b706258c642 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_21_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/21_condiment_box_loading.yaml", "episode_index": 14, "seed": 202100013, "success": false, "steps": 2481, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202100013, "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": 270.0, "base_yaw_deg": -90.0, "flip_180_applied": false, "physics_enabled": false, 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[-0.24501439084394444, 0.10269420023253018, 0.7010110027704295], "rpy_deg": [90.0, 0.0, 7.306388396673054]}, "obj_171_msg_4": {"position": [0.041777265908667635, 0.23711232081263356, 0.7010109985812412], "rpy_deg": [90.0, 0.0, 9.059941170629621]}}, "_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": 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": 27.566666666666666, "expert_time_step": 1654, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.0, "normalized_progress_score": 0.0, 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{"joint_velocity_rms": 0.5549088098620112, "joint_acceleration_rms": 26.933006691964014, "joint_jerk_rms": 2757.8245551320592, "joint_effort_rms": 41.13945537540223}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0004030632809351172, "safety_violation_rate_time": 0.0004030632809351172, "safety_violation_rate_event": 0.00040306328093510683, "safety_violation_step_rate": 0.00040306328093510683, "safety_violation_events_per_step": 0.00040306328093510683, "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": {"right_finger1_joint1": 129, "right_finger1_joint2": 135, "right_finger1_joint3": 54, "right_finger2_joint1": 18}, "joint_limit_hard_counts": {"right_finger1_joint1": 3, "right_finger1_joint2": 3, "right_finger1_joint3": 3, "right_finger2_joint1": 2}, "finger_joint_limit_saturation_counts": {"right_finger1_joint1": 99, "right_finger1_joint2": 94, "right_finger1_joint3": 40}, "joint_limit_max_excess_by_joint": {"right_finger1_joint1": 0.9891523122787476, "right_finger1_joint2": 1.083169937133789, "right_finger1_joint3": 0.7230508923530579, "right_finger2_joint1": 0.12963855266571045}, "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": 1746, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_finger1_joint1", "role": "finger", "qpos": 1.6363091468811035, "hard_excess_rad": 0.023809313774108887, "hard_tolerance_rad": 0.005, "hard_lower": 0.036799997091293335, "hard_upper": 1.6124998331069946, "operating_lower": 0.03680002689361572, "operating_upper": 1.6124998331069946, "expanded_target": 1.053149938583374, "shielded_target": 1.053149938583374}], "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": [1.8363665342330933, -0.9274197816848755, -1.5700000524520874, 1.4580124616622925, 1.5700000524520874, -0.071281298995018, -1.5700000524520874, 2.0321204662323, -2.647447538972614e-10, -0.5284040570259094, -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": [1.8363665342330933, -0.9274197816848755, -1.5700000524520874, 1.4580124616622925, 1.5700000524520874, -0.071281298995018, -1.5700000524520874, 2.0321204662323, -2.647447538972614e-10, -0.5284040570259094, -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": [1.8363665342330933, -0.9274197816848755, -1.5700000524520874, 1.4580124616622925, 1.5700000524520874, -0.071281298995018, -1.5700000524520874, 2.0321204662323, -2.647447538972614e-10, -0.5284040570259094, -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": 230, "joint_limit_hard_episode_events": 6, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 181, "max_joint_limit_excess_rad": 1.083169937133789, "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": 230, "joint_limit_active_step_rate": 0.09270455461507457, "finger_joint_limit_saturation_steps": 181, "finger_joint_limit_saturation_step_rate": 0.07295445384925434, "max_joint_limit_excess_rad": 1.083169937133789, "max_joint_limit_excess_joint": "right_finger1_joint2", "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": 16, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2481, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_21_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_21_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3e52e57ba6734e2d90aaf8958350b688b38dcc --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_21_episode_14/summary.json @@ -0,0 +1,195 @@ +{ + "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": 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": 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": 0.00040306328093510683 + }, + "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": 0.00040306328093510683, + "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": 0.09270455461507457, + "finger_joint_limit_saturation_step_rate": 0.07295445384925434, + "max_joint_limit_excess_rad": 1.083169937133789, + 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-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": 0.004894762604013705, "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": false, "place_flat": false, "place_wrench": false, "place_drill": false}, "current_stage_completion": {"place_phillips": false, "place_flat": false, "place_wrench": false, "place_drill": false}, "stage_first_completion_step": {"place_phillips": null, "place_flat": null, "place_wrench": null, "place_drill": null}, "violation_counts": {"drop_to_table_obj_147_drill_5": 1, "drop_to_table_obj_044_flat_screwdriver_3": 1}, "policy_query_count": 25, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2043, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_22_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_22_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..3a95d2eec3ef67a7c182079caac4d755620d6ba1 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_22_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": 202200000, + "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": 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": 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": 0.0009789525208027412 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "rigid_assembly": 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": 22.683333333333334, + "expert_time_step": 1361, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0009789525208027412, + "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": 0.004894762604013705, + "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_thumb_abd": 0.0014616535045206547, + "left_wrist": 0.0003566145896911621, + "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": 15.898087705611223, + "joint_effort_rms": 40.29592890522901, + "joint_jerk_rms": 1597.513704506431, + "joint_velocity_rms": 0.4566508378664239 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.7628088624179715, + "mean_kinematic_grasp_stability": 0.19411638333585685, + "per_object_best_kinematic_grasp_stability": { + "obj_042_adjustable_wrench_4": 0.0, + "obj_043_phillips_screwdriver_2": 0.0, + "obj_044_flat_screwdriver_3": 0.7628088624179715, + "obj_147_drill_5": 0.6946441508010164 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8164464023495164, + "mean_duration_score": 0.2528838309675314, + "mean_hold_score": 0.08786098874204547, + "mean_kinematic_stability_score": 0.006484798415404909, + "mean_legacy_gsi": 0.26716377346579145, + "mean_lift_score": 0.13215859030837004, + "mean_motion_stability_score": 0.07557775107255091 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2043, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_22_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_22_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..240e7137fd81047dd356a134266486b863e57f86 --- /dev/null +++ b/gpt6_astra_1x_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, "episode_seed": 202200005, "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, 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"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_1x_icl/source_runs/task_22_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_22_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0286c85eec9c309f087bcfbe30abc9f5766d91c6 --- /dev/null +++ b/gpt6_astra_1x_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_1x_icl/source_runs/task_22_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_22_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a58bafcd5c577c3f01a01b11cd52db1cbe2f96a --- /dev/null +++ b/gpt6_astra_1x_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, "asset_name": "table_surface_metal_metal0654_jpg", "asset_uri": "dex2bench_dataset/textures/metal/metal0654.jpg", "asset_category": "metal", "asset_id": "metal/metal0654.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, 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[-0.04838589911106282, 0.23477257187626077, 0.7784880377411731], "rpy_deg": [90.0, 0.0, -0.7817738516574835]}, "obj_043_phillips_screwdriver_2": {"position": [-0.43410792601603326, 0.2980991507666893, 0.8285900369346031], "rpy_deg": [90.0, 0.0, 0.671582444460622]}, "obj_044_flat_screwdriver_3": {"position": [0.32532509196911874, 0.331096351107035, 0.7788950377552659], "rpy_deg": [0.0, 0.0, -6.959796730754844]}, "obj_042_adjustable_wrench_4": {"position": [-0.3681789935946761, 0.11362457570731675, 0.8813800342440494], "rpy_deg": [90.0, 0.0, -9.546786574944093]}, "obj_147_drill_5": {"position": [0.33719304713837006, 0.043916242333056715, 0.8079199661373981], "rpy_deg": [0.0, -90.0, 27.840689752854654]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_assembly", "robot_key": "multi_panda_with_orca", "perturbation_axis": "inv+cov", "stable_success": true, "ever_instant_success": true, "at_end_success": true, "at_end_success_observed": true, "at_end_success_budget": null, "first_success_step": 1919, "stable_success_step": 1948, "first_stable_success_step": 1948, "steps_to_stable_success": 1949, "policy_steps_to_stable_success": 650, "policy_queries_to_stable_success": 26, "time_to_stable_success_s": 32.48333333333277, "expert_time_s": 22.683333333333334, "expert_time_step": 1361, "success_hold_s": 0.49999999999999994, "terminal_success_rate": 1.0, "stage_completion_rate": 1.0, "normalized_progress_score": 1.0, "chain_depth_progress_score": 1.0, "current_stage_completion_rate": 1.0, "current_normalized_progress_score": 1.0, "current_chain_depth_progress_score": 1.0, "current_chain_depth": 2, "latched_stage_completion_rate": 1.0, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 2, "task_efficiency": 0.698306824012326, "kinematic_grasp_stability_index": 0.99340391196377, "mean_kinematic_grasp_stability": 0.46189140994735645, "per_object_best_kinematic_grasp_stability": {"obj_042_adjustable_wrench_4": 0.037664759480217816, "obj_043_phillips_screwdriver_2": 0.9079825405023475, "obj_044_flat_screwdriver_3": 0.99340391196377, "obj_147_drill_5": 0.7233895757205981}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4048107072534779, "mean_kinematic_stability_score": 0.09201094915960037, "mean_lift_score": 0.38353001539250897, "mean_hold_score": 0.30996664956388276, "mean_motion_stability_score": 0.2884167734691294, "mean_duration_score": 0.30147083974687877, "mean_anti_slip_score": 0.7960920129981316}, "robot_motion_metrics": {"joint_velocity_rms": 0.5140752671740713, "joint_acceleration_rms": 34.296300735687836, "joint_jerk_rms": 3656.0343586681984, "joint_effort_rms": 39.75901724786736}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0, "safety_violation_rate_time": 0.0, "safety_violation_rate_event": 0.0, "safety_violation_step_rate": 0.0, "safety_violation_events_per_step": 0.0, "episode_violation_rate": 0.0, "safety_hard_violation": false, "drop_violation": false, "high_speed_violation": false, "excessive_impact_violation": null, "robot_constraint_violation": true, "finger_joint_limit_saturation": false, "impact_metric_available": false, "chain_depth": 2, "robot_constraint_diagnostics": {"joint_limit_hard_counts": {"left_middle_mcp": 1}, "joint_limit_max_excess_by_joint": {"left_middle_mcp": 0.006831526756286621, "left_thumb_abd": 0.002642282983288169, "multi_panda_joint6": 6.389617919921875e-05, "right_middle_mcp": 0.001278996467590332, "right_ring_mcp": 0.0026780366897583008, "right_thumb_abd": 0.0026585005689412355}, "joint_limit_baseline_checks": [{"phase": "post_reset", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}, {"phase": "post_home", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}], "first_joint_limit_hard_event": {"sim_step": 1328, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_middle_mcp", "role": "finger", "qpos": 1.5950815677642822, "hard_excess_rad": 0.006831526756286621, "hard_tolerance_rad": 0.005, "hard_lower": -0.3490699827671051, "hard_upper": 1.5882500410079956, "operating_lower": -0.3490699529647827, "operating_upper": 1.5882500410079956, "expanded_target": 1.5858309268951416, "shielded_target": 1.5858309268951416}], "command_context_available": true, "active_joint_names": ["panda_joint1", "multi_panda_joint1", "panda_joint2", "multi_panda_joint2", "panda_joint3", "multi_panda_joint3", "panda_joint4", "multi_panda_joint4", "panda_joint5", "multi_panda_joint5", "panda_joint6", "multi_panda_joint6", "panda_joint7", "multi_panda_joint7", "left_wrist", "right_wrist", "left_thumb_mcp", "right_thumb_mcp", "left_index_mcp", "left_middle_mcp", "left_pinky_mcp", "left_ring_mcp", "left_thumb_abd", "right_index_mcp", "right_middle_mcp", "right_pinky_mcp", "right_ring_mcp", "right_thumb_abd", "left_index_pip", "left_middle_pip", "left_pinky_pip", "left_ring_pip", "left_thumb_pip", "right_index_pip", "right_middle_pip", "right_pinky_pip", "right_ring_pip", "right_thumb_pip", "left_thumb_dip", "right_thumb_dip"], "raw_active_action": [-1.2196612358093262, 1.5700000524520874, -1.5286535024642944, -1.5700000524520874, 0.12900644540786743, 2.2655988196618182e-11, -2.5917000770568848, -1.5700000524520874, 1.586065649986267, 1.5700000524520874, 6.455008029937744, 6.25, -1.210178256034851, -1.5700000524520874, -0.72420734167099, 2.213073724277592e-09, 0.4469204843044281, -0.6755564212799072, 1.4939403533935547, 1.5858309268951416, 1.2746238708496094, 1.5805412530899048, -0.05781155452132225, 0.6754416227340698, 0.5168964862823486, 0.422603964805603, 0.4391195774078369, 0.0, -0.26419684290885925, 0.027540013194084167, 0.08569125086069107, 0.49138346314430237, 0.8575819134712219, -0.27382588386535645, -0.268909215927124, -0.30322396755218506, -0.2666294574737549, 0.8422808647155762, -0.10371232032775879, -0.1465177983045578], "full_joint_names": ["panda_joint1", "multi_panda_joint1", "panda_joint2", "multi_panda_joint2", "panda_joint3", "multi_panda_joint3", "panda_joint4", "multi_panda_joint4", "panda_joint5", "multi_panda_joint5", "panda_joint6", "multi_panda_joint6", "panda_joint7", "multi_panda_joint7", "left_wrist", "right_wrist", "left_index_abd", "left_middle_abd", "left_pinky_abd", "left_ring_abd", "left_thumb_mcp", "right_index_abd", "right_middle_abd", "right_pinky_abd", "right_ring_abd", "right_thumb_mcp", "left_index_mcp", "left_middle_mcp", "left_pinky_mcp", "left_ring_mcp", "left_thumb_abd", "right_index_mcp", "right_middle_mcp", "right_pinky_mcp", "right_ring_mcp", "right_thumb_abd", "left_index_pip", "left_middle_pip", "left_pinky_pip", "left_ring_pip", "left_thumb_pip", "right_index_pip", "right_middle_pip", "right_pinky_pip", "right_ring_pip", "right_thumb_pip", "left_thumb_dip", "right_thumb_dip"], "expanded_full_target": [-1.2196612358093262, 1.5700000524520874, -1.5286535024642944, -1.5700000524520874, 0.12900644540786743, 2.2655988196618182e-11, -2.5917000770568848, -1.5700000524520874, 1.586065649986267, 1.5700000524520874, 6.455008029937744, 6.25, -1.210178256034851, -1.5700000524520874, -0.72420734167099, 2.213073724277592e-09, 0.0, 0.0, 0.0, 0.0, 0.4469204843044281, 0.0, 0.0, 0.0, 0.0, -0.6755564212799072, 1.4939403533935547, 1.5858309268951416, 1.2746238708496094, 1.5805412530899048, -0.05781155452132225, 0.6754416227340698, 0.5168964862823486, 0.422603964805603, 0.4391195774078369, 0.0, -0.26419684290885925, 0.027540013194084167, 0.08569125086069107, 0.49138346314430237, 0.8575819134712219, -0.27382588386535645, -0.268909215927124, -0.30322396755218506, -0.2666294574737549, 0.8422808647155762, -0.10371232032775879, -0.1465177983045578], "shielded_full_target": [-1.2196612358093262, 1.5700000524520874, -1.5286535024642944, -1.5700000524520874, 0.12900644540786743, 2.2655988196618182e-11, -2.5917000770568848, -1.5700000524520874, 1.586065649986267, 1.5700000524520874, 6.455008029937744, 6.25, -1.210178256034851, -1.5700000524520874, -0.72420734167099, 2.213073724277592e-09, 0.0, 0.0, 0.0, 0.0, 0.4469204843044281, 0.0, 0.0, 0.0, 0.0, -0.6755564212799072, 1.4939403533935547, 1.5858309268951416, 1.2746238708496094, 1.5805412530899048, -0.05781155452132225, 0.6754416227340698, 0.5168964862823486, 0.422603964805603, 0.4391195774078369, 0.0, -0.26419684290885925, 0.027540013194084167, 0.08569125086069107, 0.49138346314430237, 0.8575819134712219, -0.27382588386535645, -0.268909215927124, -0.30322396755218506, -0.2666294574737549, 0.8422808647155762, -0.10371232032775879, -0.1465177983045578]}, "joint_limit_active_steps": 0, "joint_limit_hard_episode_events": 1, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.006831526756286621, "max_joint_limit_excess_joint": "left_middle_mcp", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_panda_with_orca", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 0, "joint_limit_active_step_rate": 0.0, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.006831526756286621, "max_joint_limit_excess_joint": "left_middle_mcp", "stage_completion": {"place_phillips": true, "place_flat": true, "place_wrench": true, "place_drill": true}, "current_stage_completion": {"place_phillips": true, "place_flat": true, "place_wrench": true, "place_drill": true}, "stage_first_completion_step": {"place_phillips": 1919, "place_flat": 1109, "place_wrench": 1919, "place_drill": 1919}, "violation_counts": {}, "policy_query_count": 26, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2043, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_22_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_22_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..55d9c23582084f17655b6bb1139a30737a97a9ae --- /dev/null +++ b/gpt6_astra_1x_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_1x_icl/source_runs/task_22_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_22_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a468a220deda6e9d579f8e3d9a167c8a6abf681 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_22_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/22_tool_box_loading.yaml", "episode_index": 8, "seed": 202200007, "success": false, "steps": 2043, 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0.8467782687045754], "rpy_deg": [90.0, 0.0, -4.491687116172973]}, "obj_147_drill_5": {"position": [0.36945975324755914, 0.02123703007473653, 0.7733182005979241], "rpy_deg": [0.0, -90.0, 34.42940936543842]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_assembly", "robot_key": "multi_panda_with_orca", "perturbation_axis": "inv+cov", "stable_success": false, "ever_instant_success": true, "at_end_success": false, "at_end_success_observed": false, "at_end_success_budget": false, "first_success_step": 1941, "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": 22.683333333333334, "expert_time_step": 1361, "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": 0.921884868904002, "mean_kinematic_grasp_stability": 0.14863366769735026, "per_object_best_kinematic_grasp_stability": {"obj_042_adjustable_wrench_4": 0.5224949775137417, "obj_043_phillips_screwdriver_2": 0.018526891410819597, "obj_044_flat_screwdriver_3": 0.5077325048396393, "obj_147_drill_5": 0.921884868904002}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4350022340865588, "mean_kinematic_stability_score": 0.012022375715607993, "mean_lift_score": 0.4745472344591287, "mean_hold_score": 0.3975465002447412, "mean_motion_stability_score": 0.36294822249213055, "mean_duration_score": 0.40615108500571084, "mean_anti_slip_score": 0.6057268722466961}, "robot_motion_metrics": {"joint_velocity_rms": 0.2929979087320355, "joint_acceleration_rms": 13.294914435372542, "joint_jerk_rms": 1355.1000319105588, "joint_effort_rms": 39.47028215488168}, "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": 0.004970073699951172, "left_ring_mcp": 0.0010956525802612305, "left_thumb_abd": 0.0017307396046817303, "multi_panda_joint6": 5.8650970458984375e-05, "right_middle_mcp": 0.002936720848083496, "right_ring_mcp": 0.0019304752349853516, "right_thumb_abd": 0.0024031279608607292}, "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": 0.004970073699951172, "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": 0.004970073699951172, "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": false, "place_flat": true, "place_wrench": true, "place_drill": true}, "stage_first_completion_step": {"place_phillips": 1941, "place_flat": 1083, "place_wrench": 1941, "place_drill": 1941}, "violation_counts": {}, "policy_query_count": 24, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2043, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_22_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_22_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..52bbe40e4a160d2a0f594914d4e58bb07bb54b82 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_22_episode_08/summary.json @@ -0,0 +1,183 @@ +{ + "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": 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": 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": 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": 1.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "rigid_assembly": 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": 22.683333333333334, + "expert_time_step": 1361, + "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": 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": 0.004970073699951172, + "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": 0.004970073699951172, + "left_ring_mcp": 0.0010956525802612305, + "left_thumb_abd": 0.0017307396046817303, + "multi_panda_joint6": 5.8650970458984375e-05, + "right_middle_mcp": 0.002936720848083496, + "right_ring_mcp": 0.0019304752349853516, + "right_thumb_abd": 0.0024031279608607292 + }, + "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": 13.294914435372542, + "joint_effort_rms": 39.47028215488168, + "joint_jerk_rms": 1355.1000319105588, + "joint_velocity_rms": 0.2929979087320355 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.921884868904002, + "mean_kinematic_grasp_stability": 0.14863366769735026, + "per_object_best_kinematic_grasp_stability": { + "obj_042_adjustable_wrench_4": 0.5224949775137417, + "obj_043_phillips_screwdriver_2": 0.018526891410819597, + "obj_044_flat_screwdriver_3": 0.5077325048396393, + "obj_147_drill_5": 0.921884868904002 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6057268722466961, + "mean_duration_score": 0.40615108500571084, + "mean_hold_score": 0.3975465002447412, + "mean_kinematic_stability_score": 0.012022375715607993, + "mean_legacy_gsi": 0.4350022340865588, + "mean_lift_score": 0.4745472344591287, + "mean_motion_stability_score": 0.36294822249213055 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2043, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_22_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_22_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d205d49f559a55fd21dc5f3b38e7c68be5769ef1 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_22_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/22_tool_box_loading.yaml", "episode_index": 9, "seed": 202200008, "success": true, "steps": 2006, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202200008, "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, 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{"position": [0.3486812227985837, 0.329791766803951, 0.7755905978689697], "rpy_deg": [0.0, 0.0, -4.6310695347355235]}, "obj_042_adjustable_wrench_4": {"position": [-0.36342124314203395, 0.1077720518037537, 0.8780755943577532], "rpy_deg": [90.0, 0.0, -0.6068385767818807]}, "obj_147_drill_5": {"position": [0.3574869885482057, 0.03526961175900602, 0.8046155262511019], "rpy_deg": [0.0, -90.0, 20.460863841197565]}}, "_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": 1963, "stable_success_step": 2005, "first_stable_success_step": 2005, "steps_to_stable_success": 2006, "policy_steps_to_stable_success": 669, "policy_queries_to_stable_success": 22, "time_to_stable_success_s": 33.43333333333272, "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": 0.6784646061814681, "kinematic_grasp_stability_index": 0.9842708897286195, "mean_kinematic_grasp_stability": 0.5764220820131569, "per_object_best_kinematic_grasp_stability": {"obj_042_adjustable_wrench_4": 0.6205558594259907, "obj_043_phillips_screwdriver_2": 0.9256549465730642, "obj_044_flat_screwdriver_3": 0.9842708897286195, "obj_147_drill_5": 0.8458253223546377}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4189746451284927, 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"impact_metric_available": false, "chain_depth": 2, "robot_constraint_diagnostics": {"joint_limit_max_excess_by_joint": {"left_middle_mcp": 0.0035114288330078125, "left_thumb_abd": 0.0019266258459538221, "multi_panda_joint6": 0.00033092498779296875, "right_middle_mcp": 0.0024296045303344727, "right_ring_mcp": 0.002877473831176758, "right_thumb_abd": 0.0018787143053486943}, "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": 0.0035114288330078125, "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": 0.0035114288330078125, "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": 1963, "place_flat": 1110, "place_wrench": 1963, "place_drill": 1963}, "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_1x_icl/source_runs/task_22_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_22_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..84247726f4b2e2217b850a537dde34a0eb9b2715 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_22_episode_09/summary.json @@ -0,0 +1,182 @@ +{ + "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": 33.43333333333272 + }, + "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": 0.6784646061814681, + "expert_time_s": 22.683333333333334, + "expert_time_step": 1361, + "avg_steps_to_success": 2006, + "avg_policy_steps_to_success": 669, + "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": 0.0035114288330078125, + "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": 0.0035114288330078125, + "left_thumb_abd": 0.0019266258459538221, + "multi_panda_joint6": 0.00033092498779296875, + "right_middle_mcp": 0.0024296045303344727, + "right_ring_mcp": 0.002877473831176758, + "right_thumb_abd": 0.0018787143053486943 + }, + "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": 11.609263488472138, + "joint_effort_rms": 33.65233498643356, + "joint_jerk_rms": 1162.4579617039403, + "joint_velocity_rms": 0.35435332396910546 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9842708897286195, + "mean_kinematic_grasp_stability": 0.5764220820131569, + "per_object_best_kinematic_grasp_stability": { + "obj_042_adjustable_wrench_4": 0.6205558594259907, + "obj_043_phillips_screwdriver_2": 0.9256549465730642, + "obj_044_flat_screwdriver_3": 0.9842708897286195, + "obj_147_drill_5": 0.8458253223546377 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7329262213359921, + "mean_duration_score": 0.3869557992688601, + "mean_hold_score": 0.3348018444666021, + "mean_kinematic_stability_score": 0.10947996672333637, + "mean_legacy_gsi": 0.4189746451284927, + "mean_lift_score": 0.4059072781655035, + "mean_motion_stability_score": 0.3011739975846578 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2006, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_22_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_22_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0784b1d095ea2a47d1450f80edf4813556995cac --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_22_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/22_tool_box_loading.yaml", "episode_index": 10, "seed": 202200009, "success": true, "steps": 1963, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202200009, "base_seed": 202200000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": 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"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, 1.9557706117630005, -1.5700000524520874, -0.8819714188575745, 1.1419625661757138e-11, -0.09319651126861572, -1.5700000524520874, -1.7213772535324097, 1.5700000524520874, 1.9190244674682617, 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"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, 1.9557706117630005, -1.5700000524520874, -0.8819714188575745, 1.1419625661757138e-11, -0.09319651126861572, -1.5700000524520874, -1.7213772535324097, 1.5700000524520874, 1.9190244674682617, 6.25, 6.736698627471924, -1.5700000524520874, -1.2937836647033691, 2.7490781207006876e-08, 0.5862224698066711, 0.0, 0.0, 0.0, 0.0, 7.812371194404477e-08, 0.0, 0.0, 0.0, 0.0, 0.13999205827713013, 1.291823537030723e-08, 1.3655923503108625e-08, 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1.5876222848892212, 0.0, 5.557457827265466e-10, 1.279404227005898e-08, 3.351913591131961e-08, 3.881206467326592e-08, 4.514739870842277e-08, -0.26750466227531433, -0.26016098260879517, -0.03760877996683121, -0.2379215508699417, 1.146653652191162, -5.7262940049429556e-12, -0.13139621913433075]}, "joint_limit_active_steps": 0, "joint_limit_hard_episode_events": 2, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.006349086761474609, "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": 0.006349086761474609, "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": 1125, "place_wrench": 1919, "place_drill": 1919}, "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_1x_icl/source_runs/task_22_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_22_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0e9f2c44c2e807eed8c78214433f0776f95328b2 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_22_episode_10/summary.json @@ -0,0 +1,185 @@ +{ + "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": 32.71666666666609 + }, + "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": 0.6933265410086724, + "expert_time_s": 22.683333333333334, + "expert_time_step": 1361, + "avg_steps_to_success": 1963, + "avg_policy_steps_to_success": 655, + "avg_policy_queries_to_success": 21 + }, + "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": 0.006349086761474609, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": { + "left_middle_mcp": 1, + "right_ring_mcp": 1 + }, + "joint_limit_hard_episode_events": 2, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_middle_mcp": 0.006349086761474609, + "left_thumb_abd": 0.0019256600644439459, + "multi_panda_joint6": 1.430511474609375e-05, + "right_middle_mcp": 0.0016608238220214844, + "right_ring_mcp": 0.005524396896362305, + "right_thumb_abd": 0.0026417181361466646 + }, + "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": 38.08926191835783, + "joint_effort_rms": 35.76114574452264, + "joint_jerk_rms": 4031.0413746920376, + "joint_velocity_rms": 0.5497655041167658 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9813841858950982, + "mean_kinematic_grasp_stability": 0.4952359269202995, + "per_object_best_kinematic_grasp_stability": { + "obj_042_adjustable_wrench_4": 0.9708773720672655, + "obj_043_phillips_screwdriver_2": 0.8945727921745913, + "obj_044_flat_screwdriver_3": 0.9813841858950982, + "obj_147_drill_5": 0.6988286654055299 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7979707930039208, + "mean_duration_score": 0.34566989302088685, + "mean_hold_score": 0.345491594498221, + "mean_kinematic_stability_score": 0.11989856050375564, + "mean_legacy_gsi": 0.4309373226074068, + "mean_lift_score": 0.4272796739684157, + "mean_motion_stability_score": 0.3143790933471582 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1963, + "error_count": 0 + } + } +} diff --git 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5.210036846392541e-09, 1.5831913557917687e-08, 1.8700594850429297e-08, 1.7849599132091498e-08, -0.25519856810569763, -0.24311071634292603, -0.22475910186767578, -0.22003622353076935, 1.0922402143478394, 1.2117892245200323e-09, -0.1278720647096634]}, "joint_limit_active_steps": 1, "joint_limit_hard_episode_events": 2, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.021506071090698242, "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": 1, "joint_limit_active_step_rate": 0.0005202913631633715, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.021506071090698242, "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": 1892, "place_flat": 974, "place_wrench": 1892, "place_drill": 1892}, "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_1x_icl/source_runs/task_22_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_22_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4d2c21306a999f1f0853253d03dfe2a91461dffb --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_22_episode_11/summary.json @@ -0,0 +1,191 @@ +{ + "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": 32.0333333333328 + }, + "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": 0.7081165452653604, + "expert_time_s": 22.683333333333334, + "expert_time_step": 1361, + "avg_steps_to_success": 1922, + "avg_policy_steps_to_success": 641, + "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": 0.0005202913631633715, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.021506071090698242, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_middle_mcp": 1, + "right_ring_mcp": 1 + }, + "joint_limit_hard_counts": { + "right_middle_mcp": 2, + "right_ring_mcp": 1 + }, + "joint_limit_hard_episode_events": 2, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_middle_mcp": 0.0037064552307128906, + "left_ring_mcp": 0.0009276866912841797, + "left_thumb_abd": 0.0021014756057411432, + "left_wrist": 0.0013724565505981445, + "multi_panda_joint6": 0.0014863014221191406, + "right_middle_mcp": 0.015681982040405273, + "right_ring_mcp": 0.021506071090698242, + "right_thumb_abd": 0.002028507413342595, + "right_wrist": 0.0008491277694702148 + }, + "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": { + 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+ "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1922, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_22_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_22_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b0634104e25eba3a4aa7f78c47ca339343d773c --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_22_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/22_tool_box_loading.yaml", "episode_index": 12, "seed": 202200011, "success": false, "steps": 2043, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202200011, "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, 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"selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_154_wooden_box_1": {"position": [-0.027231140404020946, 0.22322779870863285, 0.7281957702414037], "rpy_deg": [90.0, 0.0, -7.568845054626356]}, "obj_043_phillips_screwdriver_2": {"position": [-0.41052040099652476, 0.30942213118531414, 0.7782977694348336], "rpy_deg": [90.0, 0.0, 5.282494557475509]}, "obj_044_flat_screwdriver_3": {"position": [0.349659656050777, 0.3475547138896682, 0.7286027702554965], "rpy_deg": [0.0, 0.0, 5.04847914418994]}, "obj_042_adjustable_wrench_4": {"position": [-0.3489281353354553, 0.10733316870606457, 0.83108776674428], "rpy_deg": [90.0, 0.0, 2.261285596690424]}, "obj_147_drill_5": {"position": [0.3322348540445817, 0.04452685462593109, 0.7576276986376287], "rpy_deg": [0.0, -90.0, 36.26193327483594]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_assembly", "robot_key": "multi_panda_with_orca", "perturbation_axis": "inv+cov", "stable_success": false, "ever_instant_success": true, "at_end_success": true, "at_end_success_observed": true, "at_end_success_budget": true, "first_success_step": 2025, "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": 22.683333333333334, "expert_time_step": 1361, "success_hold_s": 0.3, "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": 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": null, "kinematic_grasp_stability_index": 0.9807309924980839, "mean_kinematic_grasp_stability": 0.6934660307219102, "per_object_best_kinematic_grasp_stability": {"obj_042_adjustable_wrench_4": 0.5236899002177565, "obj_043_phillips_screwdriver_2": 0.8407316836962689, "obj_044_flat_screwdriver_3": 0.9168311183440725, "obj_147_drill_5": 0.9807309924980839}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.5042989409455565, "mean_kinematic_stability_score": 0.28682270972100543, "mean_lift_score": 0.49069995105237396, "mean_hold_score": 0.4138338228095964, "mean_motion_stability_score": 0.36805609513128934, "mean_duration_score": 0.43354951868167785, "mean_anti_slip_score": 0.8997389459944736}, "robot_motion_metrics": {"joint_velocity_rms": 0.4050655108030697, "joint_acceleration_rms": 23.217077399527607, "joint_jerk_rms": 2408.443495004462, "joint_effort_rms": 38.28810541925216}, "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": 0.0059822797775268555, "left_thumb_abd": 0.002701769582927227, "multi_panda_joint6": 4.5299530029296875e-05, "right_ring_mcp": 0.002108931541442871, "right_thumb_abd": 0.0037549627013504505}, "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": 1280, "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": 1.5942323207855225, "hard_excess_rad": 0.0059822797775268555, "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": [-1.0577110052108765, 1.5700000524520874, -1.355279803276062, -1.5700000524520874, -0.04836559295654297, 0.0, -2.458392858505249, -1.5700000524520874, 1.8613123893737793, 1.5700000524520874, 6.495509147644043, 6.25, -1.3872056007385254, -1.5700000524520874, -0.8141872882843018, 0.0, 0.4469204843044281, 0.0, 1.4939403533935547, 1.5858309268951416, 1.2746238708496094, 1.5805412530899048, -0.05781155452132225, 0.0, 0.0, 0.0, 0.0, 0.0, -0.26419684290885925, 0.027540013194084167, 0.08569125086069107, 0.49138346314430237, 0.8575819134712219, 0.0, 0.0, 0.0, 0.0, 0.0, -0.10371232032775879, 0.0], "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": [-1.0577110052108765, 1.5700000524520874, -1.355279803276062, -1.5700000524520874, -0.04836559295654297, 0.0, -2.458392858505249, -1.5700000524520874, 1.8613123893737793, 1.5700000524520874, 6.495509147644043, 6.25, -1.3872056007385254, -1.5700000524520874, -0.8141872882843018, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4469204843044281, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4939403533935547, 1.5858309268951416, 1.2746238708496094, 1.5805412530899048, -0.05781155452132225, 0.0, 0.0, 0.0, 0.0, 0.0, -0.26419684290885925, 0.027540013194084167, 0.08569125086069107, 0.49138346314430237, 0.8575819134712219, 0.0, 0.0, 0.0, 0.0, 0.0, -0.10371232032775879, 0.0], "shielded_full_target": [-1.0577110052108765, 1.5700000524520874, -1.355279803276062, -1.5700000524520874, -0.04836559295654297, 0.0, -2.458392858505249, -1.5700000524520874, 1.8613123893737793, 1.5700000524520874, 6.495509147644043, 6.25, -1.3872056007385254, -1.5700000524520874, -0.8141872882843018, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4469204843044281, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4939403533935547, 1.5858309268951416, 1.2746238708496094, 1.5805412530899048, -0.05781155452132225, 0.0, 0.0, 0.0, 0.0, 0.0, -0.26419684290885925, 0.027540013194084167, 0.08569125086069107, 0.49138346314430237, 0.8575819134712219, 0.0, 0.0, 0.0, 0.0, 0.0, -0.10371232032775879, 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": 0.0059822797775268555, "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": 0.0059822797775268555, "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": 2025, "place_flat": 1000, "place_wrench": 2025, "place_drill": 2025}, "violation_counts": {}, "policy_query_count": 26, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2043, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_22_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_22_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..85d0a4a55220a5ff60bffe615d4c211a72b88453 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_22_episode_12/summary.json @@ -0,0 +1,183 @@ +{ + "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": 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": 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": 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": 1.0, + "at_end_success_rate": 1.0, + "task_family_success_rate": { + "rigid_assembly": 0.0 + } + }, + "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": null, + "expert_time_s": 22.683333333333334, + "expert_time_step": 1361, + "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": 0.0, + "joint_limit_active_step_rate": 0.0, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.0059822797775268555, + "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": 0.0059822797775268555, + "left_thumb_abd": 0.002701769582927227, + "multi_panda_joint6": 4.5299530029296875e-05, + "right_ring_mcp": 0.002108931541442871, + "right_thumb_abd": 0.0037549627013504505 + }, + "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": 23.217077399527607, + "joint_effort_rms": 38.28810541925216, + "joint_jerk_rms": 2408.443495004462, + "joint_velocity_rms": 0.4050655108030697 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9807309924980839, + "mean_kinematic_grasp_stability": 0.6934660307219102, + "per_object_best_kinematic_grasp_stability": { + "obj_042_adjustable_wrench_4": 0.5236899002177565, + "obj_043_phillips_screwdriver_2": 0.8407316836962689, + "obj_044_flat_screwdriver_3": 0.9168311183440725, + "obj_147_drill_5": 0.9807309924980839 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8997389459944736, + "mean_duration_score": 0.43354951868167785, + "mean_hold_score": 0.4138338228095964, + "mean_kinematic_stability_score": 0.28682270972100543, + "mean_legacy_gsi": 0.5042989409455565, + "mean_lift_score": 0.49069995105237396, + "mean_motion_stability_score": 0.36805609513128934 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2043, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_22_episode_13/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_22_episode_13/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..289989dedba03877c53b75e3fbcc641b09ac9fa1 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_22_episode_13/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/22_tool_box_loading.yaml", "episode_index": 13, "seed": 202200012, "success": false, "steps": 2043, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202200012, "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", 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"joint_limit_hard_counts": {"left_middle_mcp": 1, "left_thumb_abd": 3, "left_thumb_pip": 3}, "joint_limit_max_excess_by_joint": {"left_middle_mcp": 0.005822539329528809, "left_ring_mcp": 0.003512263298034668, "left_thumb_abd": 0.007450829725712538, "left_thumb_pip": 0.06341838836669922, "left_wrist": 0.0015559792518615723, "multi_panda_joint6": 0.00045871734619140625, "panda_joint6": 0.00025081634521484375, "right_middle_mcp": 0.0008879899978637695, "right_ring_mcp": 0.004245400428771973, "right_thumb_abd": 0.002367476001381874, "right_wrist": 0.0005508661270141602}, "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": 1486, "hard_limit_source": "runtime.joint_pos_limits", 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"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": [-1.4123057126998901, 1.5700000524520874, -1.5355522632598877, -1.5700000524520874, 0.21095585823059082, 0.0, -2.4748125076293945, -1.5700000524520874, 1.821144461631775, 1.5700000524520874, 6.43493127822876, 6.25, -1.5261212587356567, -1.5700000524520874, -0.6974835395812988, 0.0, -0.4715530574321747, -0.6233307123184204, 0.7214372754096985, 0.5997320413589478, 0.4693048596382141, 0.5184922814369202, 0.0, 0.8191742897033691, 0.9287989139556885, 0.8674584627151489, 0.9512087106704712, 0.0, -0.22509746253490448, -0.22344206273555756, -0.22505533695220947, -0.22406238317489624, 0.7861124277114868, -0.25713062286376953, -0.25961756706237793, -0.22962678968906403, -0.25961971282958984, 1.2114354372024536, -0.11768651753664017, -0.12560643255710602], "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": [-1.4123057126998901, 1.5700000524520874, -1.5355522632598877, 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-1.5700000524520874, -0.6974835395812988, 0.0, 0.0, 0.0, 0.0, 0.0, -0.4715530574321747, 0.0, 0.0, 0.0, 0.0, -0.6233307123184204, 0.7214372754096985, 0.5997320413589478, 0.4693048596382141, 0.5184922814369202, 0.0, 0.8191742897033691, 0.9287989139556885, 0.8674584627151489, 0.9512087106704712, 0.0, -0.22509746253490448, -0.22344206273555756, -0.22505533695220947, -0.22406238317489624, 0.7861124277114868, -0.25713062286376953, -0.25961756706237793, -0.22962678968906403, -0.25961971282958984, 1.2114354372024536, -0.11768651753664017, -0.12560643255710602]}, "joint_limit_active_steps": 5, "joint_limit_hard_episode_events": 7, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.06341838836669922, "max_joint_limit_excess_joint": "left_thumb_pip", "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": 5, "joint_limit_active_step_rate": 0.0024473813020068525, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.06341838836669922, "max_joint_limit_excess_joint": "left_thumb_pip", "stage_completion": {"place_phillips": false, "place_flat": true, "place_wrench": false, "place_drill": false}, "current_stage_completion": {"place_phillips": false, "place_flat": true, "place_wrench": false, "place_drill": false}, "stage_first_completion_step": {"place_phillips": null, "place_flat": 1371, "place_wrench": null, "place_drill": null}, "violation_counts": {"drop_to_table_obj_147_drill_5": 1}, "policy_query_count": 31, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2043, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_22_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_22_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..66bbc4baae43113f355bc5232b7ef87a69c064bb --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_22_episode_13/summary.json @@ -0,0 +1,195 @@ +{ + "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": 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": 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": 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": 0.0004894762604013706 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "rigid_assembly": 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": 22.683333333333334, + "expert_time_step": 1361, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0004894762604013706, + "violation_counts": { + "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": 0.0024473813020068525, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.06341838836669922, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_thumb_pip": 5 + }, + "joint_limit_hard_counts": { + "left_middle_mcp": 1, + "left_thumb_abd": 3, + "left_thumb_pip": 3 + }, + "joint_limit_hard_episode_events": 7, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_middle_mcp": 0.005822539329528809, + "left_ring_mcp": 0.003512263298034668, + "left_thumb_abd": 0.007450829725712538, + "left_thumb_pip": 0.06341838836669922, + "left_wrist": 0.0015559792518615723, + "multi_panda_joint6": 0.00045871734619140625, + "panda_joint6": 0.00025081634521484375, + "right_middle_mcp": 0.0008879899978637695, + "right_ring_mcp": 0.004245400428771973, + "right_thumb_abd": 0.002367476001381874, + "right_wrist": 0.0005508661270141602 + }, + "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": 34.179081342785075, + "joint_effort_rms": 49.947776076049585, + "joint_jerk_rms": 3402.6863768167873, + "joint_velocity_rms": 0.5808339152829858 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.983414196695607, + "mean_kinematic_grasp_stability": 0.3756940549552297, + "per_object_best_kinematic_grasp_stability": { + "obj_042_adjustable_wrench_4": 0.18163525175948025, + "obj_043_phillips_screwdriver_2": 0.0, + "obj_044_flat_screwdriver_3": 0.983414196695607, + "obj_147_drill_5": 0.7448184238344561 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7782264643498333, + "mean_duration_score": 0.27706803720019557, + "mean_hold_score": 0.2223813020068532, + "mean_kinematic_stability_score": 0.04592735693835957, + "mean_legacy_gsi": 0.34315819211579035, + "mean_lift_score": 0.2956436612824278, + "mean_motion_stability_score": 0.20147031710082364 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2043, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_22_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_22_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..33f1f004a988d27a63e42534030faa6753d556f1 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_22_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": 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"selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_154_wooden_box_1": {"position": [-0.029372768809701376, 0.2364784683873332, 0.7976337035438437], "rpy_deg": [90.0, 0.0, 8.610496506971494]}, "obj_043_phillips_screwdriver_2": {"position": [-0.42522484271668765, 0.31267287154218204, 0.8477357027372736], "rpy_deg": [90.0, 0.0, 1.4741759260579492]}, "obj_044_flat_screwdriver_3": {"position": [0.3355412407407617, 0.32043750122304476, 0.7980407035579364], "rpy_deg": [0.0, 0.0, 3.22481387785661]}, "obj_042_adjustable_wrench_4": {"position": [-0.3583392230560237, 0.10623286187513288, 0.90052570004672], "rpy_deg": [90.0, 0.0, -3.609034368090942]}, "obj_147_drill_5": {"position": [0.36384932645822565, 0.02995552474882965, 0.8270656319400687], "rpy_deg": [0.0, -90.0, 33.33937004586982]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_assembly", 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"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, 1.9382168054580688, -1.5700000524520874, -1.3888518810272217, -7.498806263439572e-12, 0.104877769947052, -1.5700000524520874, -2.4450666904449463, 1.5700000524520874, 1.8548866510391235, 6.25, 6.7823357582092285, -1.5700000524520874, -1.096171259880066, 1.3438127055565019e-08, 0.6691303253173828, 0.0, 0.0, 0.0, 0.0, 3.3176107194776705e-08, 0.0, 0.0, 0.0, 0.0, 0.1632784754037857, 5.9941140939656634e-09, 7.438266447223896e-09, 4.80299355842817e-09, -2.5871164766044785e-08, 3.352529642786095e-10, 1.4738718271255493, 1.5879048109054565, 1.421820878982544, 1.5882500410079956, 0.0, 1.4199645625989632e-10, 5.210036846392541e-09, 1.5831913557917687e-08, 1.8700594850429297e-08, 1.7849599132091498e-08, -0.2581275701522827, -0.11876219511032104, -0.12063685804605484, 0.0957656130194664, 1.03444504737854, 1.2117892245200323e-09, -0.1366279125213623], "shielded_full_target": [-1.5700000524520874, 1.9382168054580688, -1.5700000524520874, -1.3888518810272217, -7.498806263439572e-12, 0.104877769947052, -1.5700000524520874, -2.4450666904449463, 1.5700000524520874, 1.8548866510391235, 6.25, 6.7823357582092285, -1.5700000524520874, -1.096171259880066, 1.3438127055565019e-08, 0.6691303253173828, 0.0, 0.0, 0.0, 0.0, 3.3176107194776705e-08, 0.0, 0.0, 0.0, 0.0, 0.1632784754037857, 5.9941140939656634e-09, 7.438266447223896e-09, 4.80299355842817e-09, -2.5871164766044785e-08, 3.352529642786095e-10, 1.4738718271255493, 1.5879048109054565, 1.421820878982544, 1.5882500410079956, 0.0, 1.4199645625989632e-10, 5.210036846392541e-09, 1.5831913557917687e-08, 1.8700594850429297e-08, 1.7849599132091498e-08, -0.2581275701522827, -0.11876219511032104, -0.12063685804605484, 0.0957656130194664, 1.03444504737854, 1.2117892245200323e-09, -0.1366279125213623]}, "joint_limit_active_steps": 66, "joint_limit_hard_episode_events": 13, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.11344873905181885, "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": 66, "joint_limit_active_step_rate": 0.032305433186490456, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.11344873905181885, "max_joint_limit_excess_joint": "right_thumb_mcp", "stage_completion": {"place_phillips": false, "place_flat": false, "place_wrench": false, "place_drill": false}, "current_stage_completion": {"place_phillips": false, "place_flat": false, "place_wrench": false, "place_drill": false}, "stage_first_completion_step": {"place_phillips": null, "place_flat": null, "place_wrench": null, "place_drill": null}, "violation_counts": {"drop_to_table_obj_147_drill_5": 1, "high_speed_obj_147_drill_5": 1, "drop_to_table_obj_042_adjustable_wrench_4": 1}, "policy_query_count": 33, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2043, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_22_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_22_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..28e0268756df492e34acf11a2d21b6ba37458410 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_22_episode_14/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": 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": 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": 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": 0.002936857562408223 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "rigid_assembly": 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": 22.683333333333334, + "expert_time_step": 1361, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0014684287812041115, + "violation_counts": { + "drop_to_table_obj_042_adjustable_wrench_4": 1, + "drop_to_table_obj_147_drill_5": 1, + "high_speed_obj_147_drill_5": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.032305433186490456, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.11344873905181885, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_thumb_abd": 1, + "right_middle_mcp": 1, + "right_thumb_abd": 1, + "right_thumb_mcp": 63 + }, + "joint_limit_hard_counts": { + "left_thumb_abd": 9, + "right_middle_mcp": 2, + "right_ring_mcp": 1, + "right_thumb_abd": 1, + "right_thumb_mcp": 1 + }, + "joint_limit_hard_episode_events": 13, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_thumb_abd": 0.012391950003802776, + "multi_panda_joint1": 0.0007355213165283203, + "multi_panda_joint6": 0.00014543533325195312, + "panda_joint6": 3.337860107421875e-05, + "right_middle_mcp": 0.01965653896331787, + "right_ring_mcp": 0.007476687431335449, + "right_thumb_abd": 0.01598169095814228, + "right_thumb_mcp": 0.11344873905181885, + "right_wrist": 0.0013931989669799805 + }, + "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": 22.463963581696444, + "joint_effort_rms": 43.13776315328967, + "joint_jerk_rms": 2256.360272411021, + "joint_velocity_rms": 0.4882092501188914 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8223327376276958, + "mean_kinematic_grasp_stability": 0.18586228049197004, + "per_object_best_kinematic_grasp_stability": { + "obj_042_adjustable_wrench_4": 0.6223380518077787, + "obj_043_phillips_screwdriver_2": 0.0, + "obj_044_flat_screwdriver_3": 0.0, + "obj_147_drill_5": 0.8223327376276958 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7698237885462555, + "mean_duration_score": 0.2803108174253542, + "mean_hold_score": 0.038350465002447334, + "mean_kinematic_stability_score": 0.00923398016149533, + "mean_legacy_gsi": 0.2360789555345972, + "mean_lift_score": 0.09018600097895252, + "mean_motion_stability_score": 0.031898387136924604 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2043, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_24_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_24_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c59d1f64fe980bcfd2c9ca898a163188670fe96d --- /dev/null +++ b/gpt6_astra_1x_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": false, "steps": 4626, "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": "dex2bench_dataset/scenes/ithor/FloorPlan329_physics/scene.usda", "scene_offset": [0.65, 1.85, 0.0]}, "table_surface": {"enabled": true, "clean_surface": 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[-0.4207765312203591, 0.07080765283229166, 0.8105482240391076], "rpy_deg": [0.0, 0.0, -63.02804901693678]}, "obj_166_markpen_4": {"position": [0.3102235246603691, 0.13905119742996067, 0.8099190508050025], "rpy_deg": [0.0, 0.0, 33.484695082148804]}, "obj_199_glue_5": {"position": [-0.38, 0.15, 0.8149439554882348], "rpy_deg": [0.0, 0.0, -38.527550199319116]}, "obj_168_battery_6": {"position": [0.28, 0.05, 0.7994142442532118], "rpy_deg": [90.0, 0.0, 5.860738685624598]}}, "_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": 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": 0.9965198910584908, "mean_kinematic_grasp_stability": 0.640796013720401, "per_object_best_kinematic_grasp_stability": {"obj_166_markpen_4": 0.9334140586865063, "obj_168_battery_6": 0.9965198910584908, "obj_199_glue_5": 0.9508153453928693, "obj_221_pen_3": 0.7887283304571495}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.5226929838893389, "mean_kinematic_stability_score": 0.1704495233210016, "mean_lift_score": 0.5737678339818417, "mean_hold_score": 0.4783236057068618, "mean_motion_stability_score": 0.45273746717048585, "mean_duration_score": 0.5291522553682085, "mean_anti_slip_score": 0.6735660758034305}, "robot_motion_metrics": {"joint_velocity_rms": 0.42536192325312505, "joint_acceleration_rms": 16.58302905876954, "joint_jerk_rms": 1671.639585907396, "joint_effort_rms": 33.4303583449225}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.00021616947686987464, "safety_violation_rate_time": 0.00021616947686987464, "safety_violation_rate_event": 0.00021616947686986597, "safety_violation_step_rate": 0.00021616947686986597, "safety_violation_events_per_step": 0.00021616947686986597, "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_pinky_proximal_joint": 58, "right_index_distal_joint": 6, "right_index_proximal_joint": 43, "right_middle_distal_joint": 36, "right_middle_proximal_joint": 61, "right_pinky_distal_joint": 127, "right_ring_distal_joint": 110, "right_ring_proximal_joint": 59, "right_thumb_distal_joint": 40, "right_thumb_proximal_joint": 23}, "joint_limit_hard_counts": {"left_index_proximal_joint": 1, "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": 1, "right_index_proximal_joint": 4, "right_middle_distal_joint": 1, "right_middle_proximal_joint": 8, "right_pinky_distal_joint": 2, "right_pinky_proximal_joint": 1, "right_ring_distal_joint": 2, "right_ring_proximal_joint": 3, "right_thumb_distal_joint": 1, "right_thumb_proximal_joint": 1}, "finger_joint_limit_saturation_counts": {"left_pinky_proximal_joint": 37, "right_index_proximal_joint": 19, "right_middle_distal_joint": 11, "right_middle_proximal_joint": 28, "right_pinky_distal_joint": 95, "right_ring_distal_joint": 94, "right_ring_proximal_joint": 42, "right_thumb_distal_joint": 26}, "joint_limit_max_excess_by_joint": {"left_index_distal_joint": 4.259948394036428e-09, "left_index_proximal_joint": 0.00730556808412075, "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": 0.12043247371912003, "right_index_proximal_joint": 0.7186212539672852, "right_middle_distal_joint": 0.17260313034057617, "right_middle_proximal_joint": 0.24707411229610443, "right_pinky_distal_joint": 0.2755752503871918, "right_pinky_proximal_joint": 0.005717537831515074, "right_ring_distal_joint": 0.7506979703903198, "right_ring_proximal_joint": 0.35525619983673096, "right_thumb_distal_joint": 0.523934006690979, "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": 240, "joint_limit_hard_episode_events": 13, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 184, "max_joint_limit_excess_rad": 0.7506979703903198, "max_joint_limit_excess_joint": "right_ring_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": 240, "joint_limit_active_step_rate": 0.05188067444876784, "finger_joint_limit_saturation_steps": 184, "finger_joint_limit_saturation_step_rate": 0.03977518374405534, "max_joint_limit_excess_rad": 0.7506979703903198, "max_joint_limit_excess_joint": "right_ring_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": false, "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": 37, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4626, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_24_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_24_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..3c1026db3442dc52e5ebd7f47bd6ca34e9234325 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_24_episode_05/summary.json @@ -0,0 +1,233 @@ +{ + "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": 4626, + "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": 0.00021616947686986597 + }, + "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": 51.38333333333333, + "expert_time_step": 3083, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00021616947686986597, + "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": 0.05188067444876784, + "finger_joint_limit_saturation_step_rate": 0.03977518374405534, + "max_joint_limit_excess_rad": 0.7506979703903198, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_pinky_proximal_joint": 58, + "right_index_distal_joint": 6, + "right_index_proximal_joint": 43, + "right_middle_distal_joint": 36, + "right_middle_proximal_joint": 61, + "right_pinky_distal_joint": 127, + "right_ring_distal_joint": 110, + "right_ring_proximal_joint": 59, + "right_thumb_distal_joint": 40, + "right_thumb_proximal_joint": 23 + }, + "joint_limit_hard_counts": { + "left_index_proximal_joint": 1, + "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": 1, + "right_index_proximal_joint": 4, + "right_middle_distal_joint": 1, + "right_middle_proximal_joint": 8, + "right_pinky_distal_joint": 2, + "right_pinky_proximal_joint": 1, + "right_ring_distal_joint": 2, + "right_ring_proximal_joint": 3, + "right_thumb_distal_joint": 1, + "right_thumb_proximal_joint": 1 + }, + "joint_limit_hard_episode_events": 13, + "finger_joint_limit_saturation_counts": { + "left_pinky_proximal_joint": 37, + "right_index_proximal_joint": 19, + "right_middle_distal_joint": 11, + "right_middle_proximal_joint": 28, + "right_pinky_distal_joint": 95, + "right_ring_distal_joint": 94, + "right_ring_proximal_joint": 42, + "right_thumb_distal_joint": 26 + }, + "joint_limit_max_excess_by_joint": { + "left_index_distal_joint": 4.259948394036428e-09, + "left_index_proximal_joint": 0.00730556808412075, + "left_middle_distal_joint": 0.003052104962989688, + "left_middle_proximal_joint": 0.008376098237931728, + "left_pinky_distal_joint": 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false, "glue_in_box": false, "battery_in_box": false}, "stage_first_completion_step": {"pen_in_cup": null, "marker_in_cup": null, "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}, "policy_query_count": 34, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4626, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_24_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_24_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b84a469bc8f9f0cd35f04bd31cf169dc7f8d3f2a --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_24_episode_06/summary.json @@ -0,0 +1,220 @@ +{ + "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": 4626, + "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": 0.00043233895373973193 + }, + "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": 51.38333333333333, + "expert_time_step": 3083, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00043233895373973193, + "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": 0.03220925205361003, + "finger_joint_limit_saturation_step_rate": 0.017509727626459144, + "max_joint_limit_excess_rad": 0.318048357963562, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_proximal_joint": 39, + "left_middle_distal_joint": 3, + "left_pinky_distal_joint": 48, + "left_pinky_proximal_joint": 1, + "left_ring_distal_joint": 38, + "left_thumb_distal_joint": 41, + "right_ring_proximal_joint": 2 + }, + "joint_limit_hard_counts": { + "left_index_proximal_joint": 4, + "left_middle_distal_joint": 2, + "left_pinky_distal_joint": 3, + "left_pinky_proximal_joint": 1, + "left_ring_distal_joint": 4, + "left_thumb_distal_joint": 1, + "right_middle_proximal_joint": 1, + "right_pinky_proximal_joint": 1, + "right_ring_proximal_joint": 1 + }, + "joint_limit_hard_episode_events": 8, + "finger_joint_limit_saturation_counts": { + "left_index_proximal_joint": 10, + "left_pinky_distal_joint": 39, + "left_ring_distal_joint": 6, + "left_thumb_distal_joint": 28 + }, + "joint_limit_max_excess_by_joint": { + "left_index_distal_joint": 6.294161303266321e-10, + "left_index_proximal_joint": 0.10615456104278564, + "left_middle_distal_joint": 0.011272430419921875, + "left_middle_proximal_joint": 0.002391352318227291, + "left_pinky_distal_joint": 0.318048357963562, + "left_pinky_proximal_joint": 0.016425132751464844, + "left_ring_distal_joint": 0.14318205416202545, + "left_ring_proximal_joint": 0.0025515356101095676, + "left_thumb_distal_joint": 0.3178062438964844, + "right_index_distal_joint": 2.06084171949783e-09, + "right_index_proximal_joint": 0.004908236674964428, + "right_middle_distal_joint": 0.0007424749783240259, + "right_middle_proximal_joint": 0.007682014722377062, + "right_pinky_distal_joint": 0.0034093987196683884, + "right_pinky_proximal_joint": 0.0065045543015003204, + "right_ring_distal_joint": 0.003910227213054895, + "right_ring_proximal_joint": 0.01498368475586176, + "right_thumb_proximal_joint": 0.00012216749018989503 + }, + "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": 14.513366941896649, + "joint_effort_rms": 53.0577354087616, + "joint_jerk_rms": 1449.6412395988968, + "joint_velocity_rms": 0.38857142097314445 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9988124395642584, + "mean_kinematic_grasp_stability": 0.507013514864183, + "per_object_best_kinematic_grasp_stability": { + "obj_166_markpen_4": 0.22847462568701815, + "obj_168_battery_6": 0.9489259321421288, + "obj_199_glue_5": 0.9988124395642584, + "obj_221_pen_3": 0.5938523532951547 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9346627756160728, + "mean_duration_score": 0.17453523562472978, + "mean_hold_score": 0.1113407911802874, + "mean_kinematic_stability_score": 0.08151562941639345, + "mean_legacy_gsi": 0.2890040653528934, + "mean_lift_score": 0.16077604842196283, + "mean_motion_stability_score": 0.10020930824710153 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 4626, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_24_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_24_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a303e25a3ccfb64eb266fdf5e2ae571a5dacfef --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_24_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/24_stationery_category_sorting.yaml", "episode_index": 7, "seed": 202400006, "success": false, "steps": 4626, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202400006, "base_seed": 202400000, "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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51.38333333333333, "expert_time_step": 3083, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.75, "normalized_progress_score": 1.0, "chain_depth_progress_score": 1.0, "current_stage_completion_rate": 0.25, "current_normalized_progress_score": 1.0, "current_chain_depth_progress_score": 1.0, "current_chain_depth": 2, "latched_stage_completion_rate": 0.75, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 2, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9999080214173944, "mean_kinematic_grasp_stability": 0.5292447377944174, "per_object_best_kinematic_grasp_stability": {"obj_166_markpen_4": 0.9999080214173944, "obj_168_battery_6": 0.6622517404938927, "obj_199_glue_5": 0.9482025804972036, "obj_221_pen_3": 0.629337718871688}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.33711808826869, "mean_kinematic_stability_score": 0.11437795646562231, "mean_lift_score": 0.2567552961521833, "mean_hold_score": 0.1818904020752294, "mean_motion_stability_score": 0.16751437417880558, "mean_duration_score": 0.2239785992217897, "mean_anti_slip_score": 0.9141627035596024}, "robot_motion_metrics": {"joint_velocity_rms": 0.5406987185530303, "joint_acceleration_rms": 25.092730542081608, "joint_jerk_rms": 2513.0373940079376, "joint_effort_rms": 51.11831462249394}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0004323389537397493, "safety_violation_rate_time": 0.0004323389537397493, "safety_violation_rate_event": 0.00043233895373973193, "safety_violation_step_rate": 0.00043233895373973193, "safety_violation_events_per_step": 0.00043233895373973193, "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": 6, "left_middle_proximal_joint": 4, "left_pinky_distal_joint": 15, "left_pinky_proximal_joint": 25, "left_ring_distal_joint": 76, "left_ring_proximal_joint": 2, "left_thumb_distal_joint": 1, "left_thumb_metacarpal_joint": 8, "left_thumb_proximal_joint": 1, "right_index_distal_joint": 9, "right_index_proximal_joint": 29, "right_middle_distal_joint": 1, "right_middle_proximal_joint": 86, "right_pinky_distal_joint": 13, "right_pinky_proximal_joint": 49, "right_ring_distal_joint": 157, "right_ring_proximal_joint": 277}, "joint_limit_hard_counts": {"left_index_proximal_joint": 2, "left_middle_distal_joint": 4, "left_middle_proximal_joint": 7, "left_pinky_distal_joint": 3, "left_pinky_proximal_joint": 13, "left_ring_distal_joint": 3, "left_ring_proximal_joint": 8, "left_thumb_distal_joint": 4, "left_thumb_metacarpal_joint": 2, "left_thumb_proximal_joint": 1, "right_index_distal_joint": 1, "right_index_proximal_joint": 4, "right_middle_distal_joint": 1, "right_middle_proximal_joint": 11, "right_pinky_distal_joint": 14, "right_pinky_proximal_joint": 17, "right_ring_distal_joint": 26, "right_ring_proximal_joint": 21, "right_thumb_distal_joint": 3, "right_thumb_proximal_joint": 2}, "finger_joint_limit_saturation_counts": {"left_ring_distal_joint": 37, "right_index_proximal_joint": 25, "right_middle_proximal_joint": 14, "right_pinky_proximal_joint": 5, "right_ring_distal_joint": 87, "right_ring_proximal_joint": 43}, "joint_limit_max_excess_by_joint": {"left_index_distal_joint": 1.2717054964639374e-08, "left_index_proximal_joint": 0.03167027607560158, "left_middle_distal_joint": 0.005754337180405855, "left_middle_proximal_joint": 0.024960391223430634, "left_pinky_distal_joint": 0.11607282608747482, "left_pinky_proximal_joint": 0.10345210880041122, "left_ring_distal_joint": 0.2279513031244278, "left_ring_proximal_joint": 0.013470004312694073, "left_thumb_distal_joint": 0.011127352714538574, "left_thumb_metacarpal_joint": 0.07565286010503769, "left_thumb_proximal_joint": 0.013899445533752441, "right_index_distal_joint": 0.16734163463115692, "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": 0.008715033531188965, "right_thumb_metacarpal_joint": 0.0013185591669753194, "right_thumb_proximal_joint": 0.008473753929138184}, "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": 1279, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_pinky_proximal_joint", "role": "finger", "qpos": -0.006212709005922079, "hard_excess_rad": 0.006212709005922079, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.0, "shielded_target": 0.0}], "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": [1.3120440244674683, -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, 0.6934736371040344, 2.2032220492462784e-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": [1.3120440244674683, -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": 586, "joint_limit_hard_episode_events": 85, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 197, "max_joint_limit_excess_rad": 0.9395720362663269, "max_joint_limit_excess_joint": "right_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": 586, "joint_limit_active_step_rate": 0.12667531344574146, "finger_joint_limit_saturation_steps": 197, "finger_joint_limit_saturation_step_rate": 0.0425853869433636, "max_joint_limit_excess_rad": 0.9395720362663269, "max_joint_limit_excess_joint": "right_index_proximal_joint", "stage_completion": {"pen_in_cup": true, "marker_in_cup": true, "glue_in_box": true, "battery_in_box": false}, "current_stage_completion": {"pen_in_cup": false, "marker_in_cup": false, "glue_in_box": true, "battery_in_box": false}, "stage_first_completion_step": {"pen_in_cup": 4246, "marker_in_cup": 2477, "glue_in_box": 4594, "battery_in_box": null}, "violation_counts": {"drop_to_table_obj_166_markpen_4": 1, "drop_to_table_obj_221_pen_3": 1}, "policy_query_count": 22, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4626, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_24_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_24_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b9c6655f7bff4d072e9b0f5dfafcca59db58b944 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_24_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": 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": 4626, + "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": 0.00043233895373973193 + }, + "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": 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": 51.38333333333333, + "expert_time_step": 3083, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00043233895373973193, + "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": 0.12667531344574146, + "finger_joint_limit_saturation_step_rate": 0.0425853869433636, + "max_joint_limit_excess_rad": 0.9395720362663269, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_proximal_joint": 6, + "left_middle_proximal_joint": 4, + "left_pinky_distal_joint": 15, + "left_pinky_proximal_joint": 25, + "left_ring_distal_joint": 76, + "left_ring_proximal_joint": 2, + "left_thumb_distal_joint": 1, + "left_thumb_metacarpal_joint": 8, + "left_thumb_proximal_joint": 1, + "right_index_distal_joint": 9, + "right_index_proximal_joint": 29, + "right_middle_distal_joint": 1, + "right_middle_proximal_joint": 86, + "right_pinky_distal_joint": 13, + "right_pinky_proximal_joint": 49, + "right_ring_distal_joint": 157, + "right_ring_proximal_joint": 277 + }, + "joint_limit_hard_counts": { + "left_index_proximal_joint": 2, + "left_middle_distal_joint": 4, + "left_middle_proximal_joint": 7, + "left_pinky_distal_joint": 3, + "left_pinky_proximal_joint": 13, + "left_ring_distal_joint": 3, + "left_ring_proximal_joint": 8, + "left_thumb_distal_joint": 4, + "left_thumb_metacarpal_joint": 2, + "left_thumb_proximal_joint": 1, + "right_index_distal_joint": 1, + "right_index_proximal_joint": 4, + "right_middle_distal_joint": 1, + "right_middle_proximal_joint": 11, + "right_pinky_distal_joint": 14, + "right_pinky_proximal_joint": 17, + "right_ring_distal_joint": 26, + "right_ring_proximal_joint": 21, + "right_thumb_distal_joint": 3, + "right_thumb_proximal_joint": 2 + }, + "joint_limit_hard_episode_events": 85, + "finger_joint_limit_saturation_counts": { + "left_ring_distal_joint": 37, + "right_index_proximal_joint": 25, + "right_middle_proximal_joint": 14, + "right_pinky_proximal_joint": 5, + "right_ring_distal_joint": 87, + "right_ring_proximal_joint": 43 + }, + "joint_limit_max_excess_by_joint": { + "left_index_distal_joint": 1.2717054964639374e-08, + "left_index_proximal_joint": 0.03167027607560158, + "left_middle_distal_joint": 0.005754337180405855, + "left_middle_proximal_joint": 0.024960391223430634, + "left_pinky_distal_joint": 0.11607282608747482, + "left_pinky_proximal_joint": 0.10345210880041122, + "left_ring_distal_joint": 0.2279513031244278, + "left_ring_proximal_joint": 0.013470004312694073, + "left_thumb_distal_joint": 0.011127352714538574, + "left_thumb_metacarpal_joint": 0.07565286010503769, + "left_thumb_proximal_joint": 0.013899445533752441, + "right_index_distal_joint": 0.16734163463115692, + "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": 0.008715033531188965, + "right_thumb_metacarpal_joint": 0.0013185591669753194, + "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": 25.092730542081608, + "joint_effort_rms": 51.11831462249394, + "joint_jerk_rms": 2513.0373940079376, + "joint_velocity_rms": 0.5406987185530303 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9999080214173944, + "mean_kinematic_grasp_stability": 0.5292447377944174, + "per_object_best_kinematic_grasp_stability": { + "obj_166_markpen_4": 0.9999080214173944, + "obj_168_battery_6": 0.6622517404938927, + "obj_199_glue_5": 0.9482025804972036, + "obj_221_pen_3": 0.629337718871688 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9141627035596024, + "mean_duration_score": 0.2239785992217897, + "mean_hold_score": 0.1818904020752294, + "mean_kinematic_stability_score": 0.11437795646562231, + "mean_legacy_gsi": 0.33711808826869, + "mean_lift_score": 0.2567552961521833, + "mean_motion_stability_score": 0.16751437417880558 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 4626, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_24_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_24_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ce636e612b21906d10f2c71ff26ae59fbe15e50 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_24_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/24_stationery_category_sorting.yaml", "episode_index": 8, "seed": 202400007, "success": false, "steps": 4626, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202400007, "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": "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": 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0.986817433730488, "mean_kinematic_grasp_stability": 0.3475997354030724, "per_object_best_kinematic_grasp_stability": {"obj_166_markpen_4": 0.986817433730488, "obj_168_battery_6": 0.9830754019380812, "obj_199_glue_5": 0.02538322739544009, "obj_221_pen_3": 0.9821902363923376}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.29243681140891653, "mean_kinematic_stability_score": 0.025998596724916348, "mean_lift_score": 0.1756376999567661, "mean_hold_score": 0.1265672287073082, "mean_motion_stability_score": 0.12034038051884423, "mean_duration_score": 0.4394329154056792, "mean_anti_slip_score": 0.6411226401498452}, "robot_motion_metrics": {"joint_velocity_rms": 0.45734251036763857, "joint_acceleration_rms": 16.316339618340784, "joint_jerk_rms": 1630.2703138235079, "joint_effort_rms": 37.38261918767196}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0004323389537397493, "safety_violation_rate_time": 0.0004323389537397493, "safety_violation_rate_event": 0.00043233895373973193, "safety_violation_step_rate": 0.00043233895373973193, "safety_violation_events_per_step": 0.00043233895373973193, "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": {"right_middle_proximal_joint": 70, "right_pinky_distal_joint": 49, "right_pinky_proximal_joint": 100, "right_ring_distal_joint": 19, "right_ring_proximal_joint": 45, "right_thumb_distal_joint": 1, "right_thumb_proximal_joint": 3}, "joint_limit_hard_counts": {"left_middle_proximal_joint": 1, "left_pinky_proximal_joint": 4, "right_middle_proximal_joint": 3, "right_pinky_distal_joint": 5, "right_pinky_proximal_joint": 3, "right_ring_distal_joint": 4, "right_ring_proximal_joint": 3, "right_thumb_distal_joint": 1, "right_thumb_proximal_joint": 2}, "finger_joint_limit_saturation_counts": {"right_middle_proximal_joint": 58, "right_pinky_distal_joint": 11, "right_pinky_proximal_joint": 76, "right_ring_proximal_joint": 38}, "joint_limit_max_excess_by_joint": {"left_index_distal_joint": 3.869312870108388e-09, "left_index_proximal_joint": 0.004834569059312344, "left_middle_distal_joint": 0.001894830958917737, "left_middle_proximal_joint": 0.006806007120758295, "left_pinky_distal_joint": 0.0006112416740506887, "left_pinky_proximal_joint": 0.007062561810016632, "left_ring_distal_joint": 0.0016962520312517881, "left_ring_proximal_joint": 0.004791628569364548, "left_thumb_distal_joint": 0.0009946823120117188, "left_thumb_proximal_joint": 0.000897526741027832, "right_index_proximal_joint": 0.00212416285648942, "right_middle_distal_joint": 0.003124549752101302, "right_middle_proximal_joint": 0.484061598777771, "right_pinky_distal_joint": 0.1767319291830063, "right_pinky_proximal_joint": 0.586637020111084, "right_ring_distal_joint": 0.15631097555160522, "right_ring_proximal_joint": 0.5099208354949951, "right_thumb_distal_joint": 0.08822569996118546, "right_thumb_proximal_joint": 0.01899552345275879}, "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": 779, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_pinky_proximal_joint", "role": "finger", "qpos": -0.015480238944292068, "hard_excess_rad": 0.015480238944292068, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.44981974363327026, "shielded_target": 0.44981974363327026}], "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": [2.0445775985717773, -1.5700000524520874, 1.2626323699951172, -1.5700000524520874, -1.8985077142715454, 1.5700000524520874, 1.1828778982162476, -4.1085820856601174e-10, 0.5670241117477417, -1.5700000524520874, 0.5259302258491516, 5.522766244325794e-09, 0.959659993648529, 1.029328465461731, 0.44981974363327026, 0.8791963458061218, 1.179374098777771, 0.0, 7.433222748431945e-08, 0.0, 0.0, 1.130427040862969e-08, 0.9703160524368286, 1.2761039336339763e-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": [2.0445775985717773, -1.5700000524520874, 1.2626323699951172, -1.5700000524520874, -1.8985077142715454, 1.5700000524520874, 1.1828778982162476, -4.1085820856601174e-10, 0.5670241117477417, -1.5700000524520874, 0.5259302258491516, 5.522766244325794e-09, 0.959659993648529, 1.029328465461731, 0.44981974363327026, 0.8791963458061218, 1.179374098777771, 0.0, 7.433222748431945e-08, 0.0, 0.0, 1.130427040862969e-08, 1.1084072589874268, 1.188874363899231, 0.5195418000221252, 1.0154718160629272, 0.9703160524368286, 0.0, 8.585372057723362e-08, 0.0, 0.0, 1.2761039336339763e-08, 0.9703160524368286, 1.2761039336339763e-08], "shielded_full_target": [2.0445775985717773, -1.5700000524520874, 1.2626323699951172, -1.5700000524520874, -1.8985077142715454, 1.5700000524520874, 1.1828778982162476, -4.1085820856601174e-10, 0.5670241117477417, -1.5700000524520874, 0.5259302258491516, 5.522766244325794e-09, 0.959659993648529, 1.029328465461731, 0.44981974363327026, 0.8791963458061218, 1.179374098777771, 0.0, 7.433222748431945e-08, 0.0, 0.0, 1.130427040862969e-08, 1.1084072589874268, 1.188874363899231, 0.5195418000221252, 1.0154718160629272, 0.9703160524368286, 0.0, 8.585372057723362e-08, 0.0, 0.0, 1.2761039336339763e-08, 0.9703160524368286, 1.2761039336339763e-08]}, "joint_limit_active_steps": 196, "joint_limit_hard_episode_events": 18, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 121, "max_joint_limit_excess_rad": 0.586637020111084, "max_joint_limit_excess_joint": "right_pinky_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": 196, "joint_limit_active_step_rate": 0.04236921746649373, "finger_joint_limit_saturation_steps": 121, "finger_joint_limit_saturation_step_rate": 0.026156506701253784, "max_joint_limit_excess_rad": 0.586637020111084, "max_joint_limit_excess_joint": "right_pinky_proximal_joint", "stage_completion": {"pen_in_cup": false, "marker_in_cup": false, "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": null, "glue_in_box": null, "battery_in_box": null}, "violation_counts": {"drop_to_table_obj_166_markpen_4": 1, "drop_to_table_obj_221_pen_3": 1}, "policy_query_count": 28, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4626, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_24_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_24_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..12b2ed4d5f7c58e11c4d8d363e896e2ea8c8d0d1 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_24_episode_08/summary.json @@ -0,0 +1,221 @@ +{ + "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": 4626, + "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": 0.00043233895373973193 + }, + "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": 51.38333333333333, + "expert_time_step": 3083, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00043233895373973193, + "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": 0.04236921746649373, + "finger_joint_limit_saturation_step_rate": 0.026156506701253784, + "max_joint_limit_excess_rad": 0.586637020111084, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_middle_proximal_joint": 70, + "right_pinky_distal_joint": 49, + "right_pinky_proximal_joint": 100, + "right_ring_distal_joint": 19, + "right_ring_proximal_joint": 45, + "right_thumb_distal_joint": 1, + "right_thumb_proximal_joint": 3 + }, + "joint_limit_hard_counts": { + "left_middle_proximal_joint": 1, + "left_pinky_proximal_joint": 4, + "right_middle_proximal_joint": 3, + "right_pinky_distal_joint": 5, + "right_pinky_proximal_joint": 3, + "right_ring_distal_joint": 4, + "right_ring_proximal_joint": 3, + "right_thumb_distal_joint": 1, + "right_thumb_proximal_joint": 2 + }, + "joint_limit_hard_episode_events": 18, + "finger_joint_limit_saturation_counts": { + "right_middle_proximal_joint": 58, + "right_pinky_distal_joint": 11, + "right_pinky_proximal_joint": 76, + "right_ring_proximal_joint": 38 + }, + "joint_limit_max_excess_by_joint": { + "left_index_distal_joint": 3.869312870108388e-09, + "left_index_proximal_joint": 0.004834569059312344, + "left_middle_distal_joint": 0.001894830958917737, + "left_middle_proximal_joint": 0.006806007120758295, + "left_pinky_distal_joint": 0.0006112416740506887, + "left_pinky_proximal_joint": 0.007062561810016632, + "left_ring_distal_joint": 0.0016962520312517881, + "left_ring_proximal_joint": 0.004791628569364548, + "left_thumb_distal_joint": 0.0009946823120117188, + "left_thumb_proximal_joint": 0.000897526741027832, + "right_index_proximal_joint": 0.00212416285648942, + "right_middle_distal_joint": 0.003124549752101302, + "right_middle_proximal_joint": 0.484061598777771, + "right_pinky_distal_joint": 0.1767319291830063, + "right_pinky_proximal_joint": 0.586637020111084, + "right_ring_distal_joint": 0.15631097555160522, + "right_ring_proximal_joint": 0.5099208354949951, + "right_thumb_distal_joint": 0.08822569996118546, + "right_thumb_proximal_joint": 0.01899552345275879 + }, + "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": 16.316339618340784, + "joint_effort_rms": 37.38261918767196, + "joint_jerk_rms": 1630.2703138235079, + "joint_velocity_rms": 0.45734251036763857 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.986817433730488, + "mean_kinematic_grasp_stability": 0.3475997354030724, + "per_object_best_kinematic_grasp_stability": { + "obj_166_markpen_4": 0.986817433730488, + "obj_168_battery_6": 0.9830754019380812, + "obj_199_glue_5": 0.02538322739544009, + "obj_221_pen_3": 0.9821902363923376 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6411226401498452, + "mean_duration_score": 0.4394329154056792, + "mean_hold_score": 0.1265672287073082, + "mean_kinematic_stability_score": 0.025998596724916348, + "mean_legacy_gsi": 0.29243681140891653, + "mean_lift_score": 0.1756376999567661, + "mean_motion_stability_score": 0.12034038051884423 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 4626, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_24_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_24_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71b704dfa62a5f5286a23d8dafb13d9638e2ec74 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_24_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": 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"safety_violation_rate_time": 0.0004323389537397493, "safety_violation_rate_event": 0.00043233895373973193, "safety_violation_step_rate": 0.00043233895373973193, "safety_violation_events_per_step": 0.00043233895373973193, "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": {"right_middle_proximal_joint": 94, "right_pinky_distal_joint": 55, "right_pinky_proximal_joint": 207, "right_ring_distal_joint": 246, "right_ring_proximal_joint": 2, "right_thumb_metacarpal_joint": 29}, "joint_limit_hard_counts": {"left_pinky_proximal_joint": 4, "left_ring_proximal_joint": 2, "right_index_distal_joint": 4, "right_index_proximal_joint": 2, "right_middle_distal_joint": 1, "right_middle_proximal_joint": 3, "right_pinky_distal_joint": 2, "right_pinky_proximal_joint": 4, "right_ring_distal_joint": 5, "right_ring_proximal_joint": 6, "right_thumb_metacarpal_joint": 1}, "finger_joint_limit_saturation_counts": {"right_middle_proximal_joint": 53, "right_pinky_distal_joint": 8, "right_pinky_proximal_joint": 188, "right_ring_distal_joint": 121, "right_thumb_metacarpal_joint": 17}, "joint_limit_max_excess_by_joint": {"left_index_distal_joint": 1.2992122933042083e-09, "left_index_proximal_joint": 0.0033224124927073717, "left_middle_distal_joint": 0.0007213068311102688, "left_middle_proximal_joint": 0.003870361717417836, "left_pinky_distal_joint": 0.0006210801075212657, "left_pinky_proximal_joint": 0.008712857030332088, "left_ring_distal_joint": 0.0018886823672801256, "left_ring_proximal_joint": 0.007025066297501326, "right_index_distal_joint": 0.006623746361583471, "right_index_proximal_joint": 0.008004379458725452, "right_middle_distal_joint": 0.007551344111561775, "right_middle_proximal_joint": 0.21730194985866547, "right_pinky_distal_joint": 0.14283248782157898, "right_pinky_proximal_joint": 1.1545370817184448, "right_ring_distal_joint": 0.25905361771583557, "right_ring_proximal_joint": 0.012804672122001648, "right_thumb_distal_joint": 0.004725217819213867, "right_thumb_metacarpal_joint": 0.5197107791900635, "right_thumb_proximal_joint": 0.0004170589381828904}, "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": 424, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_middle_proximal_joint", "role": "finger", "qpos": -0.007999288849532604, "hard_excess_rad": 0.007999288849532604, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.0008737289463169873, "shielded_target": 0.0008737289463169873}, {"joint": "right_pinky_proximal_joint", "role": "finger", "qpos": -0.00926752295345068, "hard_excess_rad": 0.00926752295345068, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.0020116970408707857, "shielded_target": 0.0020116970408707857}], "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": [1.8798930644989014, -1.5700000524520874, 0.5099221467971802, -1.5700000524520874, -0.9039173722267151, 1.5700000524520874, 1.7611125707626343, -1.3695501677180033e-10, 1.1202561855316162, -1.5700000524520874, -1.2249466180801392, 1.885000822099414e-09, 0.09949283301830292, 0.0008737289463169873, 0.0020116970408707857, 0.0010339893633499742, 0.6689034104347229, 0.0, 2.477862182104218e-08, 0.0, 0.0, 3.806462700595148e-09, 0.6898377537727356, 4.50379111782695e-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": [1.8798930644989014, -1.5700000524520874, 0.5099221467971802, -1.5700000524520874, -0.9039173722267151, 1.5700000524520874, 1.7611125707626343, -1.3695501677180033e-10, 1.1202561855316162, -1.5700000524520874, -1.2249466180801392, 1.885000822099414e-09, 0.09949283301830292, 0.0008737289463169873, 0.0020116970408707857, 0.0010339893633499742, 0.6689034104347229, 0.0, 2.477862182104218e-08, 0.0, 0.0, 3.806462700595148e-09, 0.11491422355175018, 0.0010091569274663925, 0.0023235101252794266, 0.0011942577548325062, 0.6898377537727356, 0.0, 2.8619307812505212e-08, 0.0, 0.0, 4.50379111782695e-09, 0.6898377537727356, 4.50379111782695e-09], "shielded_full_target": [1.8798930644989014, -1.5700000524520874, 0.5099221467971802, -1.5700000524520874, -0.9039173722267151, 1.5700000524520874, 1.7611125707626343, -1.3695501677180033e-10, 1.1202561855316162, -1.5700000524520874, -1.2249466180801392, 1.885000822099414e-09, 0.09949283301830292, 0.0008737289463169873, 0.0020116970408707857, 0.0010339893633499742, 0.6689034104347229, 0.0, 2.477862182104218e-08, 0.0, 0.0, 3.806462700595148e-09, 0.11491422355175018, 0.0010091569274663925, 0.0023235101252794266, 0.0011942577548325062, 0.6898377537727356, 0.0, 2.8619307812505212e-08, 0.0, 0.0, 4.50379111782695e-09, 0.6898377537727356, 4.50379111782695e-09]}, "joint_limit_active_steps": 369, "joint_limit_hard_episode_events": 20, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 278, "max_joint_limit_excess_rad": 1.1545370817184448, "max_joint_limit_excess_joint": "right_pinky_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": 369, "joint_limit_active_step_rate": 0.07976653696498054, "finger_joint_limit_saturation_steps": 278, "finger_joint_limit_saturation_step_rate": 0.06009511456982274, "max_joint_limit_excess_rad": 1.1545370817184448, "max_joint_limit_excess_joint": "right_pinky_proximal_joint", "stage_completion": {"pen_in_cup": false, "marker_in_cup": false, "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": null, "glue_in_box": null, "battery_in_box": null}, "violation_counts": {"drop_to_table_obj_166_markpen_4": 1, "drop_to_table_obj_221_pen_3": 1}, "policy_query_count": 39, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4626, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_24_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_24_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..5c13a5a950b449f8d51b26e24cbf179f9532b4c5 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_24_episode_09/summary.json @@ -0,0 +1,223 @@ +{ + "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": 4626, + "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": 0.00043233895373973193 + }, + "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": 51.38333333333333, + "expert_time_step": 3083, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00043233895373973193, + "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": 0.07976653696498054, + "finger_joint_limit_saturation_step_rate": 0.06009511456982274, + "max_joint_limit_excess_rad": 1.1545370817184448, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_middle_proximal_joint": 94, + "right_pinky_distal_joint": 55, + "right_pinky_proximal_joint": 207, + "right_ring_distal_joint": 246, + "right_ring_proximal_joint": 2, + "right_thumb_metacarpal_joint": 29 + }, + "joint_limit_hard_counts": { + "left_pinky_proximal_joint": 4, + "left_ring_proximal_joint": 2, + "right_index_distal_joint": 4, + "right_index_proximal_joint": 2, + "right_middle_distal_joint": 1, + "right_middle_proximal_joint": 3, + "right_pinky_distal_joint": 2, + "right_pinky_proximal_joint": 4, + "right_ring_distal_joint": 5, + "right_ring_proximal_joint": 6, + "right_thumb_metacarpal_joint": 1 + }, + "joint_limit_hard_episode_events": 20, + "finger_joint_limit_saturation_counts": { + "right_middle_proximal_joint": 53, + "right_pinky_distal_joint": 8, + "right_pinky_proximal_joint": 188, + "right_ring_distal_joint": 121, + "right_thumb_metacarpal_joint": 17 + }, + "joint_limit_max_excess_by_joint": { + "left_index_distal_joint": 1.2992122933042083e-09, + "left_index_proximal_joint": 0.0033224124927073717, + "left_middle_distal_joint": 0.0007213068311102688, + "left_middle_proximal_joint": 0.003870361717417836, + "left_pinky_distal_joint": 0.0006210801075212657, + "left_pinky_proximal_joint": 0.008712857030332088, + "left_ring_distal_joint": 0.0018886823672801256, + "left_ring_proximal_joint": 0.007025066297501326, + "right_index_distal_joint": 0.006623746361583471, + "right_index_proximal_joint": 0.008004379458725452, + "right_middle_distal_joint": 0.007551344111561775, + "right_middle_proximal_joint": 0.21730194985866547, + "right_pinky_distal_joint": 0.14283248782157898, + "right_pinky_proximal_joint": 1.1545370817184448, + "right_ring_distal_joint": 0.25905361771583557, + "right_ring_proximal_joint": 0.012804672122001648, + "right_thumb_distal_joint": 0.004725217819213867, + "right_thumb_metacarpal_joint": 0.5197107791900635, + "right_thumb_proximal_joint": 0.0004170589381828904 + }, + "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": 16.731287011930682, + "joint_effort_rms": 50.901753206772135, + "joint_jerk_rms": 1679.1525288521827, + "joint_velocity_rms": 0.45233006219222877 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9656892260959291, + "mean_kinematic_grasp_stability": 0.15473324084598347, + "per_object_best_kinematic_grasp_stability": { + "obj_166_markpen_4": 0.928591418874471, + "obj_168_battery_6": 0.03265957495378026, + "obj_199_glue_5": 0.23136883074720854, + "obj_221_pen_3": 0.9656892260959291 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7947831099582727, + "mean_duration_score": 0.279741317192679, + "mean_hold_score": 0.02799124513618603, + "mean_kinematic_stability_score": 0.00839559953574186, + "mean_legacy_gsi": 0.23439537668009502, + "mean_lift_score": 0.07376783398184177, + "mean_motion_stability_score": 0.023217354124259328 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 4626, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_24_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_24_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c30ed03ed816438132f3c5d9ee945f987966bcb --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_24_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/24_stationery_category_sorting.yaml", "episode_index": 10, "seed": 202400009, "success": false, "steps": 4626, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202400009, "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, 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"selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_167_pencup_1": {"position": [0.1, 0.03, 0.7484175437753257], "rpy_deg": [90.0, 0.0, -2.2469366154067956]}, "obj_169_plasticbox_2": {"position": [-0.12, 0.09, 0.7484175513651652], "rpy_deg": [90.0, 0.0, 91.09976122580544]}, "obj_221_pen_3": {"position": [-0.4136523398910918, 0.07200340542078185, 0.7595515237558268], "rpy_deg": [0.0, 0.0, -69.74319625160106]}, "obj_166_markpen_4": {"position": [0.31636926800987464, 0.157130789180035, 0.7589223505217216], "rpy_deg": [0.0, 0.0, 44.921893356405455]}, "obj_199_glue_5": {"position": [-0.38, 0.15, 0.763947255204954], "rpy_deg": [0.0, 0.0, -30.294661168016013]}, "obj_168_battery_6": {"position": [0.28, 0.05, 0.748417543969931], "rpy_deg": [90.0, 0.0, -6.841433236643841]}}, "_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, 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0.00021616947686987464, "safety_violation_rate_time": 0.00021616947686987464, "safety_violation_rate_event": 0.00021616947686986597, "safety_violation_step_rate": 0.00021616947686986597, "safety_violation_events_per_step": 0.00021616947686986597, "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_distal_joint": 9, "right_index_distal_joint": 73, "right_index_proximal_joint": 251, "right_middle_distal_joint": 104, "right_pinky_distal_joint": 60, "right_ring_distal_joint": 98, "right_thumb_distal_joint": 10}, "joint_limit_hard_counts": {"left_index_distal_joint": 2, "left_index_proximal_joint": 2, "left_middle_proximal_joint": 1, "left_pinky_proximal_joint": 1, "left_ring_proximal_joint": 1, "right_index_distal_joint": 2, "right_index_proximal_joint": 1, "right_middle_distal_joint": 1, "right_middle_proximal_joint": 1, "right_pinky_distal_joint": 3, "right_pinky_proximal_joint": 1, "right_ring_distal_joint": 2, "right_thumb_distal_joint": 3}, "finger_joint_limit_saturation_counts": {"right_index_distal_joint": 38, "right_index_proximal_joint": 231, "right_middle_distal_joint": 77, "right_pinky_distal_joint": 6, "right_ring_distal_joint": 57}, "joint_limit_max_excess_by_joint": {"left_index_distal_joint": 0.017278848215937614, "left_index_proximal_joint": 0.00863623060286045, "left_middle_distal_joint": 0.001232278998941183, "left_middle_proximal_joint": 0.009554831311106682, "left_pinky_distal_joint": 0.0007918085902929306, "left_pinky_proximal_joint": 0.005887508857995272, "left_ring_distal_joint": 0.0009973043343052268, "left_ring_proximal_joint": 0.0058119772002100945, "left_thumb_distal_joint": 0.0034466981887817383, "left_thumb_metacarpal_joint": 0.00035687946365214884, "left_thumb_proximal_joint": 0.0014926147414371371, "right_index_distal_joint": 0.4855976104736328, "right_index_proximal_joint": 2.296665906906128, "right_middle_distal_joint": 0.32949209213256836, "right_middle_proximal_joint": 0.007279157638549805, "right_pinky_distal_joint": 0.15326416492462158, "right_pinky_proximal_joint": 0.005979546811431646, "right_ring_distal_joint": 0.17960913479328156, "right_ring_proximal_joint": 0.0030291234143078327, "right_thumb_distal_joint": 0.13721132278442383, "right_thumb_proximal_joint": 3.933052357751876e-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": 989, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_pinky_distal_joint", "role": "finger_mimic", "qpos": -0.012419654056429863, "hard_excess_rad": 0.012419654056429863, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.6299998760223389, "operating_lower": 0.0, "operating_upper": 1.6299998760223389, "expanded_target": 0.4948752820491791, "shielded_target": 0.4948752820491791, "mimic_source_joint": "right_pinky_proximal_joint"}], "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": [1.1681157350540161, -1.5700000524520874, 0.45990338921546936, -1.5700000524520874, -1.1091748476028442, 1.5700000524520874, -1.8855711221694946, -5.549821713302094e-10, 1.4910084009170532, -1.5700000524520874, 1.2778608798980713, 7.307983995730183e-09, 0.29992440342903137, 0.7712342143058777, 0.4284634590148926, 0.6855415105819702, 0.7857210636138916, 0.0, 9.899579822558735e-08, 0.0, 0.0, 1.514150405057535e-08, 0.6914067268371582, 1.7082433245718676e-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": [1.1681157350540161, -1.5700000524520874, 0.45990338921546936, -1.5700000524520874, -1.1091748476028442, 1.5700000524520874, -1.8855711221694946, -5.549821713302094e-10, 1.4910084009170532, -1.5700000524520874, 1.2778608798980713, 7.307983995730183e-09, 0.29992440342903137, 0.7712342143058777, 0.4284634590148926, 0.6855415105819702, 0.7857210636138916, 0.0, 9.899579822558735e-08, 0.0, 0.0, 1.514150405057535e-08, 0.34641268849372864, 0.8907755017280579, 0.4948752820491791, 0.7918004393577576, 0.6914067268371582, 0.0, 1.1434014624001065e-07, 0.0, 0.0, 1.7082433245718676e-08, 0.6914067268371582, 1.7082433245718676e-08], "shielded_full_target": [1.1681157350540161, -1.5700000524520874, 0.45990338921546936, -1.5700000524520874, -1.1091748476028442, 1.5700000524520874, -1.8855711221694946, -5.549821713302094e-10, 1.4910084009170532, -1.5700000524520874, 1.2778608798980713, 7.307983995730183e-09, 0.29992440342903137, 0.7712342143058777, 0.4284634590148926, 0.6855415105819702, 0.7857210636138916, 0.0, 9.899579822558735e-08, 0.0, 0.0, 1.514150405057535e-08, 0.34641268849372864, 0.8907755017280579, 0.4948752820491791, 0.7918004393577576, 0.6914067268371582, 0.0, 1.1434014624001065e-07, 0.0, 0.0, 1.7082433245718676e-08, 0.6914067268371582, 1.7082433245718676e-08]}, "joint_limit_active_steps": 273, "joint_limit_hard_episode_events": 10, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 239, "max_joint_limit_excess_rad": 2.296665906906128, "max_joint_limit_excess_joint": "right_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": 273, "joint_limit_active_step_rate": 0.05901426718547341, "finger_joint_limit_saturation_steps": 239, "finger_joint_limit_saturation_step_rate": 0.051664504971897965, "max_joint_limit_excess_rad": 2.296665906906128, "max_joint_limit_excess_joint": "right_index_proximal_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": 744, "glue_in_box": null, "battery_in_box": null}, "violation_counts": {"drop_to_table_obj_166_markpen_4": 1}, "policy_query_count": 34, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4626, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_24_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_24_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..c966d1f9f6b7554adf67d3a6d8d808ceb3b7ce2f --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_24_episode_10/summary.json @@ -0,0 +1,227 @@ +{ + "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": 4626, + "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 + }, + 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2.4553035160579384e-08], "shielded_full_target": [2.17451548576355, -1.5700000524520874, 1.083215594291687, -1.5700000524520874, -1.649073600769043, 1.5700000524520874, -1.5264984369277954, -8.28231705440885e-10, -0.6228448152542114, -1.5700000524520874, 0.6582010388374329, -1.1415533102132613e-10, 0.9599999785423279, 1.0299999713897705, 0.44999998807907104, 0.8799999952316284, 1.1799999475479126, 0.0, 5.1455874228167886e-08, 0.0, 0.0, 2.3985011310401205e-08, 1.108799934387207, 1.1896499395370483, 0.5197499990463257, 1.0163999795913696, 0.9700000286102295, 0.0, 5.943153524867739e-08, 0.0, 0.0, 2.4553035160579384e-08, 0.9700000286102295, 2.4553035160579384e-08]}, "joint_limit_active_steps": 70, "joint_limit_hard_episode_events": 12, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.2307051569223404, "max_joint_limit_excess_joint": "right_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": 70, "joint_limit_active_step_rate": 0.015131863380890618, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.2307051569223404, "max_joint_limit_excess_joint": "right_index_proximal_joint", "stage_completion": {"pen_in_cup": false, "marker_in_cup": false, "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": null, "glue_in_box": null, "battery_in_box": null}, "violation_counts": {"drop_to_table_obj_221_pen_3": 1}, "policy_query_count": 26, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4626, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_24_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_24_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..d85be3806d86fe238b16222ba4a5ccc7b61d287b --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_24_episode_11/summary.json @@ -0,0 +1,215 @@ +{ + "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": 4626, + "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": 0.00021616947686986597 + }, + "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": 51.38333333333333, + "expert_time_step": 3083, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00021616947686986597, + "violation_counts": { + "drop_to_table_obj_221_pen_3": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.015131863380890618, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.2307051569223404, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_ring_distal_joint": 18, + "right_index_proximal_joint": 11, + "right_middle_proximal_joint": 1, + "right_pinky_proximal_joint": 15, + "right_ring_proximal_joint": 13, + "right_thumb_distal_joint": 22 + }, + "joint_limit_hard_counts": { + "left_index_proximal_joint": 1, + "left_pinky_distal_joint": 1, + "left_pinky_proximal_joint": 3, + "left_ring_distal_joint": 3, + "right_index_proximal_joint": 1, + "right_middle_proximal_joint": 1, + "right_pinky_proximal_joint": 4, + "right_ring_proximal_joint": 1, + "right_thumb_distal_joint": 1, + "right_thumb_proximal_joint": 2 + }, + "joint_limit_hard_episode_events": 12, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_index_distal_joint": 2.5867232800180773e-09, + "left_index_proximal_joint": 0.005389698315411806, + "left_middle_distal_joint": 0.0008775295573286712, + "left_middle_proximal_joint": 0.004916734993457794, + "left_pinky_distal_joint": 0.007133045699447393, + "left_pinky_proximal_joint": 0.005752326920628548, + "left_ring_distal_joint": 0.17360274493694305, + "left_ring_proximal_joint": 0.004130812827497721, + "left_thumb_distal_joint": 0.0011655092239379883, + "right_index_distal_joint": 8.316456856505283e-09, + "right_index_proximal_joint": 0.2307051569223404, + "right_middle_distal_joint": 0.0007193191559053957, + "right_middle_proximal_joint": 0.013756084255874157, + "right_pinky_distal_joint": 0.0036674044094979763, + "right_pinky_proximal_joint": 0.12659110128879547, + "right_ring_distal_joint": 0.004864495247602463, + "right_ring_proximal_joint": 0.11977756768465042, + "right_thumb_distal_joint": 0.08584249019622803, + "right_thumb_proximal_joint": 0.006029725074768066 + }, + "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": 13.0550643516654, + "joint_effort_rms": 28.10613935356764, + "joint_jerk_rms": 1277.9515403002504, + "joint_velocity_rms": 0.3573943675518953 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9497142060368851, + "mean_kinematic_grasp_stability": 0.6450765450114979, + "per_object_best_kinematic_grasp_stability": { + "obj_166_markpen_4": 0.9137100143241076, + "obj_168_battery_6": 0.8923888505803578, + "obj_199_glue_5": 0.9420510874596679, + "obj_221_pen_3": 0.9497142060368851 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6954172070903578, + "mean_duration_score": 0.5046224239804005, + "mean_hold_score": 0.4520590142671795, + "mean_kinematic_stability_score": 0.15220515539992435, + "mean_legacy_gsi": 0.4740646235561883, + "mean_lift_score": 0.520968439256377, + "mean_motion_stability_score": 0.36779149837451985 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 4626, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_24_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_24_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1ae68111f5fa438d60d0f55e94c3f42110b0479 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_24_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/24_stationery_category_sorting.yaml", "episode_index": 12, "seed": 202400011, "success": false, "steps": 4626, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202400011, "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": "FloorPlan1", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan1_physics/scene.usda", "scene_offset": [0.0, 0.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, 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"_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": 0.0, "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": 0.9989449528064195, "mean_kinematic_grasp_stability": 0.6505506051581984, "per_object_best_kinematic_grasp_stability": {"obj_166_markpen_4": 0.0, "obj_168_battery_6": 0.979505308533271, "obj_199_glue_5": 0.9989449528064195, "obj_221_pen_3": 0.6806400655319369}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.29585578946315577, "mean_kinematic_stability_score": 0.1000576644120316, "mean_lift_score": 0.15380458279290965, "mean_hold_score": 0.11865812797233095, "mean_motion_stability_score": 0.11435897550451064, "mean_duration_score": 0.1307483066724309, "mean_anti_slip_score": 0.9891735120334736}, "robot_motion_metrics": {"joint_velocity_rms": 0.45483861730692937, "joint_acceleration_rms": 18.881081783574512, "joint_jerk_rms": 1926.6203612903928, "joint_effort_rms": 42.4210677776587}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.00021616947686987464, "safety_violation_rate_time": 0.00021616947686987464, "safety_violation_rate_event": 0.00021616947686986597, "safety_violation_step_rate": 0.00021616947686986597, "safety_violation_events_per_step": 0.00021616947686986597, "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": {"left_middle_proximal_joint": 8, "left_pinky_distal_joint": 4, "left_pinky_proximal_joint": 16, "left_ring_proximal_joint": 6, "right_index_proximal_joint": 2, "right_middle_proximal_joint": 49, "right_pinky_distal_joint": 19, "right_pinky_proximal_joint": 11, "right_ring_proximal_joint": 183, "right_thumb_distal_joint": 13}, "joint_limit_hard_counts": {"left_middle_proximal_joint": 4, "left_pinky_distal_joint": 1, "left_pinky_proximal_joint": 10, "left_ring_proximal_joint": 4, "left_thumb_proximal_joint": 1, "right_index_proximal_joint": 4, "right_middle_proximal_joint": 4, "right_pinky_distal_joint": 3, "right_pinky_proximal_joint": 5, "right_ring_distal_joint": 2, "right_ring_proximal_joint": 1, "right_thumb_distal_joint": 1}, "finger_joint_limit_saturation_counts": {"right_middle_proximal_joint": 28, "right_ring_proximal_joint": 167}, "joint_limit_max_excess_by_joint": {"left_index_distal_joint": 4.355433791403129e-09, "left_index_proximal_joint": 0.0033654714934527874, "left_middle_distal_joint": 0.000519683351740241, "left_middle_proximal_joint": 0.028246808797121048, "left_pinky_distal_joint": 0.18219150602817535, "left_pinky_proximal_joint": 0.07889781892299652, "left_ring_distal_joint": 0.001225719810463488, "left_ring_proximal_joint": 0.0391971692442894, "left_thumb_proximal_joint": 0.005195736885070801, "right_index_distal_joint": 2.0251354371225716e-08, "right_index_proximal_joint": 0.015760274603962898, "right_middle_distal_joint": 0.004990696907043457, "right_middle_proximal_joint": 0.6973670721054077, "right_pinky_distal_joint": 0.09962274134159088, "right_pinky_proximal_joint": 0.1798650622367859, "right_ring_distal_joint": 0.008845985867083073, "right_ring_proximal_joint": 1.6100006103515625, "right_thumb_distal_joint": 0.16432678699493408, "right_thumb_proximal_joint": 0.0032951831817626953}, "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": 3980, "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": -0.0055457730777561665, "hard_excess_rad": 0.0055457730777561665, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.09719999879598618, "shielded_target": 0.09719999879598618}], "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": [2.099289894104004, -0.5643939971923828, 0.6153222918510437, -0.37544724345207214, -1.4347412586212158, 1.4417668581008911, -0.4509889781475067, 1.2599971294403076, 0.9819900393486023, -0.9191417694091797, 0.47799962759017944, -0.5937938094139099, 0.9100000262260437, 0.9399999976158142, 0.4399999976158142, 0.8999999761581421, 1.3200000524520874, 0.09719999879598618, 0.09719999879598618, 0.03240000084042549, 0.08640000224113464, 0.8148000240325928, 0.8399999737739563, 0.5745599865913391], "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": [2.099289894104004, -0.5643939971923828, 0.6153222918510437, -0.37544724345207214, -1.4347412586212158, 1.4417668581008911, -0.4509889781475067, 1.2599971294403076, 0.9819900393486023, -0.9191417694091797, 0.47799962759017944, -0.5937938094139099, 0.9100000262260437, 0.9399999976158142, 0.4399999976158142, 0.8999999761581421, 1.3200000524520874, 0.09719999879598618, 0.09719999879598618, 0.03240000084042549, 0.08640000224113464, 0.8148000240325928, 1.051050066947937, 1.0857000350952148, 0.5081999897956848, 1.0394999980926514, 0.8399999737739563, 0.11226599663496017, 0.11226599663496017, 0.037422001361846924, 0.0997920036315918, 0.5745599865913391, 0.8399999737739563, 0.5745599865913391], "shielded_full_target": [2.099289894104004, -0.5643939971923828, 0.6153222918510437, -0.37544724345207214, -1.4347412586212158, 1.4417668581008911, -0.4509889781475067, 1.2599971294403076, 0.9819900393486023, -0.9191417694091797, 0.47799962759017944, -0.5937938094139099, 0.9100000262260437, 0.9399999976158142, 0.4399999976158142, 0.8999999761581421, 1.3200000524520874, 0.09719999879598618, 0.09719999879598618, 0.03240000084042549, 0.08640000224113464, 0.8148000240325928, 1.051050066947937, 1.0857000350952148, 0.5081999897956848, 1.0394999980926514, 0.8399999737739563, 0.11226599663496017, 0.11226599663496017, 0.037422001361846924, 0.0997920036315918, 0.5745599865913391, 0.8399999737739563, 0.5745599865913391]}, "joint_limit_active_steps": 187, "joint_limit_hard_episode_events": 8, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 167, "max_joint_limit_excess_rad": 1.6100006103515625, "max_joint_limit_excess_joint": "right_ring_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": 187, "joint_limit_active_step_rate": 0.04042369217466494, "finger_joint_limit_saturation_steps": 167, "finger_joint_limit_saturation_step_rate": 0.036100302637267614, "max_joint_limit_excess_rad": 1.6100006103515625, "max_joint_limit_excess_joint": "right_ring_proximal_joint", "stage_completion": {"pen_in_cup": false, "marker_in_cup": false, "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": null, "glue_in_box": null, "battery_in_box": null}, "violation_counts": {"drop_to_table_obj_168_battery_6": 1}, "policy_query_count": 20, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4626, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_24_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_24_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1acb0866a0db8e0db3a8c8ce7458a30b9663e1eb --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_24_episode_12/summary.json @@ -0,0 +1,224 @@ +{ + "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": 4626, + "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": 0.00021616947686986597 + }, + "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": 51.38333333333333, + "expert_time_step": 3083, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00021616947686986597, + "violation_counts": { + "drop_to_table_obj_168_battery_6": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.04042369217466494, + "finger_joint_limit_saturation_step_rate": 0.036100302637267614, + "max_joint_limit_excess_rad": 1.6100006103515625, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_middle_proximal_joint": 8, + "left_pinky_distal_joint": 4, + "left_pinky_proximal_joint": 16, + "left_ring_proximal_joint": 6, + "right_index_proximal_joint": 2, + "right_middle_proximal_joint": 49, + "right_pinky_distal_joint": 19, + "right_pinky_proximal_joint": 11, + "right_ring_proximal_joint": 183, + "right_thumb_distal_joint": 13 + }, + "joint_limit_hard_counts": { + "left_middle_proximal_joint": 4, + "left_pinky_distal_joint": 1, + "left_pinky_proximal_joint": 10, + "left_ring_proximal_joint": 4, + "left_thumb_proximal_joint": 1, + 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"max_joint_limit_excess_rad": 1.271401286125183, "max_joint_limit_excess_joint": "right_thumb_metacarpal_joint", "stage_completion": {"pen_in_cup": true, "marker_in_cup": false, "glue_in_box": false, "battery_in_box": false}, "current_stage_completion": {"pen_in_cup": true, "marker_in_cup": false, "glue_in_box": false, "battery_in_box": false}, "stage_first_completion_step": {"pen_in_cup": 4193, "marker_in_cup": null, "glue_in_box": null, "battery_in_box": null}, "violation_counts": {"drop_to_table_obj_168_battery_6": 1}, "policy_query_count": 30, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4626, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_24_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_24_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..be139dc584137138c374adb179b9a2b322a9f6cf --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_24_episode_13/summary.json @@ -0,0 +1,233 @@ +{ + "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": 4626, + "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": 0.00021616947686986597 + }, + "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": 51.38333333333333, + "expert_time_step": 3083, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00021616947686986597, + "violation_counts": { + "drop_to_table_obj_168_battery_6": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.12732382187635105, + "finger_joint_limit_saturation_step_rate": 0.10527453523562473, + "max_joint_limit_excess_rad": 1.271401286125183, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_index_distal_joint": 23, + "right_index_proximal_joint": 5, + "right_middle_distal_joint": 84, + "right_middle_proximal_joint": 268, + "right_pinky_distal_joint": 130, + "right_pinky_proximal_joint": 39, + "right_ring_distal_joint": 152, + "right_ring_proximal_joint": 46, + "right_thumb_metacarpal_joint": 223, + "right_thumb_proximal_joint": 90 + }, + "joint_limit_hard_counts": { + "left_index_proximal_joint": 3, + "left_middle_proximal_joint": 1, + "left_pinky_proximal_joint": 1, + "left_ring_proximal_joint": 1, + "right_index_distal_joint": 4, + "right_index_proximal_joint": 6, + "right_middle_distal_joint": 15, + "right_middle_proximal_joint": 4, + "right_pinky_distal_joint": 9, + "right_pinky_proximal_joint": 22, + "right_ring_distal_joint": 9, + "right_ring_proximal_joint": 20, + "right_thumb_metacarpal_joint": 2, + "right_thumb_proximal_joint": 6 + }, + "joint_limit_hard_episode_events": 30, + "finger_joint_limit_saturation_counts": { + "right_middle_distal_joint": 15, + "right_middle_proximal_joint": 264, + "right_pinky_distal_joint": 71, + "right_pinky_proximal_joint": 2, + "right_ring_distal_joint": 83, + "right_thumb_metacarpal_joint": 208, + "right_thumb_proximal_joint": 15 + }, + "joint_limit_max_excess_by_joint": { + "left_index_distal_joint": 4.443477141791163e-09, + "left_index_proximal_joint": 0.005932203959673643, + "left_middle_distal_joint": 0.002464315388351679, + "left_middle_proximal_joint": 0.00537115428596735, + "left_pinky_distal_joint": 0.001178590813651681, + "left_pinky_proximal_joint": 0.00548131950199604, + "left_ring_distal_joint": 0.0022943250369280577, + "left_ring_proximal_joint": 0.005430873017758131, + "left_thumb_distal_joint": 0.002443075180053711, + "left_thumb_proximal_joint": 0.0038377046585083008, + "right_index_distal_joint": 0.14176346361637115, + "right_index_proximal_joint": 0.020311638712882996, + "right_middle_distal_joint": 0.4053751528263092, + "right_middle_proximal_joint": 0.8717591762542725, + "right_pinky_distal_joint": 0.22681638598442078, + "right_pinky_proximal_joint": 0.1608496904373169, + "right_ring_distal_joint": 0.2667549252510071, + "right_ring_proximal_joint": 0.17009979486465454, + "right_thumb_distal_joint": 0.004209280014038086, + "right_thumb_metacarpal_joint": 1.271401286125183, + "right_thumb_proximal_joint": 0.149954691529274 + }, + "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": 24.313284343634297, + "joint_effort_rms": 55.948772713605315, + "joint_jerk_rms": 2451.2071746259794, + "joint_velocity_rms": 0.5775636017573005 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9973784614352433, + "mean_kinematic_grasp_stability": 0.5044441128761071, + "per_object_best_kinematic_grasp_stability": { + "obj_166_markpen_4": 0.1861347360856999, + "obj_168_battery_6": 0.2525861647114408, + "obj_199_glue_5": 0.9973784614352433, + "obj_221_pen_3": 0.6329212808043737 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9616119037325277, + "mean_duration_score": 0.10940517365614642, + "mean_hold_score": 0.09715196714224023, + "mean_kinematic_stability_score": 0.0568126638150566, + "mean_legacy_gsi": 0.2732280003960042, + "mean_lift_score": 0.14488759187202768, + "mean_motion_stability_score": 0.08978719258754903 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 4626, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_24_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_24_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a6261918ccd22898b2245d2ac6ca6a437e161ce5 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_24_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/24_stationery_category_sorting.yaml", "episode_index": 14, "seed": 202400013, "success": false, "steps": 4626, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202400013, "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": 90.0, "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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"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": 0.9971657454498216, "mean_kinematic_grasp_stability": 0.6548086453651666, "per_object_best_kinematic_grasp_stability": {"obj_166_markpen_4": 0.5205124051084352, "obj_168_battery_6": 0.9971657454498216, "obj_199_glue_5": 0.06782002441707718, "obj_221_pen_3": 0.6545977539940395}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.37929288420421514, "mean_kinematic_stability_score": 0.1226527650689401, "mean_lift_score": 0.349167747514051, "mean_hold_score": 0.26712332468654876, "mean_motion_stability_score": 0.23492026881488537, "mean_duration_score": 0.31814922899553255, "mean_anti_slip_score": 0.8143644617379981}, "robot_motion_metrics": {"joint_velocity_rms": 0.5069599166176436, "joint_acceleration_rms": 18.01260695169868, "joint_jerk_rms": 1801.8175051034302, "joint_effort_rms": 53.35723401450023}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0004323389537397493, "safety_violation_rate_time": 0.0004323389537397493, "safety_violation_rate_event": 0.00043233895373973193, "safety_violation_step_rate": 0.00043233895373973193, "safety_violation_events_per_step": 0.00043233895373973193, "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_proximal_joint": 10, "left_middle_proximal_joint": 4, "left_pinky_distal_joint": 17, "left_ring_distal_joint": 85, "left_ring_proximal_joint": 37, "left_thumb_distal_joint": 36, "right_index_proximal_joint": 3, "right_middle_distal_joint": 1, "right_pinky_proximal_joint": 7, "right_ring_distal_joint": 34, "right_ring_proximal_joint": 59}, "joint_limit_hard_counts": {"left_index_proximal_joint": 3, "left_middle_proximal_joint": 2, "left_pinky_distal_joint": 2, "left_pinky_proximal_joint": 3, "left_ring_distal_joint": 4, "left_ring_proximal_joint": 5, "left_thumb_distal_joint": 1, "left_thumb_proximal_joint": 3, "right_index_proximal_joint": 5, "right_middle_distal_joint": 3, "right_middle_proximal_joint": 3, "right_pinky_proximal_joint": 11, "right_ring_distal_joint": 2, "right_ring_proximal_joint": 3, "right_thumb_distal_joint": 3}, "finger_joint_limit_saturation_counts": {"left_ring_distal_joint": 56, "left_thumb_distal_joint": 12}, "joint_limit_max_excess_by_joint": {"left_index_distal_joint": 3.28825500162111e-08, "left_index_proximal_joint": 0.11591135710477829, "left_middle_distal_joint": 0.004498074762523174, "left_middle_proximal_joint": 0.015470080077648163, "left_pinky_distal_joint": 0.15408466756343842, "left_pinky_proximal_joint": 0.0070267426781356335, "left_ring_distal_joint": 0.29407820105552673, "left_ring_proximal_joint": 0.043559636920690536, "left_thumb_distal_joint": 0.09241926670074463, "left_thumb_metacarpal_joint": 0.00041025428799912333, "left_thumb_proximal_joint": 0.00722846994176507, "right_index_distal_joint": 1.637460300685234e-08, "right_index_proximal_joint": 0.014334499835968018, "right_middle_distal_joint": 0.01679067499935627, "right_middle_proximal_joint": 0.00827475544065237, "right_pinky_distal_joint": 0.0026291783433407545, "right_pinky_proximal_joint": 0.018290109932422638, "right_ring_distal_joint": 0.2217995673418045, "right_ring_proximal_joint": 0.03628437966108322, "right_thumb_distal_joint": 0.006989479064941406, "right_thumb_proximal_joint": 0.0021678642369806767}, "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": 1362, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_thumb_distal_joint", "role": "finger_mimic", "qpos": 1.0358504056930542, "hard_excess_rad": 0.005850434303283691, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.0299999713897705, "operating_lower": 0.0, "operating_upper": 1.0299999713897705, "expanded_target": 0.9704372882843018, "shielded_target": 0.9704372882843018, "mimic_source_joint": "right_thumb_proximal_joint"}], "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": [1.3771048784255981, -1.5700000524520874, 0.23158416152000427, -1.5700000524520874, -1.7054827213287354, 1.5700000524520874, -0.11565814167261124, -6.721204703907802e-10, 1.12899911403656, -1.5700000524520874, 0.23860058188438416, 9.509766307758127e-09, 0.8959183692932129, 0.8226239085197449, 0.3896501362323761, 0.722623884677887, 1.2450145483016968, 0.0, 1.2365558177407365e-07, 0.0, 0.0, 1.8543628854672534e-08, 0.9704372882843018, 2.0541827794318124e-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": [1.3771048784255981, -1.5700000524520874, 0.23158416152000427, -1.5700000524520874, -1.7054827213287354, 1.5700000524520874, -0.11565814167261124, -6.721204703907802e-10, 1.12899911403656, -1.5700000524520874, 0.23860058188438416, 9.509766307758127e-09, 0.8959183692932129, 0.8226239085197449, 0.3896501362323761, 0.722623884677887, 1.2450145483016968, 0.0, 1.2365558177407365e-07, 0.0, 0.0, 1.8543628854672534e-08, 1.0347857475280762, 0.9501306414604187, 0.4500459134578705, 0.8346306085586548, 0.9704372882843018, 0.0, 1.4282220206496277e-07, 0.0, 0.0, 2.0541827794318124e-08, 0.9704372882843018, 2.0541827794318124e-08], "shielded_full_target": [1.3771048784255981, -1.5700000524520874, 0.23158416152000427, -1.5700000524520874, -1.7054827213287354, 1.5700000524520874, -0.11565814167261124, -6.721204703907802e-10, 1.12899911403656, -1.5700000524520874, 0.23860058188438416, 9.509766307758127e-09, 0.8959183692932129, 0.8226239085197449, 0.3896501362323761, 0.722623884677887, 1.2450145483016968, 0.0, 1.2365558177407365e-07, 0.0, 0.0, 1.8543628854672534e-08, 1.0347857475280762, 0.9501306414604187, 0.4500459134578705, 0.8346306085586548, 0.9704372882843018, 0.0, 1.4282220206496277e-07, 0.0, 0.0, 2.0541827794318124e-08, 0.9704372882843018, 2.0541827794318124e-08]}, "joint_limit_active_steps": 250, "joint_limit_hard_episode_events": 38, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 68, "max_joint_limit_excess_rad": 0.29407820105552673, "max_joint_limit_excess_joint": "left_ring_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": 250, "joint_limit_active_step_rate": 0.054042369217466496, "finger_joint_limit_saturation_steps": 68, "finger_joint_limit_saturation_step_rate": 0.014699524427150886, "max_joint_limit_excess_rad": 0.29407820105552673, "max_joint_limit_excess_joint": "left_ring_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": true, "glue_in_box": false, "battery_in_box": false}, "stage_first_completion_step": {"pen_in_cup": null, "marker_in_cup": 4264, "glue_in_box": null, "battery_in_box": null}, "violation_counts": {"drop_to_table_obj_166_markpen_4": 1, "drop_to_table_obj_199_glue_5": 1}, "policy_query_count": 34, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4626, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_24_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_24_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..c1b0e8c8d8428fd808209cf6297fcd814f11675e --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_24_episode_14/summary.json @@ -0,0 +1,231 @@ +{ + "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": 4626, + "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": 0.00043233895373973193 + }, + "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": 51.38333333333333, + "expert_time_step": 3083, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00043233895373973193, + "violation_counts": { + "drop_to_table_obj_166_markpen_4": 1, + "drop_to_table_obj_199_glue_5": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.054042369217466496, + "finger_joint_limit_saturation_step_rate": 0.014699524427150886, + "max_joint_limit_excess_rad": 0.29407820105552673, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_proximal_joint": 10, + "left_middle_proximal_joint": 4, + "left_pinky_distal_joint": 17, + "left_ring_distal_joint": 85, + "left_ring_proximal_joint": 37, + "left_thumb_distal_joint": 36, + "right_index_proximal_joint": 3, + "right_middle_distal_joint": 1, + "right_pinky_proximal_joint": 7, + "right_ring_distal_joint": 34, + "right_ring_proximal_joint": 59 + }, + "joint_limit_hard_counts": { + "left_index_proximal_joint": 3, + "left_middle_proximal_joint": 2, + "left_pinky_distal_joint": 2, + "left_pinky_proximal_joint": 3, + "left_ring_distal_joint": 4, + "left_ring_proximal_joint": 5, + "left_thumb_distal_joint": 1, + "left_thumb_proximal_joint": 3, + "right_index_proximal_joint": 5, + "right_middle_distal_joint": 3, + "right_middle_proximal_joint": 3, + "right_pinky_proximal_joint": 11, + "right_ring_distal_joint": 2, + "right_ring_proximal_joint": 3, + "right_thumb_distal_joint": 3 + }, + "joint_limit_hard_episode_events": 38, + "finger_joint_limit_saturation_counts": { + "left_ring_distal_joint": 56, + "left_thumb_distal_joint": 12 + }, + "joint_limit_max_excess_by_joint": { + "left_index_distal_joint": 3.28825500162111e-08, + "left_index_proximal_joint": 0.11591135710477829, + "left_middle_distal_joint": 0.004498074762523174, + "left_middle_proximal_joint": 0.015470080077648163, + "left_pinky_distal_joint": 0.15408466756343842, + "left_pinky_proximal_joint": 0.0070267426781356335, + "left_ring_distal_joint": 0.29407820105552673, + "left_ring_proximal_joint": 0.043559636920690536, + "left_thumb_distal_joint": 0.09241926670074463, + "left_thumb_metacarpal_joint": 0.00041025428799912333, + "left_thumb_proximal_joint": 0.00722846994176507, + "right_index_distal_joint": 1.637460300685234e-08, + "right_index_proximal_joint": 0.014334499835968018, + "right_middle_distal_joint": 0.01679067499935627, + "right_middle_proximal_joint": 0.00827475544065237, + "right_pinky_distal_joint": 0.0026291783433407545, + "right_pinky_proximal_joint": 0.018290109932422638, + "right_ring_distal_joint": 0.2217995673418045, + "right_ring_proximal_joint": 0.03628437966108322, + 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5.155996185557399e-10, 0.13911253213882446, 0.2946763038635254, -0.3421922028064728, 0.39834922552108765, 0.4667966663837433, 5.717749190781163e-12, 2.1095059726805587e-11, -6.621821757590851e-09, -2.0191850969020209e-10, 3.907834056349202e-09, 1.25704824924469, 1.1119123697280884, 0.9914061427116394, 0.9712805151939392, 0.0, 2.496959305986479e-09, 2.894972594980061e-10, -8.528666661788975e-10, 9.268940615037025e-10, 1.7218050318845712e-09, 1.2609989643096924, 0.5595911741256714, 0.0, 0.0, 2.8567100074372576e-11, 1.5027398769795752e-10, 0.0, 0.0, 0.0]}, "joint_limit_active_steps": 27, "joint_limit_hard_episode_events": 2, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 20, "max_joint_limit_excess_rad": 0.6046924591064453, "max_joint_limit_excess_joint": "multi_right_pinky_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": 27, "joint_limit_active_step_rate": 0.010332950631458095, "finger_joint_limit_saturation_steps": 20, "finger_joint_limit_saturation_step_rate": 0.007654037504783774, "max_joint_limit_excess_rad": 0.6046924591064453, "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": 22, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2613, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_26_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_26_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..12b5e381a9a7c16c2bbbecd21485dd4d44d69f08 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_26_episode_05/summary.json @@ -0,0 +1,239 @@ +{ + "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": 2613, + "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": 0.010332950631458095, + "finger_joint_limit_saturation_step_rate": 0.007654037504783774, + "max_joint_limit_excess_rad": 0.6046924591064453, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "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_pinky_CMC": 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": 2, + "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_MCP_FE": 0.000247955322265625, + "left_index_PIP": 6.736462091794237e-05, + "left_pinky_CMC": 0.005354032386094332, + "left_pinky_DIP": 1.1920928955078125e-06, + "left_pinky_MCP_AA": 0.000651627779006958, + "left_pinky_MCP_FE": 0.00010360777378082275, + "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": 7.872062030012117e-11, + "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": 9.574050580107851e-11, + "multi_right_ring_DIP": 4.7734729363702044e-11, + "multi_right_ring_MCP_AA": 0.46329352259635925, + "multi_right_ring_MCP_FE": 0.15559950470924377, + "multi_right_ring_PIP": 0.2037496715784073, + "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": 23.766223329077995, + "joint_effort_rms": 42.47776396399208, + "joint_jerk_rms": 2368.5767748320523, + "joint_velocity_rms": 0.7354954679761523 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9989211163097732, + "mean_kinematic_grasp_stability": 0.5403897293083241, + "per_object_best_kinematic_grasp_stability": { + "obj_002_master_chef_can_2": 0.9087093086388819, + "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": 0.8888569970659174, + "mean_duration_score": 0.39886146192116356, + "mean_hold_score": 0.20290853425181854, + "mean_kinematic_stability_score": 0.08256815898444256, + "mean_legacy_gsi": 0.36891243063834617, + "mean_lift_score": 0.24138920780711826, + "mean_motion_stability_score": 0.17598477896186582 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2613, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_26_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_26_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e22df0980acfc135a7890607e5b5a3f48d45000 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_26_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/26_canned_food_tray_line_arrangement.yaml", "episode_index": 6, "seed": 202600005, "success": false, "steps": 2613, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202600005, "base_seed": 202600000, "seed_policy": "episode_seed = base_seed + episode_index - 1", 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0.07811208652436266, 0.7292824145797407], "spawn_yaw_deg": 232.55149333610296, "obj_id": "distractor_01_clutter_018_plum"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_130_tray_1": {"position": [0.0, 0.2, 0.7290252434235094], "rpy_deg": [90.0, 0.0, 0.0]}, "obj_002_master_chef_can_2": {"position": [-0.406108853444847, 0.3965778506195559, 0.7291935408774729], "rpy_deg": [0.0, 0.0, 4.805824130430542]}, "obj_171_msg_3": {"position": [-0.26089567237070826, 0.18341705650560441, 0.72902523662942], "rpy_deg": [90.0, 0.0, 8.588428637459511]}, "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": 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": 1.0, "normalized_progress_score": 1.0, "chain_depth_progress_score": 1.0, "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": 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": 0.7051446642538695, "per_object_best_kinematic_grasp_stability": {"obj_002_master_chef_can_2": 0.9944386868174689, "obj_010_potted_meat_can_5": 0.6653385637278231, "obj_151_milk_box_4": 0.9999111405564959, "obj_171_msg_3": 0.99927435809159}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.48332212634870053, "mean_kinematic_stability_score": 0.24516797836763887, "mean_lift_score": 0.3476846536548029, "mean_hold_score": 0.30494642173746694, "mean_motion_stability_score": 0.27883958391986446, "mean_duration_score": 0.5682006633499167, "mean_anti_slip_score": 0.9786962622783228}, "robot_motion_metrics": {"joint_velocity_rms": 0.8791148354902202, "joint_acceleration_rms": 18.9085306766377, "joint_jerk_rms": 1951.3252991972552, "joint_effort_rms": 34.75766411489758}, "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_index_MCP_FE": 0.0001255124807357788, "left_index_PIP": 3.052763713640161e-05, "left_pinky_CMC": 0.0009897237177938223, "left_pinky_DIP": 2.0265579223632812e-06, "left_pinky_MCP_FE": 1.652538776397705e-05, "multi_right_index_DIP": 1.0969534308680196e-10, "multi_right_middle_DIP": 4.767403485872457e-11, "multi_right_middle_PIP": 2.988114200519476e-10, "multi_right_pinky_CMC": 0.0004254656087141484, "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": 1.1866088667211727e-10}, "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": 0.0012014210224151611, "max_joint_limit_excess_joint": "multi_right_ring_MCP_AA", "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": 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": 0.0012014210224151611, "max_joint_limit_excess_joint": "multi_right_ring_MCP_AA", "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": false, "place_can_3": false, "place_can_4": false}, "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": 30, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2613, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_26_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_26_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..230e9cdeeac04255bc589799c363e1e2577e5b4b --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_26_episode_06/summary.json @@ -0,0 +1,193 @@ +{ + "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": 2613, + "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": 0.25, + "current_chain_depth_progress_score": 0.5, + "latched_chain_depth_progress_score": 1.0, + "avg_current_chain_depth": 1, + "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": 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": 0.0012014210224151611, + "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_FE": 0.0001255124807357788, + "left_index_PIP": 3.052763713640161e-05, + "left_pinky_CMC": 0.0009897237177938223, + "left_pinky_DIP": 2.0265579223632812e-06, + "left_pinky_MCP_FE": 1.652538776397705e-05, + "multi_right_index_DIP": 1.0969534308680196e-10, + "multi_right_middle_DIP": 4.767403485872457e-11, + "multi_right_middle_PIP": 2.988114200519476e-10, + "multi_right_pinky_CMC": 0.0004254656087141484, + "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": 1.1866088667211727e-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": 18.9085306766377, + "joint_effort_rms": 34.75766411489758, + "joint_jerk_rms": 1951.3252991972552, + "joint_velocity_rms": 0.8791148354902202 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9999111405564959, + "mean_kinematic_grasp_stability": 0.7051446642538695, + "per_object_best_kinematic_grasp_stability": { + "obj_002_master_chef_can_2": 0.9944386868174689, + "obj_010_potted_meat_can_5": 0.6653385637278231, + "obj_151_milk_box_4": 0.9999111405564959, + "obj_171_msg_3": 0.99927435809159 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9786962622783228, + "mean_duration_score": 0.5682006633499167, + "mean_hold_score": 0.30494642173746694, + "mean_kinematic_stability_score": 0.24516797836763887, + "mean_legacy_gsi": 0.48332212634870053, + "mean_lift_score": 0.3476846536548029, + "mean_motion_stability_score": 0.27883958391986446 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2613, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_26_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_26_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..acd26d08159a493fa296253c04abae48e64ab3fd --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_26_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/26_canned_food_tray_line_arrangement.yaml", "episode_index": 7, "seed": 202600006, "success": false, "steps": 2613, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202600006, "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": 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", 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{"left_index_MCP_FE": 0.010401219129562378, "left_index_PIP": 7.132008704502368e-06, "left_pinky_CMC": 0.001377795939333737, "left_pinky_DIP": 1.0728836059570312e-06, "left_pinky_MCP_FE": 2.2545456886291504e-05, "multi_right_index_DIP": 1.0969502389768238e-10, "multi_right_middle_DIP": 7.87203219276833e-11, "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": 0.0007158219814300537, "multi_right_pinky_PIP": 9.579707166418316e-11, "multi_right_ring_DIP": 4.7706633782285124e-11, "multi_right_ring_MCP_AA": 0.0009028911590576172, "multi_right_ring_PIP": 1.1422931350812959e-10, "multi_right_thumb_CMC_AA": 0.08076256513595581, "multi_right_thumb_IP": 1.2065108634384814e-10}, "joint_limit_baseline_checks": [{"phase": "post_reset", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}, {"phase": "post_home", 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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": 245, "joint_limit_hard_episode_events": 3, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.08076256513595581, "max_joint_limit_excess_joint": "multi_right_thumb_CMC_AA", "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": 245, "joint_limit_active_step_rate": 0.09376195943360123, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.08076256513595581, "max_joint_limit_excess_joint": "multi_right_thumb_CMC_AA", "stage_completion": {"place_can_1": true, "place_can_2": true, "place_can_3": true, "place_can_4": false}, "current_stage_completion": {"place_can_1": true, "place_can_2": true, "place_can_3": true, "place_can_4": false}, "stage_first_completion_step": {"place_can_1": 596, "place_can_2": 1170, "place_can_3": 1781, "place_can_4": null}, "violation_counts": {}, "policy_query_count": 27, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2613, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_26_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_26_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0e743c19b626c4bf7f53d8e68568230ac8a53406 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_26_episode_07/summary.json @@ -0,0 +1,201 @@ +{ + "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": 2613, + "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": 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": 0.0, + "joint_limit_active_step_rate": 0.09376195943360123, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.08076256513595581, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_MCP_FE": 1, + "multi_right_pinky_CMC": 1, + "multi_right_thumb_CMC_AA": 243 + }, + "joint_limit_hard_counts": { + "left_index_MCP_FE": 1, + "multi_right_pinky_CMC": 1, + "multi_right_thumb_CMC_AA": 1 + }, + "joint_limit_hard_episode_events": 3, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_index_MCP_FE": 0.010401219129562378, + "left_index_PIP": 7.132008704502368e-06, + "left_pinky_CMC": 0.001377795939333737, + "left_pinky_DIP": 1.0728836059570312e-06, + "left_pinky_MCP_FE": 2.2545456886291504e-05, + "multi_right_index_DIP": 1.0969502389768238e-10, + "multi_right_middle_DIP": 7.87203219276833e-11, + "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": 0.0007158219814300537, + "multi_right_pinky_PIP": 9.579707166418316e-11, + "multi_right_ring_DIP": 4.7706633782285124e-11, + "multi_right_ring_MCP_AA": 0.0009028911590576172, + "multi_right_ring_PIP": 1.1422931350812959e-10, + "multi_right_thumb_CMC_AA": 0.08076256513595581, + "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": 18.039320192220938, + "joint_effort_rms": 32.53051526637944, + "joint_jerk_rms": 1838.71568259371, + "joint_velocity_rms": 0.8222619523293784 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9995177368528764, + "mean_kinematic_grasp_stability": 0.5352129375313379, + "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": 0.997237408337003, + "obj_171_msg_3": 0.9751743334342311 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7661372624059191, + "mean_duration_score": 0.5090891695369307, + "mean_hold_score": 0.1135763490241104, + "mean_kinematic_stability_score": 0.05192364319333876, + "mean_legacy_gsi": 0.3186874112477551, + "mean_lift_score": 0.14360887868350555, + "mean_motion_stability_score": 0.09616362132651673 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2613, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_26_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_26_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7edace3473a3216366e538e1d425f44e7da1b3d --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_26_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/26_canned_food_tray_line_arrangement.yaml", "episode_index": 8, "seed": 202600007, "success": false, "steps": 2613, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202600007, "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": 270.0, "base_yaw_deg": -90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan315", 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"position_jitter_m": 0.02, "yaw_jitter_deg": 10.0}, "table_height": {"enabled": true, "height_offset_m": 0.04957535376301721, "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": [-0.0020965141722293647, 0.00079233909794764, -0.004448488754370634], "target_offset_m": [-0.002680043700840926, -0.004343082572609968, -3.935390049935716e-05], "distance_offset_m": -0.0202026793329974, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.24037329025972376, 0.6758892477616785, 0.4176262430053921], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.0006594367609420093, 0.0036667739696339017, 0.0001872455143117173], "target_offset_m": [-0.0014634779647302153, -0.002246074771808011, -0.0015603463843165224], "distance_offset_m": 0.016712174015136624, "offset_xyz_offset_m": 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"asset_id": "clutter_006_mustard_bottle", "asset_split": "unseen", "spawn_position": [-0.8948673861546454, -0.0014102830630069452, 0.8022429602793458], "spawn_yaw_deg": 20.52665959445859, "obj_id": "distractor_00_clutter_006_mustard_bottle"}, {"name": "clutter_035_power_drill", "uri": "dex2bench_dataset/Objects/035_power_drill/usd_decomposition_linux/textured.usd", "scale": [0.9444509990634886, 0.9444509990634886, 0.9444509990634886], "body_type": "dynamic", "category": "tool", "asset_code": "035", "asset_id": "clutter_035_power_drill", "asset_split": "unseen", "spawn_position": [0.8453454626759858, 0.0934541369019305, 0.8025720967324236], "spawn_yaw_deg": 177.6785994329821, "obj_id": "distractor_01_clutter_035_power_drill"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_130_tray_1": {"position": [0.0, 0.2, 0.7995753563070941], "rpy_deg": [90.0, 0.0, 0.0]}, "obj_002_master_chef_can_2": {"position": [-0.3894463516869297, 0.3846066922594196, 0.7997436537610576], "rpy_deg": [0.0, 0.0, 1.0763050739033613]}, "obj_171_msg_3": {"position": [-0.2657683533446722, 0.18385598115528815, 0.7995753495130047], "rpy_deg": [90.0, 0.0, -0.9774046357460477]}, "obj_151_milk_box_4": {"position": [0.14, 0.38, 0.7995753567749668], "rpy_deg": [90.0, 0.0, 5.430013077120698]}, "obj_010_potted_meat_can_5": {"position": [0.3909547751441569, 0.2599256955870656, 0.8027633538236352], "rpy_deg": [0.0, 0.0, 91.89215453957476]}}, "_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": 0.9994057167068596, "mean_kinematic_grasp_stability": 0.7530545373119756, "per_object_best_kinematic_grasp_stability": {"obj_002_master_chef_can_2": 0.9980202612212087, "obj_010_potted_meat_can_5": 0.9994057167068596, "obj_151_milk_box_4": 0.9978027474778115, "obj_171_msg_3": 0.997930193948878}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4199450868803286, "mean_kinematic_stability_score": 0.23055630686933812, "mean_lift_score": 0.3061615001913509, "mean_hold_score": 0.2598784921546129, "mean_motion_stability_score": 0.2505838991770356, "mean_duration_score": 0.3607666794233958, "mean_anti_slip_score": 0.9678849343028259}, "robot_motion_metrics": {"joint_velocity_rms": 0.6777401724851997, "joint_acceleration_rms": 20.960052825284905, "joint_jerk_rms": 2088.110881185049, "joint_effort_rms": 45.328761756153185}, "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_pinky_CMC": 55, "left_pinky_MCP_FE": 19, "multi_right_pinky_CMC": 17}, "joint_limit_hard_counts": {"left_pinky_CMC": 2, "left_pinky_MCP_FE": 1, "multi_right_pinky_CMC": 3}, "finger_joint_limit_saturation_counts": {"left_pinky_CMC": 44, "left_pinky_MCP_FE": 11}, "joint_limit_max_excess_by_joint": {"A5": 1.3828277587890625e-05, "left_index_MCP_FE": 0.00013597309589385986, "left_index_PIP": 0.00014018648653291166, "left_pinky_CMC": 1.6369332075119019, "left_pinky_DIP": 4.124641418457031e-05, "left_pinky_MCP_FE": 0.2908959984779358, "multi_right_index_DIP": 1.0969481573086526e-10, "multi_right_index_PIP": 1.1484212886214706e-10, "multi_right_middle_DIP": 7.872084928362e-11, "multi_right_middle_PIP": 2.988114200519476e-10, "multi_right_pinky_CMC": 0.18997985124588013, "multi_right_pinky_DIP": 0.00013327598571777344, "multi_right_pinky_MCP_AA": 2.422928810119629e-05, "multi_right_pinky_PIP": 9.578608739513328e-11, "multi_right_ring_DIP": 4.771916195522863e-11, "multi_right_ring_MCP_AA": 0.0004902780055999756, "multi_right_ring_PIP": 1.6219288412333555e-10, "multi_right_thumb_IP": 1.1859178916662216e-10}, "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": 1456, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_pinky_CMC", "role": "finger", "qpos": 0.2877889573574066, "hard_excess_rad": 0.025988996028900146, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "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": [-2.3183481693267822, -0.7403470277786255, 1.5700000524520874, 0.43271228671073914, -1.5700000524520874, -1.7823091745376587, 7.858501176183363e-12, -0.4862055778503418, -1.5700000524520874, -0.47017720341682434, 4.74561015484376e-11, -0.1490449458360672, 5.064850205904747e-10, -3.4687017147483346e-10, 0.3195348381996155, 0.4258066713809967, 0.5336936712265015, 1.0105594396591187, 0.018198397010564804, -0.06282650679349899, 0.3042409420013428, -0.30534157156944275, 0.013005971908569336, 8.874194157293402e-10, 3.7658381968341814e-10, 5.768007182993529e-10, 5.037971428922816e-11, 0.13911253213882446, 0.2946763038635254, -0.3421922028064728, 0.39834922552108765, 0.4667966663837433, 8.201106894284438e-13, 1.6657903355310477e-12, -7.777101185268975e-10, -1.9468496259555934e-11, 3.744146381823299e-10, 1.25704824924469, 1.1119123697280884, 0.9914061427116394, 0.9712805151939392, 2.92808471913375e-10, 0.0, -4.4761763740019944e-11, 8.299786552479205e-11, 2.993507941528861e-10, 1.2609989643096924, 0.5595911741256714, 0.0, 7.654427092163019e-11, 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": [-2.3183481693267822, -0.7403470277786255, 1.5700000524520874, 0.43271228671073914, -1.5700000524520874, -1.7823091745376587, 7.858501176183363e-12, -0.4862055778503418, -1.5700000524520874, -0.47017720341682434, 4.74561015484376e-11, -0.1490449458360672, 5.064850205904747e-10, -3.4687017147483346e-10, 0.3195348381996155, 0.4258066713809967, 0.0, 0.5336936712265015, 1.0105594396591187, 0.018198397010564804, -0.06282650679349899, 0.3042409420013428, -0.30534157156944275, 0.013005971908569336, 8.874194157293402e-10, 3.7658381968341814e-10, 0.0, 5.768007182993529e-10, 5.037971428922816e-11, 0.13911253213882446, 0.2946763038635254, -0.3421922028064728, 0.39834922552108765, 0.4667966663837433, 8.201106894284438e-13, 1.6657903355310477e-12, -7.777101185268975e-10, -1.9468496259555934e-11, 3.744146381823299e-10, 1.25704824924469, 1.1119123697280884, 0.9914061427116394, 0.9712805151939392, 0.0, 2.92808471913375e-10, 0.0, -4.4761763740019944e-11, 8.299786552479205e-11, 2.993507941528861e-10, 1.2609989643096924, 0.5595911741256714, 0.0, 7.654427092163019e-11, 3.683971183665591e-11, 2.0341735240680947e-11, 0.0, 8.260812173199739e-12, 0.0], "shielded_full_target": [-2.3183481693267822, -0.7403470277786255, 1.5700000524520874, 0.43271228671073914, -1.5700000524520874, -1.7823091745376587, 7.858501176183363e-12, -0.4862055778503418, -1.5700000524520874, -0.47017720341682434, 4.74561015484376e-11, -0.1490449458360672, 5.064850205904747e-10, -3.4687017147483346e-10, 0.3195348381996155, 0.4258066713809967, 0.0, 0.5336936712265015, 1.0105594396591187, 0.018198397010564804, -0.06282650679349899, 0.3042409420013428, -0.30534157156944275, 0.013005971908569336, 8.874194157293402e-10, 3.7658381968341814e-10, 0.0, 5.768007182993529e-10, 5.037971428922816e-11, 0.13911253213882446, 0.2946763038635254, -0.3421922028064728, 0.39834922552108765, 0.4667966663837433, 8.201106894284438e-13, 1.6657903355310477e-12, -7.777101185268975e-10, -1.9468496259555934e-11, 3.744146381823299e-10, 1.25704824924469, 1.1119123697280884, 0.9914061427116394, 0.9712805151939392, 0.0, 2.92808471913375e-10, 0.0, -4.4761763740019944e-11, 8.299786552479205e-11, 2.993507941528861e-10, 1.2609989643096924, 0.5595911741256714, 0.0, 7.654427092163019e-11, 3.683971183665591e-11, 2.0341735240680947e-11, 0.0, 8.260812173199739e-12, 0.0]}, "joint_limit_active_steps": 78, "joint_limit_hard_episode_events": 4, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 52, "max_joint_limit_excess_rad": 1.6369332075119019, "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": 78, "joint_limit_active_step_rate": 0.029850746268656716, "finger_joint_limit_saturation_steps": 52, "finger_joint_limit_saturation_step_rate": 0.01990049751243781, "max_joint_limit_excess_rad": 1.6369332075119019, "max_joint_limit_excess_joint": "left_pinky_CMC", "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": 989, "place_can_2": null, "place_can_3": null, "place_can_4": null}, "violation_counts": {}, "policy_query_count": 18, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2613, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_26_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_26_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1844d6a6d46956eb4a8538c14b032a7ad9facd3d --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_26_episode_08/summary.json @@ -0,0 +1,205 @@ +{ + "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": 2613, + "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": 0.029850746268656716, + "finger_joint_limit_saturation_step_rate": 0.01990049751243781, + "max_joint_limit_excess_rad": 1.6369332075119019, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_pinky_CMC": 55, + "left_pinky_MCP_FE": 19, + "multi_right_pinky_CMC": 17 + }, + "joint_limit_hard_counts": { + "left_pinky_CMC": 2, + "left_pinky_MCP_FE": 1, + "multi_right_pinky_CMC": 3 + }, + "joint_limit_hard_episode_events": 4, + "finger_joint_limit_saturation_counts": { + "left_pinky_CMC": 44, + "left_pinky_MCP_FE": 11 + }, + "joint_limit_max_excess_by_joint": { + "A5": 1.3828277587890625e-05, + "left_index_MCP_FE": 0.00013597309589385986, + "left_index_PIP": 0.00014018648653291166, + "left_pinky_CMC": 1.6369332075119019, + "left_pinky_DIP": 4.124641418457031e-05, + "left_pinky_MCP_FE": 0.2908959984779358, + "multi_right_index_DIP": 1.0969481573086526e-10, + "multi_right_index_PIP": 1.1484212886214706e-10, + "multi_right_middle_DIP": 7.872084928362e-11, + "multi_right_middle_PIP": 2.988114200519476e-10, + "multi_right_pinky_CMC": 0.18997985124588013, + "multi_right_pinky_DIP": 0.00013327598571777344, + "multi_right_pinky_MCP_AA": 2.422928810119629e-05, + "multi_right_pinky_PIP": 9.578608739513328e-11, + "multi_right_ring_DIP": 4.771916195522863e-11, + "multi_right_ring_MCP_AA": 0.0004902780055999756, + "multi_right_ring_PIP": 1.6219288412333555e-10, + "multi_right_thumb_IP": 1.1859178916662216e-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": 20.960052825284905, + "joint_effort_rms": 45.328761756153185, + "joint_jerk_rms": 2088.110881185049, + "joint_velocity_rms": 0.6777401724851997 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9994057167068596, + "mean_kinematic_grasp_stability": 0.7530545373119756, + "per_object_best_kinematic_grasp_stability": { + "obj_002_master_chef_can_2": 0.9980202612212087, + "obj_010_potted_meat_can_5": 0.9994057167068596, + "obj_151_milk_box_4": 0.9978027474778115, + "obj_171_msg_3": 0.997930193948878 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9678849343028259, + "mean_duration_score": 0.3607666794233958, + "mean_hold_score": 0.2598784921546129, + "mean_kinematic_stability_score": 0.23055630686933812, + "mean_legacy_gsi": 0.4199450868803286, + "mean_lift_score": 0.3061615001913509, + "mean_motion_stability_score": 0.2505838991770356 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2613, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_26_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_26_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4887906222e3b60ae16fe0b3aeb28efa07144f59 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_26_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/26_canned_food_tray_line_arrangement.yaml", "episode_index": 9, "seed": 202600008, "success": false, "steps": 2613, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202600008, "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": "FloorPlan20", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan20_physics/scene.usda", "scene_offset": [0.08, 1.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_carpet_carpet1080_jpg", "asset_uri": "dex2bench_dataset/textures/carpet/carpet1080.jpg", "asset_category": "carpet", "asset_id": "carpet/carpet1080.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 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96.5363904954161]}}, "_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": 0.9981484959026851, "mean_kinematic_grasp_stability": 0.5903941914733446, "per_object_best_kinematic_grasp_stability": {"obj_002_master_chef_can_2": 0.8745740167655685, "obj_010_potted_meat_can_5": 0.9390519460542516, "obj_151_milk_box_4": 0.9869612370475987, "obj_171_msg_3": 0.9981484959026851}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.46516666609725504, "mean_kinematic_stability_score": 0.13319455640012884, "mean_lift_score": 0.41389207807118256, "mean_hold_score": 0.387083811710677, "mean_motion_stability_score": 0.3479731564628136, "mean_duration_score": 0.4741580558744755, "mean_anti_slip_score": 0.7643832121444434}, "robot_motion_metrics": {"joint_velocity_rms": 0.7960529801931399, "joint_acceleration_rms": 17.49519080224445, "joint_jerk_rms": 1812.718417745422, "joint_effort_rms": 37.28932903716414}, "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": {"left_index_MCP_FE": 0.00011487305164337158, "left_index_PIP": 8.775328751653433e-06, "left_pinky_CMC": 0.0009873576927930117, "left_pinky_DIP": 1.5497207641601562e-06, "left_pinky_MCP_FE": 4.433095455169678e-05, "multi_right_index_DIP": 1.0969530145343853e-10, "multi_right_index_PIP": 1.6545110767540727e-11, "multi_right_middle_DIP": 7.872003743303324e-11, "multi_right_middle_PIP": 2.988114200519476e-10, "multi_right_pinky_CMC": 0.0004625620786100626, "multi_right_pinky_DIP": 4.76837158203125e-07, "multi_right_pinky_MCP_AA": 0.0007260441780090332, "multi_right_pinky_PIP": 9.574614018292849e-11, "multi_right_ring_DIP": 4.773850065253882e-11, "multi_right_ring_MCP_AA": 0.0009836852550506592, "multi_right_ring_PIP": 8.208113355667734e-11, "multi_right_thumb_IP": 1.1881993999818263e-10}, "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": 0.0009873576927930117, "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": 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": 0.0009873576927930117, "max_joint_limit_excess_joint": "left_pinky_CMC", "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": 716, "place_can_2": null, "place_can_3": null, "place_can_4": null}, "violation_counts": {}, "policy_query_count": 14, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2613, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_26_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_26_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..6a343308c63330dc6f99ccfe8c52de6887614f07 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_26_episode_09/summary.json @@ -0,0 +1,193 @@ +{ + "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": 2613, + "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": 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": 0.0009873576927930117, + "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_FE": 0.00011487305164337158, + "left_index_PIP": 8.775328751653433e-06, + "left_pinky_CMC": 0.0009873576927930117, + "left_pinky_DIP": 1.5497207641601562e-06, + "left_pinky_MCP_FE": 4.433095455169678e-05, + "multi_right_index_DIP": 1.0969530145343853e-10, + "multi_right_index_PIP": 1.6545110767540727e-11, + "multi_right_middle_DIP": 7.872003743303324e-11, + "multi_right_middle_PIP": 2.988114200519476e-10, + "multi_right_pinky_CMC": 0.0004625620786100626, + "multi_right_pinky_DIP": 4.76837158203125e-07, + "multi_right_pinky_MCP_AA": 0.0007260441780090332, + "multi_right_pinky_PIP": 9.574614018292849e-11, + "multi_right_ring_DIP": 4.773850065253882e-11, + "multi_right_ring_MCP_AA": 0.0009836852550506592, + "multi_right_ring_PIP": 8.208113355667734e-11, + "multi_right_thumb_IP": 1.1881993999818263e-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": 17.49519080224445, + "joint_effort_rms": 37.28932903716414, + "joint_jerk_rms": 1812.718417745422, + "joint_velocity_rms": 0.7960529801931399 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9981484959026851, + "mean_kinematic_grasp_stability": 0.5903941914733446, + "per_object_best_kinematic_grasp_stability": { + "obj_002_master_chef_can_2": 0.8745740167655685, + "obj_010_potted_meat_can_5": 0.9390519460542516, + "obj_151_milk_box_4": 0.9869612370475987, + "obj_171_msg_3": 0.9981484959026851 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7643832121444434, + "mean_duration_score": 0.4741580558744755, + "mean_hold_score": 0.387083811710677, + "mean_kinematic_stability_score": 0.13319455640012884, + "mean_legacy_gsi": 0.46516666609725504, + "mean_lift_score": 0.41389207807118256, + "mean_motion_stability_score": 0.3479731564628136 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2613, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_26_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_26_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8bfc90d516b593e8cf2f6588e4a2cd434868bde7 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_26_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/26_canned_food_tray_line_arrangement.yaml", "episode_index": 10, "seed": 202600009, "success": false, "steps": 2613, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202600009, "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": "FloorPlan219", 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"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_index_MCP_FE": 0.0001690685749053955, "left_index_PIP": 9.947153557732236e-06, "left_pinky_CMC": 0.0013489205157384276, "left_pinky_DIP": 2.1457672119140625e-06, "left_pinky_MCP_AA": 0.0005603134632110596, "left_pinky_MCP_FE": 4.582107067108154e-05, "multi_right_index_DIP": 1.0969497532542505e-10, "multi_right_middle_DIP": 7.866901574615781e-11, "multi_right_middle_PIP": 1.7483847702948196e-10, "multi_right_pinky_CMC": 0.0006771121989004314, "multi_right_pinky_DIP": 3.814697265625e-05, "multi_right_pinky_MCP_AA": 0.0009189248085021973, "multi_right_pinky_PIP": 9.578705884027983e-11, "multi_right_ring_DIP": 4.7682108261781764e-11, "multi_right_ring_MCP_AA": 0.0011016130447387695, "multi_right_ring_PIP": 7.687524228305875e-11, "multi_right_thumb_IP": 1.193271037536192e-10}, "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": 0.0013489205157384276, "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": 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": 0.0013489205157384276, "max_joint_limit_excess_joint": "left_pinky_CMC", "stage_completion": {"place_can_1": true, "place_can_2": true, "place_can_3": false, "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": 575, "place_can_2": 1069, "place_can_3": null, "place_can_4": 2356}, "violation_counts": {}, "policy_query_count": 17, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2613, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_26_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_26_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4a2ea565551c14e72c51da381cd021e038b7f85f --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_26_episode_10/summary.json @@ -0,0 +1,193 @@ +{ + "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": 2613, + "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": 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": 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": 0.0013489205157384276, + "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_FE": 0.0001690685749053955, + "left_index_PIP": 9.947153557732236e-06, + "left_pinky_CMC": 0.0013489205157384276, + "left_pinky_DIP": 2.1457672119140625e-06, + "left_pinky_MCP_AA": 0.0005603134632110596, + "left_pinky_MCP_FE": 4.582107067108154e-05, + "multi_right_index_DIP": 1.0969497532542505e-10, + "multi_right_middle_DIP": 7.866901574615781e-11, + "multi_right_middle_PIP": 1.7483847702948196e-10, + "multi_right_pinky_CMC": 0.0006771121989004314, + "multi_right_pinky_DIP": 3.814697265625e-05, + "multi_right_pinky_MCP_AA": 0.0009189248085021973, + "multi_right_pinky_PIP": 9.578705884027983e-11, + "multi_right_ring_DIP": 4.7682108261781764e-11, + "multi_right_ring_MCP_AA": 0.0011016130447387695, + "multi_right_ring_PIP": 7.687524228305875e-11, + "multi_right_thumb_IP": 1.193271037536192e-10 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + 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{"place_can_1": 570, "place_can_2": null, "place_can_3": null, "place_can_4": null}, "violation_counts": {"drop_to_table_obj_002_master_chef_can_2": 1}, "policy_query_count": 18, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2613, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_26_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_26_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1e49499487b78e58d1d5d52a8c4d55a4fcbbd6ce --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_26_episode_11/summary.json @@ -0,0 +1,201 @@ +{ + "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": 2613, + "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": 0.0003827018752391887 + }, + "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": 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": 0.0003827018752391887, + "violation_counts": { + "drop_to_table_obj_002_master_chef_can_2": 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": 0.0076983096078038216, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": { + "left_pinky_CMC": 1 + }, + "joint_limit_hard_episode_events": 1, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_index_MCP_FE": 0.00010231137275695801, + "left_index_PIP": 0.00010964359535137191, + "left_middle_PIP": 5.984597737551667e-05, + "left_pinky_CMC": 0.0076983096078038216, + "left_pinky_DIP": 4.6774202928645536e-05, + "left_pinky_MCP_FE": 4.1618943214416504e-05, + "left_pinky_PIP": 0.00024309821310453117, + "left_ring_DIP": 5.443812187877484e-05, + "left_ring_PIP": 0.00024855288211256266, + "left_thumb_CMC_AA": 0.0033279061317443848, + "multi_right_index_DIP": 1.0969501695878847e-10, + "multi_right_middle_DIP": 3.685032140543498e-11, + "multi_right_middle_PIP": 2.988149450100508e-10, + "multi_right_pinky_CMC": 0.0012676221085712314, + "multi_right_pinky_DIP": 5.245208740234375e-06, + "multi_right_pinky_MCP_AA": 0.0009668469429016113, + "multi_right_pinky_PIP": 9.57053256089857e-11, + "multi_right_ring_DIP": 4.773564182825041e-11, + "multi_right_ring_MCP_AA": 0.0012203454971313477, + "multi_right_ring_PIP": 2.2342707545197626e-11, + "multi_right_thumb_IP": 1.202331567640158e-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": 24.27944885066445, + "joint_effort_rms": 48.58539159026693, + "joint_jerk_rms": 2490.012793533372, + "joint_velocity_rms": 1.0602792233332474 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9875344575324946, + "mean_kinematic_grasp_stability": 0.3843780231281859, + "per_object_best_kinematic_grasp_stability": { + "obj_002_master_chef_can_2": 0.8752389205645037, + "obj_010_potted_meat_can_5": 0.5357734311587427, + "obj_151_milk_box_4": 0.9875344575324946, + "obj_171_msg_3": 0.6651093156248514 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8792256665390845, + "mean_duration_score": 0.30816749585406333, + "mean_hold_score": 0.21949866054343983, + "mean_kinematic_stability_score": 0.09374087073801626, + "mean_legacy_gsi": 0.36725966598553955, + "mean_lift_score": 0.29133180252583235, + "mean_motion_stability_score": 0.20927834766871142 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2613, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_26_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_26_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7624ae1e763c98ebd91fdfdec33d4d3050a7d754 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_26_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/26_canned_food_tray_line_arrangement.yaml", "episode_index": 12, "seed": 202600011, "success": false, "steps": 2613, "metric_schema_version": 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"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": {"multi_right_index_DIP": 60, "multi_right_index_MCP_AA": 35, "multi_right_index_MCP_FE": 58, "multi_right_index_PIP": 34, "multi_right_middle_DIP": 31, "multi_right_middle_MCP_AA": 33, "multi_right_middle_MCP_FE": 57, "multi_right_middle_PIP": 15, "multi_right_pinky_MCP_FE": 1, "multi_right_ring_MCP_FE": 44, "multi_right_ring_PIP": 28, "multi_right_thumb_CMC_AA": 33, "multi_right_thumb_IP": 37, "multi_right_thumb_MCP_AA": 50, "multi_right_thumb_MCP_FE": 19}, "joint_limit_hard_counts": {"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_DIP": 1, "multi_right_middle_MCP_AA": 1, "multi_right_middle_MCP_FE": 1, 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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": 2071, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "multi_right_index_MCP_FE", "role": "finger", "qpos": -0.24841594696044922, "hard_excess_rad": 0.07388302683830261, "hard_tolerance_rad": 0.005, "hard_lower": -0.1745329201221466, "hard_upper": 1.5707999467849731, "operating_lower": -0.17453289031982422, "operating_upper": 1.5707999467849731, "expanded_target": -0.07929415255784988, "shielded_target": -0.07929415255784988}], "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", 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0.008657772094011307, 0.6348176598548889, 0.28241774439811707, 0.6677209138870239, 0.3149813115596771, 1.3941272497177124, 0.5733508467674255], "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": [-1.578855276107788, -1.5611389875411987, 0.506305992603302, 0.005393896251916885, -0.5496194958686829, -1.5747777223587036, 1.0456565618515015, -0.0028180384542793036, -1.5416630506515503, -0.0021830126643180847, -0.5171504616737366, -0.0021212673746049404, 0.09103002399206161, -0.3083849847316742, -0.0016874250723049045, -0.0006594588048756123, 0.0, -0.0011431031161919236, 0.007361837197095156, 0.0015837786486372352, 0.0014084374997764826, -0.001905519049614668, 0.0006000512512400746, -0.002207656856626272, -0.07929415255784988, 0.09762831032276154, 0.0, 0.09612273424863815, 0.6083811521530151, 0.0001116078783525154, 0.0011484387796372175, 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"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": 62, "joint_limit_active_step_rate": 0.023727516264829697, "finger_joint_limit_saturation_steps": 58, "finger_joint_limit_saturation_step_rate": 0.022196708763872943, "max_joint_limit_excess_rad": 1.7231225967407227, "max_joint_limit_excess_joint": "multi_right_index_DIP", "stage_completion": {"place_can_1": true, "place_can_2": true, "place_can_3": true, "place_can_4": false}, "current_stage_completion": {"place_can_1": false, "place_can_2": true, "place_can_3": false, "place_can_4": false}, "stage_first_completion_step": {"place_can_1": 663, "place_can_2": 1224, "place_can_3": 1648, "place_can_4": null}, "violation_counts": {}, "policy_query_count": 25, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2613, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_26_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_26_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..30432a70d2493828931d16a8e4039aa1b7cc2b4c --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_26_episode_12/summary.json @@ -0,0 +1,247 @@ +{ + "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": 2613, + "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": { + 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7.461696260868678e-10, 1.281478762626648, 0.9820825457572937, 0.8162274360656738, 0.9945873618125916, 5.849027373550086e-10, 0.0, -1.682614464426635e-10, 1.0460986937799177e-10, 4.698132993752324e-10, 1.3959784507751465, 0.6421263813972473, 0.0, 3.5028615424925746e-11, 0.0, 5.259129243206928e-11, 0.0, 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": [-1.4960544109344482, -0.46790310740470886, 1.5700000524520874, 0.04408798739314079, -1.5700000524520874, -1.2893081903457642, 1.564099717799028e-11, -0.2884885370731354, -1.5700000524520874, -0.37044990062713623, 9.49922848714202e-11, 0.08863840252161026, 1.0124343585715678e-09, -6.946846431432618e-10, -0.17447394132614136, -0.1578933149576187, 0.0, -0.16357043385505676, 0.4765506386756897, 0.13543283939361572, 0.13982827961444855, -0.1745075136423111, 0.0896158292889595, -0.12736259400844574, 1.7744763436411404e-09, 8.036251664123029e-10, 0.0, 7.247884514782754e-10, 1.2275061522792896e-10, 1.282901166632655e-06, 0.13775956630706787, 0.04803285002708435, 0.22481493651866913, 0.4133205711841583, 1.5020831800605094e-12, 4.333553915020216e-12, -1.8734251927554624e-09, -4.083867272131059e-11, 7.461696260868678e-10, 1.281478762626648, 0.9820825457572937, 0.8162274360656738, 0.9945873618125916, 0.0, 5.849027373550086e-10, 0.0, -1.682614464426635e-10, 1.0460986937799177e-10, 4.698132993752324e-10, 1.3959784507751465, 0.6421263813972473, 0.0, 3.5028615424925746e-11, 0.0, 5.259129243206928e-11, 0.0, 0.0, 0.0], "shielded_full_target": [-1.4960544109344482, -0.46790310740470886, 1.5700000524520874, 0.04408798739314079, -1.5700000524520874, -1.2893081903457642, 1.564099717799028e-11, -0.2884885370731354, -1.5700000524520874, -0.37044990062713623, 9.49922848714202e-11, 0.08863840252161026, 1.0124343585715678e-09, -6.946846431432618e-10, -0.17447394132614136, 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"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": 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": 0.005443066358566284, "max_joint_limit_excess_joint": "left_index_MCP_FE", "stage_completion": {"place_can_1": true, "place_can_2": true, "place_can_3": false, "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": 587, "place_can_2": 1170, "place_can_3": null, "place_can_4": 2397}, "violation_counts": {}, "policy_query_count": 20, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2613, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_26_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_26_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..c5bca1738a5a2af95cef11cb948485d7dd257116 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_26_episode_13/summary.json @@ -0,0 +1,195 @@ +{ + "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": 2613, + "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": 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": 0.0, + "joint_limit_active_step_rate": 0.0, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.005443066358566284, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": { + "left_index_MCP_FE": 1 + }, + "joint_limit_hard_episode_events": 1, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_index_MCP_FE": 0.005443066358566284, + "left_index_PIP": 2.5279761757701635e-05, + "left_middle_MCP_FE": 0.0015854686498641968, + "left_pinky_CMC": 0.000780239119194448, + "left_pinky_DIP": 8.344650268554688e-07, + "left_pinky_MCP_FE": 1.537799835205078e-05, + "multi_right_index_DIP": 1.0969507940883361e-10, + "multi_right_middle_DIP": 7.872349300219739e-11, + "multi_right_middle_PIP": 2.988114200519476e-10, + "multi_right_pinky_CMC": 0.00046529053361155093, + "multi_right_pinky_DIP": 8.344650268554688e-07, + "multi_right_pinky_MCP_AA": 0.0006683766841888428, + "multi_right_pinky_PIP": 9.58083196112014e-11, + "multi_right_ring_DIP": 4.77389135167261e-11, + "multi_right_ring_MCP_AA": 0.0007615387439727783, + "multi_right_ring_PIP": 1.1680357602017466e-05, + "multi_right_thumb_IP": 1.1986936443442175e-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": 16.901662158012385, + "joint_effort_rms": 30.788920782253857, + "joint_jerk_rms": 1745.4068489679648, + "joint_velocity_rms": 0.8330431535446916 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9989170786684842, + "mean_kinematic_grasp_stability": 0.6320724645585494, + "per_object_best_kinematic_grasp_stability": { + "obj_002_master_chef_can_2": 0.8280669596966952, + "obj_010_potted_meat_can_5": 0.6474094495958043, + "obj_151_milk_box_4": 0.9989170786684842, + "obj_171_msg_3": 0.8480944092250122 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8617489475698187, + "mean_duration_score": 0.47093698175788634, + "mean_hold_score": 0.1468857634902425, + "mean_kinematic_stability_score": 0.11205800581965097, + "mean_legacy_gsi": 0.35149759481700443, + "mean_lift_score": 0.17728664370455416, + "mean_motion_stability_score": 0.13256469558966047 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2613, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_26_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_26_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c749555269278fef510adf4ec9260f779715bfa --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_26_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/26_canned_food_tray_line_arrangement.yaml", "episode_index": 14, "seed": 202600013, "success": false, "steps": 2613, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202600013, "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": 90.0, "base_yaw_deg": 90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan10", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan10_physics/scene.usda", "scene_offset": [-0.73022, 0.88397, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_wood_wood1696_jpg", "asset_uri": "dex2bench_dataset/textures/wood/wood1696.jpg", "asset_category": "wood", "asset_id": "wood/wood1696.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1102.6127654714326, "color": [0.8475288230236211, 0.9697550640169557, 0.6416085750309298], "pitch_deg": -18.919403018334314, "yaw_deg": -48.73744716701102, "angle_deg": 0.8694806716258798}, "dome": {"intensity": 234.274830354433, "color": [0.8754046153140406, 0.8572663127803108, 0.9498362616360323], "exposure": -0.0319716384575055}, "profile_name": "", "profile_split": "", "profile_pool_size": 0}}, "spatial": {"object_pose": 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"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": [-0.5910474061965942, -1.3658695220947266, 2.0455756187438965, -0.9430363774299622, -0.6670299768447876, -2.0035104751586914, -0.2978321313858032, -0.07232141494750977, -1.6927456855773926, -0.093050017952919, -0.3777046501636505, 0.13511960208415985, -0.5664426684379578, 0.6200822591781616, -0.1745329201221466, -0.08359416574239731, -0.10479848831892014, 0.5131873488426208, 0.11795690655708313, 0.10435757040977478, -0.1745329201221466, 0.04406409338116646, -0.16310922801494598, 0.6161528825759888, 0.8322048187255859, 1.0546376705169678, 1.002483606338501, 0.00014335538435261697, 0.07194162905216217, -0.00998098123818636, 0.21753139793872833, 0.41614416241645813, -0.18097138404846191, 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"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": [-0.5910474061965942, -1.3658695220947266, 2.0455756187438965, -0.9430363774299622, -0.6670299768447876, -2.0035104751586914, -0.2978321313858032, -0.07232141494750977, -1.6927456855773926, -0.093050017952919, -0.3777046501636505, 0.13511960208415985, -0.5664426684379578, 0.6200822591781616, -0.1745329201221466, -0.08359416574239731, 0.0, -0.10479848831892014, 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"joint_limit_hard_episode_events": 1, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 17, "max_joint_limit_excess_rad": 0.3349069654941559, "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": 35, "joint_limit_active_step_rate": 0.013394565633371604, "finger_joint_limit_saturation_steps": 17, "finger_joint_limit_saturation_step_rate": 0.006505931879066207, "max_joint_limit_excess_rad": 0.3349069654941559, "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": false}, "current_stage_completion": {"place_can_1": true, "place_can_2": true, "place_can_3": false, "place_can_4": false}, "stage_first_completion_step": {"place_can_1": 692, "place_can_2": 1305, "place_can_3": 1847, "place_can_4": null}, "violation_counts": {}, "policy_query_count": 15, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2613, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_26_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_26_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1f70f01793e83afb3cd564b03f1c64b553f4f7fe --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_26_episode_14/summary.json @@ -0,0 +1,199 @@ +{ + "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": 2613, + "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": 0.5, + "current_chain_depth_progress_score": 0.5, + "latched_chain_depth_progress_score": 1.0, + "avg_current_chain_depth": 1, + "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": 0.013394565633371604, + "finger_joint_limit_saturation_step_rate": 0.006505931879066207, + "max_joint_limit_excess_rad": 0.3349069654941559, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "multi_right_pinky_CMC": 35 + }, + "joint_limit_hard_counts": { + "multi_right_pinky_CMC": 1 + }, + "joint_limit_hard_episode_events": 1, + "finger_joint_limit_saturation_counts": { + "multi_right_pinky_CMC": 17 + }, + "joint_limit_max_excess_by_joint": { + "left_index_MCP_FE": 0.00012427568435668945, + "left_index_PIP": 7.8360271800193e-06, + "left_pinky_CMC": 0.0014664686750620604, + "left_pinky_DIP": 1.7881393432617188e-06, + "left_pinky_MCP_FE": 1.862645149230957e-05, + "multi_right_index_DIP": 1.0969491981427382e-10, + "multi_right_middle_DIP": 7.872037743883453e-11, + "multi_right_middle_PIP": 2.9881755403415866e-10, + "multi_right_pinky_CMC": 0.3349069654941559, + "multi_right_pinky_DIP": 0.0003648996353149414, + "multi_right_pinky_MCP_AA": 0.0006939470767974854, + "multi_right_pinky_PIP": 9.572359571663469e-11, + "multi_right_ring_DIP": 4.771792683211373e-11, + "multi_right_ring_MCP_AA": 0.0008873641490936279, + "multi_right_ring_PIP": 1.2081774469763218e-10, + "multi_right_thumb_CMC_AA": 0.001107335090637207, + "multi_right_thumb_IP": 1.188001641505565e-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": 19.256451966276387, + "joint_effort_rms": 33.393219644200634, + "joint_jerk_rms": 1957.5392892574582, + "joint_velocity_rms": 0.7835821781957925 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9995528589754553, + "mean_kinematic_grasp_stability": 0.601771193470828, + "per_object_best_kinematic_grasp_stability": { + "obj_002_master_chef_can_2": 0.882718871286553, + "obj_010_potted_meat_can_5": 0.9995528589754553, + "obj_151_milk_box_4": 0.9992197098725745, + "obj_171_msg_3": 0.8756094230002753 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8840732236254968, + "mean_duration_score": 0.48418484500574027, + "mean_hold_score": 0.45445369307309397, + "mean_kinematic_stability_score": 0.2963947669333929, + "mean_legacy_gsi": 0.5300231538129441, + "mean_lift_score": 0.4925373134328358, + "mean_motion_stability_score": 0.41226813585998523 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2613, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_27_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_27_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d40aa011015f410b214e10a15c02d17ae86a7612 --- /dev/null +++ b/gpt6_astra_1x_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": 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"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": 0.4881896839416247, "obj_144_table_tennis_5": 0.6219949119871695}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.3922723711393515, "mean_kinematic_stability_score": 0.07822201695937821, "mean_lift_score": 0.3637986433416637, "mean_hold_score": 0.30622545519457467, "mean_motion_stability_score": 0.2993231488999431, "mean_duration_score": 0.3920891348328011, "mean_anti_slip_score": 0.6486373914078305}, "robot_motion_metrics": {"joint_velocity_rms": 0.27568811724119496, "joint_acceleration_rms": 8.011697584318792, "joint_jerk_rms": 803.6484509808164, "joint_effort_rms": 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"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, 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"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, 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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_1x_icl/source_runs/task_27_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_27_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..809c8dad36ccdff8e334a32fe12d5df61ed5f06c --- /dev/null +++ b/gpt6_astra_1x_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, + "expert_time_s": 39.666666666666664, + "expert_time_step": 2380, + "avg_steps_to_success": 2801, + "avg_policy_steps_to_success": 934, + "avg_policy_queries_to_success": 20 + }, + "safety": { + "safety_violation_events_per_step": 0.0003570153516601214, + "violation_counts": { + "high_speed_obj_144_table_tennis_5": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.022491967154587646, + "finger_joint_limit_saturation_step_rate": 0.017136736879685827, + "max_joint_limit_excess_rad": 0.5655606985092163, + "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 + }, + "joint_limit_hard_episode_events": 3, + "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 + }, + "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": 8.011697584318792, + "joint_effort_rms": 23.79866094265459, + "joint_jerk_rms": 803.6484509808164, + "joint_velocity_rms": 0.27568811724119496 + }, + "grasp": { + "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": 0.4881896839416247, + "obj_144_table_tennis_5": 0.6219949119871695 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6486373914078305, + "mean_duration_score": 0.3920891348328011, + "mean_hold_score": 0.30622545519457467, + "mean_kinematic_stability_score": 0.07822201695937821, + "mean_legacy_gsi": 0.3922723711393515, + "mean_lift_score": 0.3637986433416637, + "mean_motion_stability_score": 0.2993231488999431 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2801, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_27_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_27_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37a84f3ae03acd5672087b72830671f292dba9e2 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_27_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/27_ball_box_loading.yaml", "episode_index": 6, "seed": 202700005, "success": true, "steps": 2651, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": 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"kitchen", "asset_code": "028", "asset_id": "clutter_028_skillet_lid", "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_212_basket_1": {"position": [0.3871089752074414, 0.1921315753660961, 0.7115730792773308], "rpy_deg": [90.0, 0.0, -7.45465054849589]}, "obj_053_mini_soccer_ball_2": {"position": [-0.10149212525761198, 0.20537734219732984, 0.7122006793064417], "rpy_deg": [0.0, 0.0, 7.297332828888393]}, "obj_056_tennis_ball_3": {"position": [-0.3473873051948232, 0.3014640072980673, 0.711670079273789], "rpy_deg": [0.0, 0.0, -7.156237762531148]}, "obj_058_golf_ball_4": {"position": [0.08094011815760568, 0.3189638357534739, 0.711817079272622], "rpy_deg": [0.0, 0.0, 7.817219843013209]}, "obj_144_table_tennis_5": {"position": [0.25, -0.05, 0.758678117443377], "rpy_deg": [0.0, 0.0, 6.3777871002862305]}}, "_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": 2535, "stable_success_step": 2650, "first_stable_success_step": 2650, "steps_to_stable_success": 2651, "policy_steps_to_stable_success": 884, "policy_queries_to_stable_success": 19, "time_to_stable_success_s": 44.18333333333211, "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, 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"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": [2.2039473056793213, -1.437035322189331, -1.5700000524520874, 2.023837089538574, 1.5700000524520874, 0.04689909517765045, -1.5700000524520874, 2.2162561416625977, 3.1286623292103855e-10, 0.2593627870082855, -1.5700000524520874, 1.6486524367920197e-09, 1.2676444053649902, 0.889388382434845, 0.9473034143447876, 1.146188735961914, 1.2165454626083374, -0.15760000050067902, 0.22238804399967194, 0.13679899275302887, 0.22120271623134613, 0.2054145485162735, 0.10000000149011612, 6.441668309875581e-10, 5.051303375580574e-09, 3.2734830401892623e-09, 1.3615202298922213e-09, 0.026126915588974953, -0.03192320466041565, -0.03513199836015701, -0.03695542365312576, -0.040751054883003235, -2.240758828486733e-10, 2.4935287168403875e-10, 2.3399179815974946e-10, 2.1772128544483849e-10, 1.270325650226667e-10, 0.041492387652397156, 0.028113029897212982, 0.0283440463244915, 0.028694892302155495, 0.03337593376636505, 8.3761060587495e-11, 7.510114752307118e-10, -1.2413239880437743e-10, 4.58702104078057e-10, -5.226809540737065e-10, -8.644809174063184e-11, 6.705000443751885e-11, 3.9865204887190586e-11, 2.661558690456034e-12, -7.125458556522801e-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": [2.2039473056793213, -1.437035322189331, -1.5700000524520874, 2.023837089538574, 1.5700000524520874, 0.04689909517765045, -1.5700000524520874, 2.2162561416625977, 3.1286623292103855e-10, 0.2593627870082855, -1.5700000524520874, 1.6486524367920197e-09, 1.2676444053649902, 0.889388382434845, 0.9473034143447876, 1.146188735961914, 1.2165454626083374, -0.15760000050067902, 0.22238804399967194, 0.13679899275302887, 0.22120271623134613, 0.2054145485162735, 0.10000000149011612, 6.441668309875581e-10, 5.051303375580574e-09, 3.2734830401892623e-09, 1.3615202298922213e-09, 0.026126915588974953, -0.03192320466041565, -0.03513199836015701, -0.03695542365312576, -0.040751054883003235, -2.240758828486733e-10, 2.4935287168403875e-10, 2.3399179815974946e-10, 2.1772128544483849e-10, 1.270325650226667e-10, 0.041492387652397156, 0.028113029897212982, 0.0283440463244915, 0.028694892302155495, 0.03337593376636505, 8.3761060587495e-11, 7.510114752307118e-10, -1.2413239880437743e-10, 4.58702104078057e-10, -5.226809540737065e-10, -8.644809174063184e-11, 6.705000443751885e-11, 3.9865204887190586e-11, 2.661558690456034e-12, -7.125458556522801e-11], "shielded_full_target": [2.2039473056793213, -1.437035322189331, -1.5700000524520874, 2.023837089538574, 1.5700000524520874, 0.04689909517765045, -1.5700000524520874, 2.2162561416625977, 3.1286623292103855e-10, 0.2593627870082855, -1.5700000524520874, 1.6486524367920197e-09, 1.2676444053649902, 0.889388382434845, 0.9473034143447876, 1.146188735961914, 1.2165454626083374, -0.15760000050067902, 0.22238804399967194, 0.13679899275302887, 0.22120271623134613, 0.2054145485162735, 0.10000000149011612, 6.441668309875581e-10, 5.051303375580574e-09, 3.2734830401892623e-09, 1.3615202298922213e-09, 0.026126915588974953, -0.03192320466041565, -0.03513199836015701, -0.03695542365312576, -0.040751054883003235, -2.240758828486733e-10, 2.4935287168403875e-10, 2.3399179815974946e-10, 2.1772128544483849e-10, 1.270325650226667e-10, 0.041492387652397156, 0.028113029897212982, 0.0283440463244915, 0.028694892302155495, 0.03337593376636505, 8.3761060587495e-11, 7.510114752307118e-10, -1.2413239880437743e-10, 4.58702104078057e-10, -5.226809540737065e-10, -8.644809174063184e-11, 6.705000443751885e-11, 3.9865204887190586e-11, 2.661558690456034e-12, -7.125458556522801e-11]}, "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": 0.00538712739944458, "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_1x_icl/source_runs/task_27_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_27_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..64208646fc32fe1f5c2bb8f648129b7a06b1e468 --- /dev/null +++ b/gpt6_astra_1x_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": { + 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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_1x_icl/source_runs/task_27_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_27_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ab0ae6825d93f0b95f752423495af84f6bc1061e --- /dev/null +++ b/gpt6_astra_1x_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": 0.021871984560952074, + "max_joint_limit_excess_rad": 0.31119072437286377, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_finger1_joint3": 99 + }, + "joint_limit_hard_counts": { + "right_finger1_joint2": 2, + "right_finger1_joint3": 1 + }, + "joint_limit_hard_episode_events": 3, + "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 + }, + "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": 5.93491808083714, + "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": 0.4843974482684679, + "mean_hold_score": 0.32776214216790406, + "mean_kinematic_stability_score": 0.05091341324340855, + "mean_legacy_gsi": 0.4402613962001659, + "mean_lift_score": 0.39835960115792857, + "mean_motion_stability_score": 0.3224064783610661 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3109, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_27_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_27_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87f77d5624507ea568172f029a44d9fb68f2a98d --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_27_episode_08/per_episode.jsonl @@ -0,0 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"default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_212_basket_1": {"position": [0.3801444287489768, 0.21841116089398332, 0.7403098678650968], "rpy_deg": [90.0, 0.0, -8.808564288969173]}, "obj_053_mini_soccer_ball_2": {"position": [-0.08962696628374749, 0.20315622209020845, 0.7409374678942077], "rpy_deg": [0.0, 0.0, -5.706917631496786]}, "obj_056_tennis_ball_3": {"position": [-0.33977460430198725, 0.2933882065284683, 0.740406867861555], "rpy_deg": [0.0, 0.0, -9.99472145589495]}, "obj_058_golf_ball_4": {"position": [0.0899075065260691, 0.2860450675837651, 0.740553867860388], "rpy_deg": [0.0, 0.0, -7.853737456864039]}, "obj_144_table_tennis_5": {"position": [0.25, -0.05, 0.787414906031143], "rpy_deg": [0.0, 0.0, -7.1747020968893676]}}, "_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": 2692, "stable_success_step": 2761, "first_stable_success_step": 2761, "steps_to_stable_success": 2762, "policy_steps_to_stable_success": 921, "policy_queries_to_stable_success": 19, "time_to_stable_success_s": 46.033333333332, "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": 0.8616944243302204, "kinematic_grasp_stability_index": 0.9434329444707589, "mean_kinematic_grasp_stability": 0.5700482519581674, "per_object_best_kinematic_grasp_stability": {"obj_053_mini_soccer_ball_2": 0.8532353603640495, "obj_056_tennis_ball_3": 0.9201627774729803, "obj_058_golf_ball_4": 0.9434329444707589, "obj_144_table_tennis_5": 0.5788155451776538}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4838575349291323, "mean_kinematic_stability_score": 0.11506223767801534, "mean_lift_score": 0.4917632150615496, "mean_hold_score": 0.4441889934829759, "mean_motion_stability_score": 0.41716687160910254, "mean_duration_score": 0.45079954139512446, "mean_anti_slip_score": 0.6851918899348485}, "robot_motion_metrics": {"joint_velocity_rms": 0.27805618058285136, "joint_acceleration_rms": 6.184630042196017, "joint_jerk_rms": 626.9042222760723, "joint_effort_rms": 14.785691552055075}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.00036205648081101695, "safety_violation_rate_time": 0.00036205648081101695, "safety_violation_rate_event": 0.0003620564808110065, "safety_violation_step_rate": 0.0003620564808110065, "safety_violation_events_per_step": 0.0003620564808110065, "episode_violation_rate": 1.0, "safety_hard_violation": true, "drop_violation": false, "high_speed_violation": true, "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": 0.0031239166855812073, "left_finger2_joint1": 0.0001958608627319336, "left_finger2_joint2": 0.0002963542938232422, "right_finger1_joint2": 0.0046017467975616455, "right_finger2_joint1": 0.0005988776683807373, "right_finger3_joint1": 3.869831562042236e-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": 0.0046017467975616455, "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": 0.0046017467975616455, "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": 1859, "place_tennis": 2692, "place_golf": 2692, "place_pingpong": 2692}, "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_1x_icl/source_runs/task_27_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_27_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8fb9b643ff382920ce6369510fbb1f03e88532c7 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_27_episode_08/summary.json @@ -0,0 +1,184 @@ +{ + "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": 46.033333333332 + }, + "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": 0.0003620564808110065 + }, + "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": 0.8616944243302204, + "expert_time_s": 39.666666666666664, + "expert_time_step": 2380, + "avg_steps_to_success": 2762, + "avg_policy_steps_to_success": 921, + "avg_policy_queries_to_success": 19 + }, + "safety": { + "safety_violation_events_per_step": 0.0003620564808110065, + "violation_counts": { + "high_speed_obj_144_table_tennis_5": 1 + }, + "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": 0.0046017467975616455, + "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": 0.0031239166855812073, + "left_finger2_joint1": 0.0001958608627319336, + "left_finger2_joint2": 0.0002963542938232422, + "right_finger1_joint2": 0.0046017467975616455, + "right_finger2_joint1": 0.0005988776683807373, + "right_finger3_joint1": 3.869831562042236e-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": 6.184630042196017, + "joint_effort_rms": 14.785691552055075, + "joint_jerk_rms": 626.9042222760723, + "joint_velocity_rms": 0.27805618058285136 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9434329444707589, + "mean_kinematic_grasp_stability": 0.5700482519581674, + "per_object_best_kinematic_grasp_stability": { + "obj_053_mini_soccer_ball_2": 0.8532353603640495, + "obj_056_tennis_ball_3": 0.9201627774729803, + "obj_058_golf_ball_4": 0.9434329444707589, + "obj_144_table_tennis_5": 0.5788155451776538 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6851918899348485, + "mean_duration_score": 0.45079954139512446, + "mean_hold_score": 0.4441889934829759, + "mean_kinematic_stability_score": 0.11506223767801534, + "mean_legacy_gsi": 0.4838575349291323, + "mean_lift_score": 0.4917632150615496, + "mean_motion_stability_score": 0.41716687160910254 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2762, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_27_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_27_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b0b672864013ee1a3589e5b8ff7cd7f6f1ed112 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_27_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/27_ball_box_loading.yaml", "episode_index": 9, "seed": 202700008, "success": true, "steps": 2405, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202700008, "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": 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": 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"asset_code": "019", "asset_id": "clutter_019_pitcher_base", "asset_split": "unseen", "spawn_position": [0.7594429125057498, 0.3503949623022001, 0.7942321921983063], "spawn_yaw_deg": 310.7378304363709, "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": [1.1101988959756859, 1.1101988959756859, 1.1101988959756859], "body_type": "dynamic", "category": "tool", "asset_code": "035", "asset_id": "clutter_035_power_drill", "asset_split": "unseen", "spawn_position": [-0.7132571959993054, 0.2660381726815324, 0.7949644661541466], "spawn_yaw_deg": 103.43049607326417, "obj_id": "distractor_01_clutter_035_power_drill"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_212_basket_1": {"position": [0.3958023794334666, 0.18589214577618718, 0.7914418051167218], "rpy_deg": [90.0, 0.0, -8.573643046038736]}, "obj_053_mini_soccer_ball_2": {"position": [-0.10646847805748157, 0.18541974276186915, 0.7920694051458327], "rpy_deg": [0.0, 0.0, 9.382995889962068]}, "obj_056_tennis_ball_3": {"position": [-0.3462231199071965, 0.2973597515678886, 0.79153880511318], "rpy_deg": [0.0, 0.0, 3.7767458010427113]}, "obj_058_golf_ball_4": {"position": [0.09713501457101548, 0.3148344994544536, 0.791685805112013], "rpy_deg": [0.0, 0.0, 8.171463489445511]}, "obj_144_table_tennis_5": {"position": [0.25, -0.05, 0.838546843282768], "rpy_deg": [0.0, 0.0, 9.327741815667984]}}, "_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": 2375, "stable_success_step": 2404, "first_stable_success_step": 2404, "steps_to_stable_success": 2405, "policy_steps_to_stable_success": 802, "policy_queries_to_stable_success": 16, "time_to_stable_success_s": 40.08333333333234, "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": 0.9896049896050141, "kinematic_grasp_stability_index": 0.9666116458120526, "mean_kinematic_grasp_stability": 0.2783863828375409, "per_object_best_kinematic_grasp_stability": {"obj_053_mini_soccer_ball_2": 0.8077616946441492, "obj_056_tennis_ball_3": 0.9666116458120526, "obj_058_golf_ball_4": 0.4910925736764084, "obj_144_table_tennis_5": 0.6182409470521064}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.43346209571329786, "mean_kinematic_stability_score": 0.01776811216863307, "mean_lift_score": 0.4267151767151767, "mean_hold_score": 0.39100311850312014, "mean_motion_stability_score": 0.3605904147530578, "mean_duration_score": 0.4559147609147627, "mean_anti_slip_score": 0.5863825363825137}, "robot_motion_metrics": {"joint_velocity_rms": 0.29486147591316275, "joint_acceleration_rms": 7.2002381262372435, "joint_jerk_rms": 713.8131656168324, "joint_effort_rms": 17.038982950624007}, "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": 0.00315248966217041, "left_finger2_joint1": 0.00017480552196502686, "left_finger2_joint2": 0.00017470121383666992, "right_finger1_joint2": 0.004309013485908508, "right_finger2_joint1": 0.0018191486597061157, "right_finger3_joint1": 0.00016488134860992432}, "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": 0.004309013485908508, "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": 0.004309013485908508, "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": 1772, "place_tennis": 2375, "place_golf": 2375, "place_pingpong": 2375}, "violation_counts": {}, "policy_query_count": 16, "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_1x_icl/source_runs/task_27_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_27_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..2fb0c1be780b95c574f0b0a5a3c6b92421fbdabe --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_27_episode_09/summary.json @@ -0,0 +1,182 @@ +{ + "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": 40.08333333333234 + }, + "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": 0.9896049896050141, + "expert_time_s": 39.666666666666664, + "expert_time_step": 2380, + "avg_steps_to_success": 2405, + "avg_policy_steps_to_success": 802, + "avg_policy_queries_to_success": 16 + }, + "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": 0.004309013485908508, + "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": 0.00315248966217041, + "left_finger2_joint1": 0.00017480552196502686, + "left_finger2_joint2": 0.00017470121383666992, + "right_finger1_joint2": 0.004309013485908508, + "right_finger2_joint1": 0.0018191486597061157, + "right_finger3_joint1": 0.00016488134860992432 + }, + "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": 7.2002381262372435, + "joint_effort_rms": 17.038982950624007, + "joint_jerk_rms": 713.8131656168324, + "joint_velocity_rms": 0.29486147591316275 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9666116458120526, + "mean_kinematic_grasp_stability": 0.2783863828375409, + "per_object_best_kinematic_grasp_stability": { + "obj_053_mini_soccer_ball_2": 0.8077616946441492, + "obj_056_tennis_ball_3": 0.9666116458120526, + "obj_058_golf_ball_4": 0.4910925736764084, + "obj_144_table_tennis_5": 0.6182409470521064 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.5863825363825137, + "mean_duration_score": 0.4559147609147627, + "mean_hold_score": 0.39100311850312014, + "mean_kinematic_stability_score": 0.01776811216863307, + "mean_legacy_gsi": 0.43346209571329786, + "mean_lift_score": 0.4267151767151767, + "mean_motion_stability_score": 0.3605904147530578 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2405, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_27_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_27_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6fae46f4d078a89acaf6b62d5c717f0d060501ff --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_27_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/27_ball_box_loading.yaml", "episode_index": 10, "seed": 202700009, "success": true, "steps": 2582, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202700009, "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": "FloorPlan315", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan315_physics/scene.usda", "scene_offset": [1.7814, -0.84301, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_carpet_carpet1095_jpg", "asset_uri": "dex2bench_dataset/textures/carpet/carpet1095.jpg", "asset_category": "carpet", "asset_id": 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{"obj_212_basket_1": {"position": [0.3841570996465492, 0.19703636261776866, 0.7601476942243746], "rpy_deg": [90.0, 0.0, 7.974036711085326]}, "obj_053_mini_soccer_ball_2": {"position": [-0.08333309939496004, 0.2041862598536337, 0.7607752942534854], "rpy_deg": [0.0, 0.0, -5.349472467989562]}, "obj_056_tennis_ball_3": {"position": [-0.3628333058255987, 0.30213707892932945, 0.7602446942208327], "rpy_deg": [0.0, 0.0, -0.6582922173423444]}, "obj_058_golf_ball_4": {"position": [0.08427927650670343, 0.28407900909238354, 0.7603916942196658], "rpy_deg": [0.0, 0.0, 9.507599120850404]}, "obj_144_table_tennis_5": {"position": [0.25, -0.05, 0.8072527323904207], "rpy_deg": [0.0, 0.0, 3.8651509118349843]}}, "_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, 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"right_finger2_joint1": 0.001322135329246521, "right_finger3_joint1": 0.47099506855010986, "right_finger4_joint1": 0.2881927788257599}, "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": 234, "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": -0.17913217842578888, "hard_excess_rad": 0.007232189178466797, "hard_tolerance_rad": 0.005, "hard_lower": -0.17189998924732208, "hard_upper": 1.5496000051498413, "operating_lower": -0.17190003395080566, "operating_upper": 1.5496000051498413, "expanded_target": 0.30719324946403503, "shielded_target": 0.30719324946403503}], "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": [2.2389557361602783, -1.5021358728408813, -1.8592143058776855, 1.8897093534469604, 1.5091263055801392, 0.29174336791038513, -1.670837163925171, 2.227820634841919, 0.17912645637989044, 0.36320972442626953, -1.8446481227874756, -0.18485893309116364, 1.079121708869934, 0.29507577419281006, 0.30719324946403503, 0.4391995668411255, 0.798610270023346, -0.15760000050067902, 0.02070588618516922, 0.05775816738605499, 0.09858829528093338, 0.05382142215967178, 1.0285450220108032, 0.672283411026001, 0.5365490913391113, 0.5135675668716431, 0.5235425233840942, 0.023884380236268044, -0.05993178114295006, -0.05694883316755295, -0.0512932725250721, -0.040600311011075974, 0.012525351718068123, 0.08479737490415573, 0.10744529962539673, 0.0012346539879217744, -0.04788920283317566, 0.03009042888879776, 0.04067182540893555, 0.040807094424963, 0.03969644010066986, 0.0383673720061779, 0.06301947683095932, -0.049866754561662674, -0.05107039585709572, -0.05200961232185364, -0.01951414719223976, 0.04471417888998985, 0.0824933871626854, 0.08288650959730148, 0.08202026039361954, -0.1542963683605194], "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": [2.2389557361602783, -1.5021358728408813, -1.8592143058776855, 1.8897093534469604, 1.5091263055801392, 0.29174336791038513, -1.670837163925171, 2.227820634841919, 0.17912645637989044, 0.36320972442626953, -1.8446481227874756, -0.18485893309116364, 1.079121708869934, 0.29507577419281006, 0.30719324946403503, 0.4391995668411255, 0.798610270023346, -0.15760000050067902, 0.02070588618516922, 0.05775816738605499, 0.09858829528093338, 0.05382142215967178, 1.0285450220108032, 0.672283411026001, 0.5365490913391113, 0.5135675668716431, 0.5235425233840942, 0.023884380236268044, -0.05993178114295006, -0.05694883316755295, -0.0512932725250721, -0.040600311011075974, 0.012525351718068123, 0.08479737490415573, 0.10744529962539673, 0.0012346539879217744, -0.04788920283317566, 0.03009042888879776, 0.04067182540893555, 0.040807094424963, 0.03969644010066986, 0.0383673720061779, 0.06301947683095932, -0.049866754561662674, -0.05107039585709572, -0.05200961232185364, -0.01951414719223976, 0.04471417888998985, 0.0824933871626854, 0.08288650959730148, 0.08202026039361954, -0.1542963683605194], "shielded_full_target": [2.2389557361602783, -1.5021358728408813, -1.8592143058776855, 1.8897093534469604, 1.5091263055801392, 0.29174336791038513, -1.670837163925171, 2.227820634841919, 0.17912645637989044, 0.36320972442626953, -1.8446481227874756, -0.18485893309116364, 1.079121708869934, 0.29507577419281006, 0.30719324946403503, 0.4391995668411255, 0.798610270023346, -0.15760000050067902, 0.02070588618516922, 0.05775816738605499, 0.09858829528093338, 0.05382142215967178, 1.0285450220108032, 0.672283411026001, 0.5365490913391113, 0.5135675668716431, 0.5235425233840942, 0.023884380236268044, -0.05993178114295006, -0.05694883316755295, -0.0512932725250721, -0.040600311011075974, 0.012525351718068123, 0.08479737490415573, 0.10744529962539673, 0.0012346539879217744, -0.04788920283317566, 0.03009042888879776, 0.04067182540893555, 0.040807094424963, 0.03969644010066986, 0.0383673720061779, 0.06301947683095932, -0.049866754561662674, -0.05107039585709572, -0.05200961232185364, -0.01951414719223976, 0.04471417888998985, 0.0824933871626854, 0.08288650959730148, 0.08202026039361954, -0.1542963683605194]}, "joint_limit_active_steps": 82, "joint_limit_hard_episode_events": 3, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 59, "max_joint_limit_excess_rad": 0.47099506855010986, "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": 82, "joint_limit_active_step_rate": 0.031758326878388844, "finger_joint_limit_saturation_steps": 59, "finger_joint_limit_saturation_step_rate": 0.022850503485670023, "max_joint_limit_excess_rad": 0.47099506855010986, "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": 1700, "place_tennis": 2436, "place_golf": 2436, "place_pingpong": 2436}, "violation_counts": {"high_speed_obj_144_table_tennis_5": 1, "high_speed_obj_058_golf_ball_4": 1}, "policy_query_count": 16, "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_1x_icl/source_runs/task_27_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_27_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..156da1c162e6a558199eb72201bb92f12d088506 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_27_episode_10/summary.json @@ -0,0 +1,196 @@ +{ + "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": 43.03333333333217 + }, + "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": 0.0011618900077459333 + }, + "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": 0.9217660728117986, + "expert_time_s": 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"joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 47, "joint_limit_active_step_rate": 0.017178362573099414, "finger_joint_limit_saturation_steps": 26, "finger_joint_limit_saturation_step_rate": 0.009502923976608187, "max_joint_limit_excess_rad": 0.3970223665237427, "max_joint_limit_excess_joint": "right_finger2_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": 1922, "place_tennis": 2647, "place_golf": 2647, "place_pingpong": 2647}, "violation_counts": {"high_speed_obj_144_table_tennis_5": 1, "high_speed_obj_058_golf_ball_4": 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_1x_icl/source_runs/task_27_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_27_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e0fef27b987b100433378c85c4822779256039f9 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_27_episode_11/summary.json @@ -0,0 +1,194 @@ +{ + "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": 45.599999999998694 + }, + "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": 0.0010964912280701754 + }, + "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": 0.8698830409356973, + "expert_time_s": 39.666666666666664, + "expert_time_step": 2380, + "avg_steps_to_success": 2736, + "avg_policy_steps_to_success": 912, + "avg_policy_queries_to_success": 20 + }, + "safety": { + "safety_violation_events_per_step": 0.0007309941520467836, + "violation_counts": { + "high_speed_obj_058_golf_ball_4": 1, + "high_speed_obj_144_table_tennis_5": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.017178362573099414, + "finger_joint_limit_saturation_step_rate": 0.009502923976608187, + "max_joint_limit_excess_rad": 0.3970223665237427, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_finger2_joint1": 47, + "right_finger3_joint1": 24 + }, + "joint_limit_hard_counts": { + "right_finger1_joint2": 1, + "right_finger2_joint1": 1, + "right_finger3_joint1": 1 + }, + "joint_limit_hard_episode_events": 2, + "finger_joint_limit_saturation_counts": { + "right_finger2_joint1": 26 + }, + "joint_limit_max_excess_by_joint": { + "left_finger1_joint2": 0.0025623589754104614, + "left_finger2_joint1": 0.00016330182552337646, + "left_finger2_joint2": 0.00014272332191467285, + "right_finger1_joint2": 0.00526157021522522, + "right_finger2_joint1": 0.3970223665237427, + "right_finger3_joint1": 0.19782385230064392 + }, + "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": 8.950126601719985, + "joint_effort_rms": 18.94409268027108, + "joint_jerk_rms": 929.105422039622, + "joint_velocity_rms": 0.29332856501285814 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9934245243767319, + "mean_kinematic_grasp_stability": 0.6214884431697321, + "per_object_best_kinematic_grasp_stability": { + "obj_053_mini_soccer_ball_2": 0.8836768289418702, + "obj_056_tennis_ball_3": 0.9934245243767319, + "obj_058_golf_ball_4": 0.9840066935881104, + "obj_144_table_tennis_5": 0.6546841304852992 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7612085769980661, + "mean_duration_score": 0.45165692007797303, + "mean_hold_score": 0.3843338815789488, + "mean_kinematic_stability_score": 0.13237294965539523, + "mean_legacy_gsi": 0.4675079108161877, + "mean_lift_score": 0.4294590643274854, + "mean_motion_stability_score": 0.36591897599535594 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2736, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_27_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_27_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..25abdc0a42b559299de51909749e3abdae508a93 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_27_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": 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0.2944915932590518, 0.7817043624324882], "rpy_deg": [0.0, 0.0, -8.009445354248646]}, "obj_058_golf_ball_4": {"position": [0.06093861224937509, 0.28146141149874865, 0.7818513624313213], "rpy_deg": [0.0, 0.0, 1.0721019927654556]}, "obj_144_table_tennis_5": {"position": [0.25, -0.05, 0.8287124006020762], "rpy_deg": [0.0, 0.0, -9.593835306646188]}}, "_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": 2658, "stable_success_step": 2796, "first_stable_success_step": 2796, "steps_to_stable_success": 2797, "policy_steps_to_stable_success": 933, "policy_queries_to_stable_success": 23, "time_to_stable_success_s": 46.6166666666653, "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": 0.8509116910976294, "kinematic_grasp_stability_index": 0.9699220474403907, "mean_kinematic_grasp_stability": 0.41172270065760164, "per_object_best_kinematic_grasp_stability": {"obj_053_mini_soccer_ball_2": 0.6994094477141315, "obj_056_tennis_ball_3": 0.9699220474403907, "obj_058_golf_ball_4": 0.5381934063846953, "obj_144_table_tennis_5": 0.5630967163306014}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4465286193168986, "mean_kinematic_stability_score": 0.06355426385731838, "mean_lift_score": 0.4608509116910976, "mean_hold_score": 0.40169377904898007, "mean_motion_stability_score": 0.3750956092682512, "mean_duration_score": 0.484831962817304, "mean_anti_slip_score": 0.5899475628650032}, "robot_motion_metrics": {"joint_velocity_rms": 0.3092338289839338, "joint_acceleration_rms": 8.373708159993383, "joint_jerk_rms": 855.2294351812037, "joint_effort_rms": 16.30664343394721}, "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": 0.003274485468864441, "left_finger2_joint1": 0.0003192126750946045, "left_finger2_joint2": 0.0003606081008911133, "right_finger1_joint2": 0.0047209858894348145, "right_finger2_joint1": 0.001183629035949707, "right_finger3_joint1": 1.3113021850585938e-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": 0.0047209858894348145, "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": 0.0047209858894348145, "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": 1793, "place_tennis": 2658, "place_golf": 2658, "place_pingpong": 2658}, "violation_counts": {}, "policy_query_count": 23, "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_1x_icl/source_runs/task_27_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_27_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..65560fbe3955ae45d885a96a15478ee3182d3b66 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_27_episode_12/summary.json @@ -0,0 +1,182 @@ +{ + "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": 46.6166666666653 + }, + "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": 0.8509116910976294, + "expert_time_s": 39.666666666666664, + "expert_time_step": 2380, + "avg_steps_to_success": 2797, + "avg_policy_steps_to_success": 933, + "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": 0.0047209858894348145, + "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": 0.003274485468864441, + "left_finger2_joint1": 0.0003192126750946045, + "left_finger2_joint2": 0.0003606081008911133, + "right_finger1_joint2": 0.0047209858894348145, + "right_finger2_joint1": 0.001183629035949707, + "right_finger3_joint1": 1.3113021850585938e-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": 8.373708159993383, + "joint_effort_rms": 16.30664343394721, + "joint_jerk_rms": 855.2294351812037, + "joint_velocity_rms": 0.3092338289839338 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9699220474403907, + "mean_kinematic_grasp_stability": 0.41172270065760164, + "per_object_best_kinematic_grasp_stability": { + "obj_053_mini_soccer_ball_2": 0.6994094477141315, + "obj_056_tennis_ball_3": 0.9699220474403907, + "obj_058_golf_ball_4": 0.5381934063846953, + "obj_144_table_tennis_5": 0.5630967163306014 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.5899475628650032, + "mean_duration_score": 0.484831962817304, + "mean_hold_score": 0.40169377904898007, + "mean_kinematic_stability_score": 0.06355426385731838, + "mean_legacy_gsi": 0.4465286193168986, + "mean_lift_score": 0.4608509116910976, + "mean_motion_stability_score": 0.3750956092682512 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2797, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_27_episode_13/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_27_episode_13/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd4f4e88e9cb66c9c65cf92a7ed52158b8e71ed6 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_27_episode_13/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/27_ball_box_loading.yaml", "episode_index": 13, "seed": 202700012, "success": true, "steps": 2731, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202700012, "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": "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_rust_rust0056_jpg", "asset_uri": "dex2bench_dataset/textures/rust/rust0056.jpg", "asset_category": "rust", "asset_id": "rust/rust0056.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1029.1986412920535, "color": [0.48142882802332176, 0.8031623824555855, 0.8105904559465006], "pitch_deg": -20.79317753862705, "yaw_deg": -88.81127004664452, "angle_deg": 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"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": 2653, "stable_success_step": 2730, "first_stable_success_step": 2730, "steps_to_stable_success": 2731, "policy_steps_to_stable_success": 911, "policy_queries_to_stable_success": 23, "time_to_stable_success_s": 45.516666666665365, "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": 0.8714756499451, "kinematic_grasp_stability_index": 0.9957131938791036, "mean_kinematic_grasp_stability": 0.44924149967407245, "per_object_best_kinematic_grasp_stability": {"obj_053_mini_soccer_ball_2": 0.9957131938791036, "obj_056_tennis_ball_3": 0.6502678830071223, "obj_058_golf_ball_4": 0.2567265774238176, "obj_144_table_tennis_5": 0.6317701591077302}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.3436886157317315, "mean_kinematic_stability_score": 0.06008255501865799, "mean_lift_score": 0.27380080556572683, "mean_hold_score": 0.2186332845111699, "mean_motion_stability_score": 0.19580568588681652, "mean_duration_score": 0.4878310753081898, "mean_anti_slip_score": 0.5972781642866056}, "robot_motion_metrics": {"joint_velocity_rms": 0.4202221066691492, "joint_acceleration_rms": 15.644475737457224, "joint_jerk_rms": 1616.3491492427697, "joint_effort_rms": 28.793058885774673}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0003661662394727311, "safety_violation_rate_time": 0.0003661662394727311, "safety_violation_rate_event": 0.0003661662394727206, "safety_violation_step_rate": 0.0003661662394727206, "safety_violation_events_per_step": 0.0003661662394727206, "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_finger1_joint3": 131, "right_finger4_joint1": 87}, "joint_limit_hard_counts": {"right_finger1_joint2": 4, "right_finger1_joint3": 1, "right_finger4_joint1": 1}, "finger_joint_limit_saturation_counts": {"right_finger1_joint3": 103, "right_finger4_joint1": 62}, "joint_limit_max_excess_by_joint": {"left_finger1_joint2": 0.003179006278514862, "left_finger2_joint1": 0.0003505498170852661, "left_finger2_joint2": 0.00029334425926208496, "right_finger1_joint2": 0.005185768008232117, "right_finger1_joint3": 0.27094072103500366, "right_finger2_joint1": 0.001320168375968933, "right_finger2_joint2": 0.0016947686672210693, "right_finger3_joint1": 0.00023376941680908203, "right_finger4_joint1": 0.5378634333610535}, "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": 232, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_finger4_joint1", "role": "finger", "qpos": -0.1653195023536682, "hard_excess_rad": 0.005219519138336182, "hard_tolerance_rad": 0.005, "hard_lower": -0.16009998321533203, "hard_upper": 1.553399920463562, "operating_lower": -0.16009998321533203, "operating_upper": 1.553399920463562, "expanded_target": 0.43404924869537354, "shielded_target": 0.43404924869537354}], "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": [2.1898138523101807, -1.5426123142242432, -1.5700000524520874, 1.8776482343673706, 1.5700000524520874, 0.3156856596469879, -1.5700000524520874, 2.1902971267700195, -2.647447538972614e-10, 0.3269306719303131, -1.5700000524520874, 8.461909506429777e-10, 1.063618540763855, 0.30026575922966003, 0.3103635609149933, 0.43404924869537354, 0.7836173176765442, -0.15760000050067902, 0.01911257766187191, 0.05473904684185982, 0.09374549239873886, 0.0456697903573513, 0.10000000149011612, 3.806997772581866e-10, 2.5852295859607466e-09, 1.7226865489661236e-09, 7.707670057754967e-10, 0.0266755111515522, -0.060213495045900345, -0.0571269690990448, -0.05193283036351204, -0.04162214323878288, -4.976387704691554e-11, 1.2265900795060958e-10, 1.2884973643600972e-10, 1.1473654665250521e-10, 8.112243515823181e-11, 0.03027639165520668, 0.04073164984583855, 0.04088974744081497, 0.03980778530240059, 0.0385521836578846, 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": [2.1898138523101807, -1.5426123142242432, -1.5700000524520874, 1.8776482343673706, 1.5700000524520874, 0.3156856596469879, -1.5700000524520874, 2.1902971267700195, -2.647447538972614e-10, 0.3269306719303131, -1.5700000524520874, 8.461909506429777e-10, 1.063618540763855, 0.30026575922966003, 0.3103635609149933, 0.43404924869537354, 0.7836173176765442, -0.15760000050067902, 0.01911257766187191, 0.05473904684185982, 0.09374549239873886, 0.0456697903573513, 0.10000000149011612, 3.806997772581866e-10, 2.5852295859607466e-09, 1.7226865489661236e-09, 7.707670057754967e-10, 0.0266755111515522, -0.060213495045900345, -0.0571269690990448, -0.05193283036351204, -0.04162214323878288, -4.976387704691554e-11, 1.2265900795060958e-10, 1.2884973643600972e-10, 1.1473654665250521e-10, 8.112243515823181e-11, 0.03027639165520668, 0.04073164984583855, 0.04088974744081497, 0.03980778530240059, 0.0385521836578846, 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": [2.1898138523101807, -1.5426123142242432, -1.5700000524520874, 1.8776482343673706, 1.5700000524520874, 0.3156856596469879, -1.5700000524520874, 2.1902971267700195, -2.647447538972614e-10, 0.3269306719303131, -1.5700000524520874, 8.461909506429777e-10, 1.063618540763855, 0.30026575922966003, 0.3103635609149933, 0.43404924869537354, 0.7836173176765442, -0.15760000050067902, 0.01911257766187191, 0.05473904684185982, 0.09374549239873886, 0.0456697903573513, 0.10000000149011612, 3.806997772581866e-10, 2.5852295859607466e-09, 1.7226865489661236e-09, 7.707670057754967e-10, 0.0266755111515522, -0.060213495045900345, -0.0571269690990448, -0.05193283036351204, -0.04162214323878288, -4.976387704691554e-11, 1.2265900795060958e-10, 1.2884973643600972e-10, 1.1473654665250521e-10, 8.112243515823181e-11, 0.03027639165520668, 0.04073164984583855, 0.04088974744081497, 0.03980778530240059, 0.0385521836578846, 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": 218, "joint_limit_hard_episode_events": 4, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 165, "max_joint_limit_excess_rad": 0.5378634333610535, "max_joint_limit_excess_joint": "right_finger4_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": 218, "joint_limit_active_step_rate": 0.07982424020505309, "finger_joint_limit_saturation_steps": 165, "finger_joint_limit_saturation_step_rate": 0.0604174295129989, "max_joint_limit_excess_rad": 0.5378634333610535, "max_joint_limit_excess_joint": "right_finger4_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": 1721, "place_tennis": 2653, "place_golf": 2653, "place_pingpong": 2653}, "violation_counts": {"high_speed_obj_144_table_tennis_5": 1}, "policy_query_count": 23, "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_1x_icl/source_runs/task_27_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_27_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8ecaa318bd4d98c610833c2431369a4f5fcc701c --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_27_episode_13/summary.json @@ -0,0 +1,197 @@ +{ + "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": 45.516666666665365 + }, + "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": 0.0003661662394727206 + }, + "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": 0.8714756499451, + "expert_time_s": 39.666666666666664, + "expert_time_step": 2380, + "avg_steps_to_success": 2731, + "avg_policy_steps_to_success": 911, + "avg_policy_queries_to_success": 23 + }, + "safety": { + "safety_violation_events_per_step": 0.0003661662394727206, + "violation_counts": { + "high_speed_obj_144_table_tennis_5": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.07982424020505309, + "finger_joint_limit_saturation_step_rate": 0.0604174295129989, + "max_joint_limit_excess_rad": 0.5378634333610535, + 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1.4417167112923401e-11, 4.4287848128404805e-13, -4.534130362832123e-11], "shielded_full_target": [2.227074384689331, -1.5326662063598633, -1.5700000524520874, 1.862589716911316, 1.5700000524520874, 0.33311736583709717, -1.5700000524520874, 2.221079111099243, -2.647447538972614e-10, 0.35562920570373535, -1.5700000524520874, 8.461909506429777e-10, 1.0455902814865112, 0.3064798414707184, 0.31415003538131714, 0.42810535430908203, 0.7657773494720459, -0.15760000050067902, 0.017298223450779915, 0.051359642297029495, 0.08842682838439941, 0.036371488124132156, 0.10000000149011612, 3.806997772581866e-10, 2.5852295859607466e-09, 1.7226865489661236e-09, 7.707670057754967e-10, 0.030511442571878433, -0.060604047030210495, -0.05738294869661331, -0.05258377268910408, -0.04280082881450653, -4.976387704691554e-11, 1.2265900795060958e-10, 1.2884973643600972e-10, 1.1473654665250521e-10, 8.112243515823181e-11, 0.03087431564927101, 0.04075705632567406, 0.040957819670438766, 0.04002169892191887, 0.03884870186448097, 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": 106, "joint_limit_hard_episode_events": 4, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 74, "max_joint_limit_excess_rad": 0.5464808344841003, "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": 106, "joint_limit_active_step_rate": 0.04173228346456693, "finger_joint_limit_saturation_steps": 74, "finger_joint_limit_saturation_step_rate": 0.029133858267716535, "max_joint_limit_excess_rad": 0.5464808344841003, "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": 1793, "place_tennis": 2485, "place_golf": 2485, "place_pingpong": 2485}, "violation_counts": {"high_speed_obj_058_golf_ball_4": 1, "drop_to_table_obj_058_golf_ball_4": 1}, "policy_query_count": 17, "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_1x_icl/source_runs/task_27_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_27_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e7e6cb97f5993e21b14b521a4619599bf727011c --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_27_episode_14/summary.json @@ -0,0 +1,200 @@ +{ + "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": 42.33333333333221 + }, + "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": 0.0007874015748031496 + }, + "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": 0.9370078740157728, + "expert_time_s": 39.666666666666664, + "expert_time_step": 2380, + "avg_steps_to_success": 2540, + "avg_policy_steps_to_success": 847, + "avg_policy_queries_to_success": 17 + }, + "safety": { + "safety_violation_events_per_step": 0.0007874015748031496, + "violation_counts": { + "drop_to_table_obj_058_golf_ball_4": 1, + "high_speed_obj_058_golf_ball_4": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.04173228346456693, + "finger_joint_limit_saturation_step_rate": 0.029133858267716535, + "max_joint_limit_excess_rad": 0.5464808344841003, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_finger5_joint3": 23, + "right_finger3_joint1": 83, + "right_finger4_joint1": 56 + }, + "joint_limit_hard_counts": { + "left_finger5_joint3": 1, + "right_finger1_joint2": 2, + "right_finger3_joint1": 1, + "right_finger4_joint1": 1 + }, + "joint_limit_hard_episode_events": 4, + "finger_joint_limit_saturation_counts": { + "left_finger5_joint3": 13, + "right_finger3_joint1": 61, + "right_finger4_joint1": 31 + }, + "joint_limit_max_excess_by_joint": { + "left_finger1_joint2": 0.0037485212087631226, + "left_finger2_joint1": 0.0003154873847961426, + "left_finger2_joint2": 0.00034311413764953613, + "left_finger5_joint3": 0.2794632911682129, + "right_finger1_joint2": 0.005902811884880066, + "right_finger2_joint1": 0.0018022507429122925, + "right_finger3_joint1": 0.5464808344841003, + "right_finger4_joint1": 0.37402254343032837 + }, + "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": 10.932138854060817, + "joint_effort_rms": 25.052049258034803, + "joint_jerk_rms": 1112.9857930138521, + "joint_velocity_rms": 0.3828720748872239 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9834999554925246, + "mean_kinematic_grasp_stability": 0.6001843133718869, + "per_object_best_kinematic_grasp_stability": { + "obj_053_mini_soccer_ball_2": 0.8374472683538823, + "obj_056_tennis_ball_3": 0.8278511075585587, + "obj_058_golf_ball_4": 0.9834999554925246, + "obj_144_table_tennis_5": 0.461571144498955 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7408792650919055, + "mean_duration_score": 0.4446817585301837, + "mean_hold_score": 0.24044783464567202, + "mean_kinematic_stability_score": 0.1674726898040649, + "mean_legacy_gsi": 0.38013681945576755, + "mean_lift_score": 0.2925196850393701, + "mean_motion_stability_score": 0.22787125174089826 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2540, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_32_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_32_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c469178cfe77fe78b3794d4bb59101c5eb277699 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_32_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/32_baking_tray_prep_with_tools.yaml", "episode_index": 5, "seed": 203200004, 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35, "multi_right_middle_DIP": 7, "multi_right_middle_MCP_FE": 4, "multi_right_middle_PIP": 51, "multi_right_pinky_CMC": 56, "multi_right_pinky_MCP_AA": 5, "multi_right_pinky_PIP": 59, "multi_right_ring_DIP": 4, "multi_right_ring_MCP_AA": 56, "multi_right_ring_PIP": 15}, "joint_limit_hard_counts": {"left_middle_DIP": 1, "left_pinky_CMC": 1, "left_pinky_DIP": 1, "left_ring_DIP": 1, "multi_right_index_DIP": 2, "multi_right_index_MCP_FE": 1, "multi_right_index_PIP": 1, "multi_right_middle_DIP": 1, "multi_right_middle_MCP_FE": 1, "multi_right_middle_PIP": 1, "multi_right_pinky_CMC": 1, "multi_right_pinky_MCP_AA": 1, "multi_right_pinky_PIP": 1, "multi_right_ring_DIP": 1, "multi_right_ring_MCP_AA": 1, "multi_right_ring_PIP": 1}, "finger_joint_limit_saturation_counts": {"left_pinky_CMC": 146, "left_ring_DIP": 2, "multi_right_index_DIP": 20, "multi_right_index_PIP": 29, "multi_right_middle_DIP": 2, "multi_right_middle_PIP": 48, "multi_right_pinky_CMC": 40, "multi_right_pinky_PIP": 57, "multi_right_ring_MCP_AA": 51, "multi_right_ring_PIP": 10}, "joint_limit_max_excess_by_joint": {"left_index_DIP": 0.0004909038543701172, "left_middle_DIP": 0.04311573505401611, "left_pinky_CMC": 2.900862455368042, "left_pinky_DIP": 0.07378888130187988, "left_ring_DIP": 0.271435022354126, "left_ring_MCP_AA": 0.002366095781326294, "multi_right_index_DIP": 1.115813970565796, "multi_right_index_MCP_FE": 0.17731973528862, "multi_right_index_PIP": 0.44316303730010986, "multi_right_middle_DIP": 0.2835571765899658, "multi_right_middle_MCP_FE": 0.07924807071685791, "multi_right_middle_PIP": 0.9427446126937866, "multi_right_pinky_CMC": 0.41746288537979126, "multi_right_pinky_DIP": 5.402286951117219e-11, "multi_right_pinky_MCP_AA": 0.025261729955673218, "multi_right_pinky_PIP": 1.0234969854354858, "multi_right_ring_DIP": 0.20351099967956543, "multi_right_ring_MCP_AA": 0.6991322040557861, "multi_right_ring_PIP": 0.4300490617752075, "multi_right_thumb_IP": 1.1959733203781298e-10}, "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": 1372, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_pinky_CMC", "role": "finger", "qpos": 0.2690233588218689, "hard_excess_rad": 0.007223397493362427, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "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": [-1.5030136108398438, 0.14711090922355652, 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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": [-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, 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]}, "joint_limit_active_steps": 288, "joint_limit_hard_episode_events": 5, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 250, "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": 288, "joint_limit_active_step_rate": 0.11267605633802817, "finger_joint_limit_saturation_steps": 250, "finger_joint_limit_saturation_step_rate": 0.09780907668231612, "max_joint_limit_excess_rad": 2.900862455368042, "max_joint_limit_excess_joint": "left_pinky_CMC", "stage_completion": {"place_pudding": false, "place_gelatin": false, "place_spatula": false, "place_brush": false}, "current_stage_completion": {"place_pudding": false, "place_gelatin": false, "place_spatula": false, "place_brush": false}, "stage_first_completion_step": {"place_pudding": null, "place_gelatin": null, "place_spatula": null, "place_brush": null}, "violation_counts": {}, "policy_query_count": 23, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2556, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_32_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_32_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..f95075d2ce9e25abe02545e9b74a201c1767e2dd --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_32_episode_05/summary.json @@ -0,0 +1,241 @@ +{ + "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": 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": 2556, + "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": { + "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": 28.383333333333333, + "expert_time_step": 1703, + "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": 0.11267605633802817, + "finger_joint_limit_saturation_step_rate": 0.09780907668231612, + "max_joint_limit_excess_rad": 2.900862455368042, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_middle_DIP": 2, + "left_pinky_CMC": 155, + "left_pinky_DIP": 5, + "left_ring_DIP": 11, + "multi_right_index_DIP": 23, + "multi_right_index_MCP_FE": 9, + "multi_right_index_PIP": 35, + "multi_right_middle_DIP": 7, + "multi_right_middle_MCP_FE": 4, + "multi_right_middle_PIP": 51, + "multi_right_pinky_CMC": 56, + "multi_right_pinky_MCP_AA": 5, + "multi_right_pinky_PIP": 59, + "multi_right_ring_DIP": 4, + "multi_right_ring_MCP_AA": 56, + "multi_right_ring_PIP": 15 + }, + "joint_limit_hard_counts": { + "left_middle_DIP": 1, + "left_pinky_CMC": 1, + "left_pinky_DIP": 1, + "left_ring_DIP": 1, + "multi_right_index_DIP": 2, + "multi_right_index_MCP_FE": 1, + "multi_right_index_PIP": 1, + "multi_right_middle_DIP": 1, + "multi_right_middle_MCP_FE": 1, + "multi_right_middle_PIP": 1, + "multi_right_pinky_CMC": 1, + "multi_right_pinky_MCP_AA": 1, + "multi_right_pinky_PIP": 1, + "multi_right_ring_DIP": 1, + "multi_right_ring_MCP_AA": 1, + "multi_right_ring_PIP": 1 + }, + "joint_limit_hard_episode_events": 5, + "finger_joint_limit_saturation_counts": { + "left_pinky_CMC": 146, + "left_ring_DIP": 2, + "multi_right_index_DIP": 20, + "multi_right_index_PIP": 29, + "multi_right_middle_DIP": 2, + "multi_right_middle_PIP": 48, + "multi_right_pinky_CMC": 40, + "multi_right_pinky_PIP": 57, + "multi_right_ring_MCP_AA": 51, + "multi_right_ring_PIP": 10 + }, + "joint_limit_max_excess_by_joint": { + "left_index_DIP": 0.0004909038543701172, + "left_middle_DIP": 0.04311573505401611, + "left_pinky_CMC": 2.900862455368042, + "left_pinky_DIP": 0.07378888130187988, + "left_ring_DIP": 0.271435022354126, + "left_ring_MCP_AA": 0.002366095781326294, + "multi_right_index_DIP": 1.115813970565796, + "multi_right_index_MCP_FE": 0.17731973528862, + "multi_right_index_PIP": 0.44316303730010986, + "multi_right_middle_DIP": 0.2835571765899658, + "multi_right_middle_MCP_FE": 0.07924807071685791, + "multi_right_middle_PIP": 0.9427446126937866, + "multi_right_pinky_CMC": 0.41746288537979126, + "multi_right_pinky_DIP": 5.402286951117219e-11, + "multi_right_pinky_MCP_AA": 0.025261729955673218, + "multi_right_pinky_PIP": 1.0234969854354858, + "multi_right_ring_DIP": 0.20351099967956543, + "multi_right_ring_MCP_AA": 0.6991322040557861, + "multi_right_ring_PIP": 0.4300490617752075, + "multi_right_thumb_IP": 1.1959733203781298e-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": 27.54854320611621, + "joint_effort_rms": 47.90781902257517, + "joint_jerk_rms": 2691.244562411254, + "joint_velocity_rms": 0.686108681245813 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.4876218684904175, + "mean_kinematic_grasp_stability": 0.16644040046268727, + "per_object_best_kinematic_grasp_stability": { + "obj_008_pudding_box_2": 0.0, + "obj_009_gelatin_box_3": 0.0, + "obj_033_spatula_4": 0.4876218684904175, + "obj_189_brush_5": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9451617110067815, + "mean_duration_score": 0.053674360980699005, + "mean_hold_score": 0.047339593114241005, + "mean_kinematic_stability_score": 0.0004232639291891499, + "mean_legacy_gsi": 0.22863340743643917, + "mean_lift_score": 0.05712050078247261, + "mean_motion_stability_score": 0.045430360172468987 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2556, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_32_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_32_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58b6605312433b7220a31c7b521d2d1f0705c856 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_32_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/32_baking_tray_prep_with_tools.yaml", "episode_index": 6, "seed": 203200005, "success": false, "steps": 2556, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 203200005, "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, 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"finger_joint_limit_saturation_steps": 101, "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": 140, "joint_limit_active_step_rate": 0.054773082942097026, "finger_joint_limit_saturation_steps": 101, "finger_joint_limit_saturation_step_rate": 0.03951486697965571, "max_joint_limit_excess_rad": 1.5347728729248047, "max_joint_limit_excess_joint": "multi_right_index_DIP", "stage_completion": {"place_pudding": false, "place_gelatin": true, "place_spatula": false, "place_brush": false}, "current_stage_completion": {"place_pudding": false, "place_gelatin": false, "place_spatula": false, "place_brush": false}, "stage_first_completion_step": {"place_pudding": null, "place_gelatin": 1987, "place_spatula": null, "place_brush": null}, "violation_counts": {"drop_to_table_obj_033_spatula_4": 1}, "policy_query_count": 21, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2556, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_32_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_32_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..24c502be59175b338aca96092009befb7fbccb90 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_32_episode_06/summary.json @@ -0,0 +1,245 @@ +{ + "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": 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": 2556, + "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": 0.0003912363067292645 + }, + "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": 28.383333333333333, + "expert_time_step": 1703, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0003912363067292645, + "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": 0.054773082942097026, + "finger_joint_limit_saturation_step_rate": 0.03951486697965571, + "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": 97, + "multi_right_thumb_CMC_FE": 67, + "multi_right_thumb_MCP_FE": 69 + }, + "joint_limit_hard_counts": { + "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": 20, + "multi_right_thumb_CMC_FE": 2, + "multi_right_thumb_MCP_FE": 3 + }, + "joint_limit_hard_episode_events": 20, + "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": 56, + "multi_right_thumb_CMC_FE": 58, + "multi_right_thumb_MCP_FE": 50 + }, + "joint_limit_max_excess_by_joint": { + "left_index_DIP": 7.152557373046875e-07, + "left_index_MCP_AA": 1.3619661331176758e-05, + "left_index_PIP": 3.9678179746260867e-05, + "left_pinky_CMC": 0.0007426852826029062, + "left_pinky_MCP_AA": 0.001829385757446289, + "left_ring_MCP_AA": 0.0018920600414276123, + "multi_right_index_DIP": 1.5347728729248047, + "multi_right_index_MCP_AA": 7.477402687072754e-05, + "multi_right_index_MCP_FE": 0.18246331810951233, + "multi_right_index_PIP": 0.0776652842760086, + "multi_right_middle_DIP": 1.5245301723480225, + "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": 6.86943531036377e-05, + "multi_right_ring_MCP_FE": 0.047163233160972595, + "multi_right_ring_PIP": 0.5413898825645447, + 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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": 126, "joint_limit_hard_episode_events": 3, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 92, "max_joint_limit_excess_rad": 0.6832666993141174, "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": 126, "joint_limit_active_step_rate": 0.04929577464788732, "finger_joint_limit_saturation_steps": 92, "finger_joint_limit_saturation_step_rate": 0.03599374021909233, "max_joint_limit_excess_rad": 0.6832666993141174, "max_joint_limit_excess_joint": "left_middle_DIP", "stage_completion": {"place_pudding": false, "place_gelatin": false, "place_spatula": false, "place_brush": false}, "current_stage_completion": {"place_pudding": false, "place_gelatin": false, "place_spatula": false, "place_brush": false}, "stage_first_completion_step": {"place_pudding": null, "place_gelatin": null, "place_spatula": null, "place_brush": null}, "violation_counts": {}, "policy_query_count": 27, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2556, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_32_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_32_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..73bf39964921fdcdf4a3be8c7562c77fc09f7bc1 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_32_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": 203200000, + "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": 2556, + "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": { + "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": 28.383333333333333, + "expert_time_step": 1703, + "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": 0.04929577464788732, + "finger_joint_limit_saturation_step_rate": 0.03599374021909233, + "max_joint_limit_excess_rad": 0.6832666993141174, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_middle_DIP": 22, + "left_pinky_DIP": 33, + "left_ring_PIP": 5, + "multi_right_index_PIP": 10, + "multi_right_middle_DIP": 36, + "multi_right_middle_MCP_FE": 6, + "multi_right_middle_PIP": 40, + "multi_right_pinky_CMC": 5, + "multi_right_pinky_MCP_AA": 51, + "multi_right_pinky_MCP_FE": 16, + "multi_right_ring_DIP": 41, + "multi_right_ring_MCP_FE": 19, + "multi_right_ring_PIP": 45 + }, + "joint_limit_hard_counts": { + "left_middle_DIP": 1, + "left_pinky_DIP": 1, + "left_ring_PIP": 1, + "multi_right_index_MCP_FE": 1, + "multi_right_index_PIP": 1, + "multi_right_middle_DIP": 1, + "multi_right_middle_MCP_FE": 2, + "multi_right_middle_PIP": 1, + "multi_right_pinky_CMC": 1, + "multi_right_pinky_MCP_AA": 1, + "multi_right_pinky_MCP_FE": 1, + "multi_right_ring_DIP": 1, + "multi_right_ring_MCP_FE": 1, + "multi_right_ring_PIP": 1 + }, + "joint_limit_hard_episode_events": 3, + "finger_joint_limit_saturation_counts": { + "left_middle_DIP": 18, + "left_pinky_DIP": 17, + "multi_right_middle_DIP": 32, + "multi_right_middle_PIP": 22, + "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": 3.1662134460930247e-06, + "left_index_PIP": 0.0021076472476124763, + "left_middle_DIP": 0.6832666993141174, + "left_middle_PIP": 0.0019727819599211216, + "left_pinky_CMC": 0.0025231936015188694, + "left_pinky_DIP": 0.33963608741760254, + "left_pinky_PIP": 0.0019508898258209229, + "left_ring_DIP": 4.182229531579651e-05, + "left_ring_PIP": 0.057178858667612076, + "left_thumb_CMC_AA": 0.0011390447616577148, + "left_thumb_CMC_FE": 0.0029706209897994995, + "left_thumb_IP": 0.00015700132644269615, + "multi_right_index_DIP": 1.0969504471436409e-10, + "multi_right_index_MCP_FE": 0.0052841901779174805, + "multi_right_index_PIP": 0.03608237951993942, + "multi_right_middle_DIP": 0.45495104789733887, + "multi_right_middle_MCP_FE": 0.0313032865524292, + "multi_right_middle_PIP": 0.5178707242012024, + "multi_right_pinky_CMC": 0.039058540016412735, + "multi_right_pinky_DIP": 1.430511474609375e-06, + "multi_right_pinky_MCP_AA": 0.1658201515674591, + "multi_right_pinky_MCP_FE": 0.14120236039161682, + "multi_right_pinky_PIP": 9.56463588885903e-11, + "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": 4.6643660311929125e-07, + "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": 53.29614601565106, + "joint_effort_rms": 51.98068022517111, + "joint_jerk_rms": 5011.709966794744, + "joint_velocity_rms": 0.9195909095665386 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.5127442064130425, + "mean_kinematic_grasp_stability": 0.14961633510649022, + "per_object_best_kinematic_grasp_stability": { + "obj_008_pudding_box_2": 0.0, + "obj_009_gelatin_box_3": 0.5127442064130425, + "obj_033_spatula_4": 0.0, + "obj_189_brush_5": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.00029994783515910263, + "mean_hold_score": 0.0002689749608763693, + "mean_kinematic_stability_score": 0.00014633835593357806, + "mean_legacy_gsi": 0.2003177641938755, + "mean_lift_score": 0.0009780907668231612, + "mean_motion_stability_score": 0.0004902511582975257 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2556, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_32_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_32_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb8b8271bdf99587e0e2fc66c632ead9a439f8bd --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_32_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/32_baking_tray_prep_with_tools.yaml", "episode_index": 8, "seed": 203200007, "success": false, "steps": 2556, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 203200007, "base_seed": 203200000, "seed_policy": 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"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": 230, "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": 1.4224319458007812, "hard_excess_rad": 0.02613210678100586, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3962998390197754, "operating_lower": 0.0, "operating_upper": 1.3962998390197754, "expanded_target": 1.38535737991333, "shielded_target": 1.38535737991333}], "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", 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true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 131, "joint_limit_active_step_rate": 0.051251956181533644, "finger_joint_limit_saturation_steps": 47, "finger_joint_limit_saturation_step_rate": 0.018388106416275432, "max_joint_limit_excess_rad": 0.5843997001647949, "max_joint_limit_excess_joint": "left_middle_DIP", "stage_completion": {"place_pudding": false, "place_gelatin": false, "place_spatula": false, "place_brush": false}, "current_stage_completion": {"place_pudding": false, "place_gelatin": false, "place_spatula": false, "place_brush": false}, "stage_first_completion_step": {"place_pudding": null, "place_gelatin": null, "place_spatula": null, "place_brush": null}, "violation_counts": {}, "policy_query_count": 26, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2556, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_32_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_32_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..5d375e4a0e1914e5ca56de49abcc83bedd297d15 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_32_episode_08/summary.json @@ -0,0 +1,228 @@ +{ + "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": 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": 2556, + "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": { + "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": 28.383333333333333, + "expert_time_step": 1703, + "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": 0.051251956181533644, + "finger_joint_limit_saturation_step_rate": 0.018388106416275432, + "max_joint_limit_excess_rad": 0.5843997001647949, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_MCP_AA": 13, + "left_index_MCP_FE": 7, + "left_middle_DIP": 75, + "left_middle_PIP": 5, + "left_pinky_CMC": 21, + "left_pinky_DIP": 19, + "left_ring_DIP": 57, + "left_thumb_MCP_AA": 20, + "multi_right_thumb_MCP_FE": 18 + }, + "joint_limit_hard_counts": { + "left_index_MCP_AA": 1, + "left_index_MCP_FE": 1, + "left_middle_DIP": 3, + "left_middle_PIP": 1, + "left_pinky_CMC": 2, + "left_pinky_DIP": 3, + "left_ring_DIP": 2, + "left_thumb_MCP_AA": 1, + "multi_right_thumb_MCP_FE": 6 + }, + "joint_limit_hard_episode_events": 11, + "finger_joint_limit_saturation_counts": { + "left_middle_DIP": 33, + "left_pinky_CMC": 3, + "left_pinky_DIP": 4, + "left_ring_DIP": 21, + "left_thumb_MCP_AA": 3 + }, + "joint_limit_max_excess_by_joint": { + "A2": 9.959936141967773e-05, + "left_index_MCP_AA": 0.08945390582084656, + "left_index_MCP_FE": 0.04542422294616699, + "left_middle_DIP": 0.5843997001647949, + "left_middle_PIP": 0.024570282548666, + "left_pinky_CMC": 0.2731490433216095, + "left_pinky_DIP": 0.26507115364074707, + "left_pinky_MCP_AA": 0.0028990209102630615, + "left_ring_DIP": 0.250851035118103, + "left_ring_MCP_AA": 0.0024036765098571777, + "left_thumb_MCP_AA": 0.26343855261802673, + "multi_right_index_DIP": 1.0969539165905928e-10, + "multi_right_index_MCP_FE": 4.5359134674072266e-05, + "multi_right_index_PIP": 9.310871973866597e-05, + "multi_right_middle_DIP": 7.838852483788017e-11, + "multi_right_middle_PIP": 2.988114200519476e-10, + "multi_right_pinky_CMC": 0.0014061505207791924, + "multi_right_pinky_DIP": 6.934369745081881e-11, + "multi_right_pinky_MCP_AA": 2.3245811462402344e-06, + "multi_right_pinky_MCP_FE": 2.8818845748901367e-05, + "multi_right_pinky_PIP": 9.584798926765004e-11, + "multi_right_ring_DIP": 4.768215683403909e-11, + "multi_right_ring_MCP_AA": 0.0007997453212738037, + "multi_right_ring_PIP": 1.1734792304540775e-10, + "multi_right_thumb_IP": 1.986056304303929e-06, + "multi_right_thumb_MCP_FE": 0.14098072052001953 + }, + "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": 82.8912219696785, + "joint_effort_rms": 63.370159562628935, + "joint_jerk_rms": 8357.332731577071, + "joint_velocity_rms": 1.229991384539377 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9596562604933543, + "mean_kinematic_grasp_stability": 0.31491422984701584, + "per_object_best_kinematic_grasp_stability": { + "obj_008_pudding_box_2": 0.0, + "obj_009_gelatin_box_3": 0.2110757159743145, + "obj_033_spatula_4": 0.7832054817892669, + "obj_189_brush_5": 0.9596562604933543 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9086463223787254, + "mean_duration_score": 0.12468701095461658, + "mean_hold_score": 0.10274843505477309, + "mean_kinematic_stability_score": 0.02497999221497749, + "mean_legacy_gsi": 0.26831496284251016, + "mean_lift_score": 0.13429186228482004, + "mean_motion_stability_score": 0.09625779326393549 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2556, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_32_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_32_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..09653237bc50d1e3430f404dc5fa2145416cf305 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_32_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/32_baking_tray_prep_with_tools.yaml", "episode_index": 9, "seed": 203200008, "success": false, "steps": 2556, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 203200008, "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": 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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"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": 0.9886068234131944, "mean_kinematic_grasp_stability": 0.6524984524871132, "per_object_best_kinematic_grasp_stability": {"obj_008_pudding_box_2": 0.0, "obj_009_gelatin_box_3": 0.3390866950721832, "obj_033_spatula_4": 0.9886068234131944, "obj_189_brush_5": 0.9846360877895556}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.3063276549331747, "mean_kinematic_stability_score": 0.09885760004915282, "mean_lift_score": 0.1722417840375587, "mean_hold_score": 0.13760269953051618, "mean_motion_stability_score": 0.1326244903695151, "mean_duration_score": 0.15460354720918232, "mean_anti_slip_score": 0.9670383411580374}, "robot_motion_metrics": {"joint_velocity_rms": 0.6748923401508767, "joint_acceleration_rms": 28.334147539452594, "joint_jerk_rms": 2990.116408894757, "joint_effort_rms": 40.461234787527246}, "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_middle_DIP": 19, "left_pinky_CMC": 38, "left_ring_DIP": 16, "multi_right_index_MCP_FE": 147, "multi_right_middle_DIP": 43, "multi_right_middle_MCP_AA": 2, "multi_right_ring_DIP": 27, "multi_right_thumb_CMC_FE": 1}, "joint_limit_hard_counts": {"left_middle_DIP": 1, "left_pinky_CMC": 1, "left_ring_DIP": 1, "multi_right_index_MCP_FE": 3, "multi_right_index_PIP": 1, "multi_right_middle_DIP": 1, "multi_right_middle_MCP_AA": 1, "multi_right_ring_DIP": 1, "multi_right_thumb_CMC_FE": 1}, "finger_joint_limit_saturation_counts": {"left_middle_DIP": 13, "left_pinky_CMC": 5, "left_ring_DIP": 10, "multi_right_index_MCP_FE": 56, "multi_right_middle_DIP": 25, "multi_right_ring_DIP": 16}, "joint_limit_max_excess_by_joint": {"left_index_MCP_AA": 4.8995018005371094e-05, "left_middle_DIP": 0.43429428339004517, "left_middle_PIP": 0.001381993293762207, "left_pinky_CMC": 0.23698845505714417, "left_pinky_DIP": 7.843971252441406e-05, "left_pinky_MCP_AA": 0.0013609230518341064, "left_ring_DIP": 0.5615358948707581, "left_ring_MCP_AA": 0.001367121934890747, "multi_right_index_DIP": 1.0969533614790805e-10, "multi_right_index_MCP_AA": 0.00014585256576538086, "multi_right_index_MCP_FE": 0.23827871680259705, "multi_right_index_PIP": 0.007381859235465527, "multi_right_middle_DIP": 0.2912057638168335, "multi_right_middle_MCP_AA": 0.03112727403640747, "multi_right_middle_MCP_FE": 0.00012958049774169922, "multi_right_middle_PIP": 5.996227264404297e-05, "multi_right_pinky_CMC": 0.0016583011019974947, "multi_right_pinky_DIP": 1.8358230590820312e-05, "multi_right_pinky_MCP_AA": 0.00041928887367248535, "multi_right_pinky_MCP_FE": 0.0001571178436279297, "multi_right_pinky_PIP": 4.0531158447265625e-05, "multi_right_ring_DIP": 0.3081493377685547, "multi_right_ring_MCP_AA": 0.0004603266716003418, "multi_right_ring_MCP_FE": 0.00045120716094970703, "multi_right_ring_PIP": 1.4901161193847656e-05, "multi_right_thumb_CMC_AA": 0.0008036792278289795, "multi_right_thumb_CMC_FE": 0.021097779273986816, "multi_right_thumb_IP": 1.1894908669152215e-10}, "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": 584, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_ring_DIP", "role": "finger", "qpos": -0.027410423383116722, "hard_excess_rad": 0.027410423383116722, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3962998390197754, "operating_lower": 0.0, "operating_upper": 1.3962998390197754, "expanded_target": 0.47912564873695374, "shielded_target": 0.47912564873695374}], "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": [-2.1444973945617676, -0.060813289135694504, 1.5700000524520874, -0.29588815569877625, -1.5700000524520874, -0.5202786922454834, 7.858501176183363e-12, 0.006046735681593418, -1.5700000524520874, -0.05359552800655365, 4.74561015484376e-11, 0.40597105026245117, 5.064850205904747e-10, -3.4687017147483346e-10, 0.6238875389099121, 0.8368982076644897, 0.9914648532867432, 0.9928303360939026, 0.04302966222167015, -0.02627892605960369, 0.7773935794830322, -0.3490999639034271, 0.18527887761592865, 8.874194157293402e-10, 3.7658381968341814e-10, 5.768007182993529e-10, 5.037971428922816e-11, 0.7850040197372437, 0.7414245009422302, -0.330884724855423, 0.6976329684257507, 0.47728368639945984, 8.201106894284438e-13, 1.6657903355310477e-12, -7.777101185268975e-10, -1.9468496259555934e-11, 3.744146381823299e-10, 0.4248810112476349, 0.3612142503261566, 0.909328281879425, 0.47912564873695374, 2.92808471913375e-10, 0.0, -4.4761763740019944e-11, 8.299786552479205e-11, 2.993507941528861e-10, 1.182486891746521, 0.3792840242385864, 0.0, 7.654427092163019e-11, 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": [-2.1444973945617676, -0.060813289135694504, 1.5700000524520874, -0.29588815569877625, -1.5700000524520874, -0.5202786922454834, 7.858501176183363e-12, 0.006046735681593418, -1.5700000524520874, -0.05359552800655365, 4.74561015484376e-11, 0.40597105026245117, 5.064850205904747e-10, -3.4687017147483346e-10, 0.6238875389099121, 0.8368982076644897, 0.0, 0.9914648532867432, 0.9928303360939026, 0.04302966222167015, -0.02627892605960369, 0.7773935794830322, -0.3490999639034271, 0.18527887761592865, 8.874194157293402e-10, 3.7658381968341814e-10, 0.0, 5.768007182993529e-10, 5.037971428922816e-11, 0.7850040197372437, 0.7414245009422302, -0.330884724855423, 0.6976329684257507, 0.47728368639945984, 8.201106894284438e-13, 1.6657903355310477e-12, -7.777101185268975e-10, -1.9468496259555934e-11, 3.744146381823299e-10, 0.4248810112476349, 0.3612142503261566, 0.909328281879425, 0.47912564873695374, 0.0, 2.92808471913375e-10, 0.0, -4.4761763740019944e-11, 8.299786552479205e-11, 2.993507941528861e-10, 1.182486891746521, 0.3792840242385864, 0.0, 7.654427092163019e-11, 3.683971183665591e-11, 2.0341735240680947e-11, 0.0, 8.260812173199739e-12, 0.0], "shielded_full_target": [-2.1444973945617676, -0.060813289135694504, 1.5700000524520874, -0.29588815569877625, -1.5700000524520874, -0.5202786922454834, 7.858501176183363e-12, 0.006046735681593418, -1.5700000524520874, -0.05359552800655365, 4.74561015484376e-11, 0.40597105026245117, 5.064850205904747e-10, -3.4687017147483346e-10, 0.6238875389099121, 0.8368982076644897, 0.0, 0.9914648532867432, 0.9928303360939026, 0.04302966222167015, -0.02627892605960369, 0.7773935794830322, -0.3490999639034271, 0.18527887761592865, 8.874194157293402e-10, 3.7658381968341814e-10, 0.0, 5.768007182993529e-10, 5.037971428922816e-11, 0.7850040197372437, 0.7414245009422302, -0.330884724855423, 0.6976329684257507, 0.47728368639945984, 8.201106894284438e-13, 1.6657903355310477e-12, -7.777101185268975e-10, -1.9468496259555934e-11, 3.744146381823299e-10, 0.4248810112476349, 0.3612142503261566, 0.909328281879425, 0.47912564873695374, 0.0, 2.92808471913375e-10, 0.0, -4.4761763740019944e-11, 8.299786552479205e-11, 2.993507941528861e-10, 1.182486891746521, 0.3792840242385864, 0.0, 7.654427092163019e-11, 3.683971183665591e-11, 2.0341735240680947e-11, 0.0, 8.260812173199739e-12, 0.0]}, "joint_limit_active_steps": 270, "joint_limit_hard_episode_events": 9, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 124, "max_joint_limit_excess_rad": 0.5615358948707581, "max_joint_limit_excess_joint": "left_ring_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": 270, "joint_limit_active_step_rate": 0.1056338028169014, "finger_joint_limit_saturation_steps": 124, "finger_joint_limit_saturation_step_rate": 0.048513302034428794, "max_joint_limit_excess_rad": 0.5615358948707581, "max_joint_limit_excess_joint": "left_ring_DIP", "stage_completion": {"place_pudding": false, "place_gelatin": true, "place_spatula": false, "place_brush": false}, "current_stage_completion": {"place_pudding": false, "place_gelatin": true, "place_spatula": false, "place_brush": false}, "stage_first_completion_step": {"place_pudding": null, "place_gelatin": 2404, "place_spatula": null, "place_brush": null}, "violation_counts": {}, "policy_query_count": 30, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2556, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_32_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_32_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..5920c43d8b8da97a687439881bbe956c480c55dd --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_32_episode_09/summary.json @@ -0,0 +1,230 @@ +{ + "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": 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": 2556, + "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": 28.383333333333333, + "expert_time_step": 1703, + "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": 0.1056338028169014, + "finger_joint_limit_saturation_step_rate": 0.048513302034428794, + "max_joint_limit_excess_rad": 0.5615358948707581, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_middle_DIP": 19, + "left_pinky_CMC": 38, + "left_ring_DIP": 16, + "multi_right_index_MCP_FE": 147, + "multi_right_middle_DIP": 43, + "multi_right_middle_MCP_AA": 2, + "multi_right_ring_DIP": 27, + "multi_right_thumb_CMC_FE": 1 + }, + "joint_limit_hard_counts": { + "left_middle_DIP": 1, + "left_pinky_CMC": 1, + "left_ring_DIP": 1, + "multi_right_index_MCP_FE": 3, + "multi_right_index_PIP": 1, + "multi_right_middle_DIP": 1, + "multi_right_middle_MCP_AA": 1, + "multi_right_ring_DIP": 1, + "multi_right_thumb_CMC_FE": 1 + }, + "joint_limit_hard_episode_events": 9, + "finger_joint_limit_saturation_counts": { + "left_middle_DIP": 13, + "left_pinky_CMC": 5, + "left_ring_DIP": 10, + "multi_right_index_MCP_FE": 56, + "multi_right_middle_DIP": 25, + "multi_right_ring_DIP": 16 + }, + "joint_limit_max_excess_by_joint": { + "left_index_MCP_AA": 4.8995018005371094e-05, + "left_middle_DIP": 0.43429428339004517, + "left_middle_PIP": 0.001381993293762207, + "left_pinky_CMC": 0.23698845505714417, + "left_pinky_DIP": 7.843971252441406e-05, + "left_pinky_MCP_AA": 0.0013609230518341064, + "left_ring_DIP": 0.5615358948707581, + "left_ring_MCP_AA": 0.001367121934890747, + "multi_right_index_DIP": 1.0969533614790805e-10, + "multi_right_index_MCP_AA": 0.00014585256576538086, + "multi_right_index_MCP_FE": 0.23827871680259705, + "multi_right_index_PIP": 0.007381859235465527, + "multi_right_middle_DIP": 0.2912057638168335, + "multi_right_middle_MCP_AA": 0.03112727403640747, + "multi_right_middle_MCP_FE": 0.00012958049774169922, + "multi_right_middle_PIP": 5.996227264404297e-05, + "multi_right_pinky_CMC": 0.0016583011019974947, + "multi_right_pinky_DIP": 1.8358230590820312e-05, + "multi_right_pinky_MCP_AA": 0.00041928887367248535, + "multi_right_pinky_MCP_FE": 0.0001571178436279297, + "multi_right_pinky_PIP": 4.0531158447265625e-05, + "multi_right_ring_DIP": 0.3081493377685547, + "multi_right_ring_MCP_AA": 0.0004603266716003418, + "multi_right_ring_MCP_FE": 0.00045120716094970703, + "multi_right_ring_PIP": 1.4901161193847656e-05, + "multi_right_thumb_CMC_AA": 0.0008036792278289795, + "multi_right_thumb_CMC_FE": 0.021097779273986816, + "multi_right_thumb_IP": 1.1894908669152215e-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": 28.334147539452594, + "joint_effort_rms": 40.461234787527246, + "joint_jerk_rms": 2990.116408894757, + "joint_velocity_rms": 0.6748923401508767 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9886068234131944, + "mean_kinematic_grasp_stability": 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0000000000000000000000000000000000000000..f40eb5e5160665163242edb49c7a95d5faec00bf --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_32_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/32_baking_tray_prep_with_tools.yaml", "episode_index": 10, "seed": 203200009, "success": false, "steps": 2556, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 203200009, "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": "FloorPlan1", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": 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"early_stop": true, "max_episode_steps": 2556, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_32_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_32_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1ce63c4a460f782df9e88c17b13d24144e1d7ff9 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_32_episode_10/summary.json @@ -0,0 +1,209 @@ +{ + "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": 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": 2556, + "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": 0.000782472613458529 + }, + "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": 28.383333333333333, + "expert_time_step": 1703, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.000782472613458529, + "violation_counts": { + "drop_to_table_obj_009_gelatin_box_3": 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": 0.02190923317683881, + "finger_joint_limit_saturation_step_rate": 0.009780907668231613, + "max_joint_limit_excess_rad": 0.4595421552658081, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_pinky_DIP": 42, + "multi_right_thumb_IP": 10, + "multi_right_thumb_MCP_FE": 6 + }, + "joint_limit_hard_counts": { + "left_pinky_DIP": 1, + "left_thumb_CMC_AA": 1, + "multi_right_thumb_IP": 1, + "multi_right_thumb_MCP_FE": 3 + }, + "joint_limit_hard_episode_events": 3, + "finger_joint_limit_saturation_counts": { + "left_pinky_DIP": 25 + }, + "joint_limit_max_excess_by_joint": { + "left_index_PIP": 1.8387550881016068e-05, + "left_pinky_CMC": 0.001153044868260622, + "left_pinky_DIP": 0.4595421552658081, + "left_thumb_CMC_AA": 0.005112498998641968, + "multi_right_index_DIP": 1.0969508634772751e-10, + "multi_right_index_MCP_FE": 0.00016923248767852783, + "multi_right_index_PIP": 4.7803259803913534e-05, + "multi_right_middle_DIP": 7.872028723321378e-11, + "multi_right_middle_PIP": 2.988114200519476e-10, + "multi_right_pinky_CMC": 0.0006143414066173136, + "multi_right_pinky_DIP": 2.384185791015625e-06, + "multi_right_pinky_MCP_AA": 6.404519081115723e-05, + "multi_right_pinky_MCP_FE": 0.00017622113227844238, + "multi_right_pinky_PIP": 9.585924415356217e-11, + "multi_right_ring_DIP": 4.771700395922451e-11, + "multi_right_ring_PIP": 5.983986284263665e-06, + "multi_right_thumb_CMC_AA": 0.0005080103874206543, + "multi_right_thumb_IP": 0.1852249950170517, + "multi_right_thumb_MCP_FE": 0.02095472812652588 + }, + "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": 35.60059116115694, + "joint_effort_rms": 37.315887164196056, + "joint_jerk_rms": 3574.1404286446063, + "joint_velocity_rms": 0.6802756755561793 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.16004545947060558, + "mean_kinematic_grasp_stability": 0.0114523519615014, + "per_object_best_kinematic_grasp_stability": { + "obj_008_pudding_box_2": 0.0, + "obj_009_gelatin_box_3": 0.16004545947060558, + "obj_033_spatula_4": 0.0, + "obj_189_brush_5": 0.017650451824247793 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.0, + "mean_hold_score": 0.00141334115805947, + "mean_kinematic_stability_score": 0.00010641367726355956, + "mean_legacy_gsi": 0.20148650286530195, + "mean_lift_score": 0.009291862284820032, + "mean_motion_stability_score": 0.00064979061559319 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2556, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_32_episode_11/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_32_episode_11/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f86208e29c6698f5bb60997f58bc4415492c3ce4 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_32_episode_11/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/32_baking_tray_prep_with_tools.yaml", "episode_index": 11, "seed": 203200010, "success": false, "steps": 2556, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 203200010, "base_seed": 203200000, "seed_policy": "episode_seed = base_seed + episode_index - 1", 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0.7552956815990159], "rpy_deg": [0.0, 0.0, -2.916642153927434]}, "obj_009_gelatin_box_3": {"position": [-0.25, 0.24, 0.7553436816152657], "rpy_deg": [0.0, 0.0, 9.524419166215967]}, "obj_033_spatula_4": {"position": [0.04, 0.0, 0.7554866815981927], "rpy_deg": [0.0, 0.0, 212.41350445397615]}, "obj_189_brush_5": {"position": [0.31705055228887424, 0.18199898197619696, 0.7632891614846425], "rpy_deg": [0.0, 270.0, 4.199061771454966]}}, "_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": 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"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": 202, "joint_limit_active_step_rate": 0.07902973395931143, "finger_joint_limit_saturation_steps": 82, "finger_joint_limit_saturation_step_rate": 0.032081377151799685, "max_joint_limit_excess_rad": 0.20202940702438354, "max_joint_limit_excess_joint": "multi_right_index_MCP_FE", "stage_completion": {"place_pudding": false, "place_gelatin": false, "place_spatula": false, "place_brush": false}, "current_stage_completion": {"place_pudding": false, "place_gelatin": false, "place_spatula": false, "place_brush": false}, "stage_first_completion_step": {"place_pudding": null, "place_gelatin": null, "place_spatula": null, "place_brush": null}, "violation_counts": {}, "policy_query_count": 19, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2556, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_32_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_32_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..2296b718bd9b6300cd100428b7d1e52288934614 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_32_episode_11/summary.json @@ -0,0 +1,221 @@ +{ + "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": 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": 2556, + "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": { + "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": 28.383333333333333, + "expert_time_step": 1703, + "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": 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0.47912564873695374, 0.0, 2.92808471913375e-10, 0.0, -4.4761763740019944e-11, 8.299786552479205e-11, 2.993507941528861e-10, 1.182486891746521, 8.247395271610003e-06, 0.0, 7.654427092163019e-11, 3.683971183665591e-11, 2.0341735240680947e-11, 0.0, 8.260812173199739e-12, 0.0]}, "joint_limit_active_steps": 64, "joint_limit_hard_episode_events": 3, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 44, "max_joint_limit_excess_rad": 0.8100168704986572, "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": 64, "joint_limit_active_step_rate": 0.025039123630672927, "finger_joint_limit_saturation_steps": 44, "finger_joint_limit_saturation_step_rate": 0.017214397496087636, "max_joint_limit_excess_rad": 0.8100168704986572, "max_joint_limit_excess_joint": "multi_right_pinky_CMC", "stage_completion": {"place_pudding": false, "place_gelatin": false, "place_spatula": false, "place_brush": false}, "current_stage_completion": {"place_pudding": false, "place_gelatin": false, "place_spatula": false, "place_brush": false}, "stage_first_completion_step": {"place_pudding": null, "place_gelatin": null, "place_spatula": null, "place_brush": null}, "violation_counts": {}, "policy_query_count": 35, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2556, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_32_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_32_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..5236bce3b88d4d80551abbcfc9d242351c9d1265 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_32_episode_12/summary.json @@ -0,0 +1,203 @@ +{ + "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": 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": 2556, + "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": { + "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": 28.383333333333333, + "expert_time_step": 1703, + "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": 0.025039123630672927, + "finger_joint_limit_saturation_step_rate": 0.017214397496087636, + "max_joint_limit_excess_rad": 0.8100168704986572, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_thumb_CMC_AA": 2, + "multi_right_middle_DIP": 29, + "multi_right_pinky_CMC": 33 + }, + "joint_limit_hard_counts": { + "left_thumb_CMC_AA": 2, + "multi_right_middle_DIP": 1, + "multi_right_pinky_CMC": 1 + }, + "joint_limit_hard_episode_events": 3, + "finger_joint_limit_saturation_counts": { + "multi_right_middle_DIP": 16, + "multi_right_pinky_CMC": 28 + }, + "joint_limit_max_excess_by_joint": { + "left_pinky_CMC": 0.0011801010696217418, + "left_pinky_MCP_AA": 0.0022199153900146484, + "left_ring_MCP_AA": 0.0045351386070251465, + "left_thumb_CMC_AA": 0.012899160385131836, + "left_thumb_IP": 7.242093852255493e-05, + "multi_right_index_DIP": 1.0969527369786292e-10, + "multi_right_index_PIP": 1.128196618083166e-05, + "multi_right_middle_DIP": 0.39064502716064453, + "multi_right_middle_PIP": 1.8217753677163273e-05, + "multi_right_pinky_CMC": 0.8100168704986572, + "multi_right_pinky_DIP": 4.976881768925523e-07, + "multi_right_pinky_PIP": 1.4501109035336412e-05, + "multi_right_ring_DIP": 3.6168391943647293e-06, + "multi_right_ring_MCP_AA": 0.0011780261993408203, + "multi_right_ring_PIP": 2.9794678994221613e-05, + "multi_right_thumb_IP": 4.549929997210711e-07 + }, + "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": 16.102732862770754, + "joint_effort_rms": 48.67417074145717, + "joint_jerk_rms": 1592.0745221690554, + "joint_velocity_rms": 0.47112099634586474 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.44941497631303595, + "mean_kinematic_grasp_stability": 0.09488742141235319, + "per_object_best_kinematic_grasp_stability": { + "obj_008_pudding_box_2": 0.0, + "obj_009_gelatin_box_3": 0.07960080867590325, + "obj_033_spatula_4": 0.0, + "obj_189_brush_5": 0.44941497631303595 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.002275691184141919, + "mean_hold_score": 0.00034233176838810637, + "mean_kinematic_stability_score": 0.00013921276615662146, + "mean_legacy_gsi": 0.20077761615972425, + "mean_lift_score": 0.0014671361502347417, + "mean_motion_stability_score": 0.0005209519589522765 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2556, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_32_episode_13/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_32_episode_13/per_episode.jsonl new file mode 100644 index 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"spawn_position": [0.9611239675478334, 0.1721354119977584, 0.76864711950951], "spawn_yaw_deg": 173.62790001379443, "obj_id": "distractor_00_clutter_070b_colored_wood_blocks"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_130_tray_1": {"position": [0.0025689810046005054, 0.34119340469091464, 0.7684037314652541], "rpy_deg": [90.0, 0.0, 9.396172696764268]}, "obj_008_pudding_box_2": {"position": [-0.34149492885135113, 0.3332789763427638, 0.7689007284731277], "rpy_deg": [0.0, 0.0, 8.495191134632897]}, "obj_009_gelatin_box_3": {"position": [-0.25, 0.24, 0.7689487284893775], "rpy_deg": [0.0, 0.0, 3.801396609882861]}, "obj_033_spatula_4": {"position": [0.04, 0.0, 0.7690917284723044], "rpy_deg": [0.0, 0.0, 205.92846322597043]}, "obj_189_brush_5": {"position": [0.3190409165438129, 0.1839248985557997, 0.7768942083587543], "rpy_deg": [0.0, 270.0, 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"latched_normalized_progress_score": 0.0, "latched_chain_depth_progress_score": 0.0, "latched_chain_depth": 0, "task_efficiency": null, "kinematic_grasp_stability_index": 0.0, "mean_kinematic_grasp_stability": null, "per_object_best_kinematic_grasp_stability": {"obj_008_pudding_box_2": 0.0, "obj_009_gelatin_box_3": 0.0, "obj_033_spatula_4": 0.0, "obj_189_brush_5": 0.0}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.20000000000003207, "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": 0.7512685564590676, "joint_acceleration_rms": 46.38356345021208, "joint_jerk_rms": 4377.5003925776455, "joint_effort_rms": 36.26152452056265}, "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": {"left_middle_DIP": 3, "left_pinky_CMC": 55, "multi_right_pinky_CMC": 35, "multi_right_pinky_MCP_FE": 3, "multi_right_thumb_CMC_AA": 10}, "joint_limit_hard_counts": {"left_middle_DIP": 2, "left_pinky_CMC": 1, "multi_right_pinky_CMC": 2, "multi_right_pinky_MCP_FE": 6, "multi_right_thumb_CMC_AA": 2, "multi_right_thumb_MCP_FE": 4}, "finger_joint_limit_saturation_counts": {"left_pinky_CMC": 33, "multi_right_pinky_CMC": 30}, "joint_limit_max_excess_by_joint": {"left_middle_DIP": 0.045312102884054184, "left_pinky_CMC": 0.13673950731754303, "left_thumb_CMC_AA": 0.001537233591079712, "multi_right_index_DIP": 1.0969478797528964e-10, "multi_right_index_MCP_FE": 0.00010366737842559814, "multi_right_index_PIP": 2.9005146643612534e-05, "multi_right_middle_DIP": 6.760423471030563e-11, "multi_right_middle_PIP": 2.988114200519476e-10, "multi_right_pinky_CMC": 0.854444682598114, "multi_right_pinky_DIP": 1.3113021850585938e-06, "multi_right_pinky_MCP_AA": 0.0006324350833892822, "multi_right_pinky_MCP_FE": 0.016919612884521484, "multi_right_pinky_PIP": 6.12206535466342e-11, "multi_right_ring_DIP": 4.768730896276274e-11, "multi_right_ring_MCP_AA": 0.00028198957443237305, "multi_right_ring_PIP": 4.461531144528408e-11, "multi_right_thumb_CMC_AA": 0.026724576950073242, "multi_right_thumb_IP": 1.0848045349121094e-05, "multi_right_thumb_MCP_FE": 0.006842076778411865}, "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": 491, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_middle_DIP", "role": "finger", "qpos": -0.01913781650364399, "hard_excess_rad": 0.01913781650364399, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3962998390197754, "operating_lower": 0.0, "operating_upper": 1.3962998390197754, "expanded_target": 0.281870573759079, "shielded_target": 0.281870573759079}], "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": [-2.0490291118621826, -0.01997126266360283, 1.5700000524520874, -0.397042840719223, -1.5700000524520874, -0.6324348449707031, 7.858501176183363e-12, 0.5531433820724487, -1.5700000524520874, -0.40979018807411194, 4.74561015484376e-11, -0.2502184212207794, 5.064850205904747e-10, -3.4687017147483346e-10, 0.6372383236885071, 0.7113146781921387, 0.536334216594696, 0.699999988079071, -0.07758267223834991, -0.07646524161100388, 0.2899942696094513, -0.18248748779296875, 0.20000000298023224, 8.874194157293402e-10, 3.7658381968341814e-10, 5.768007182993529e-10, 5.037971428922816e-11, 0.7414752244949341, 0.5834600925445557, -0.2152222841978073, 0.5704793930053711, 0.37382522225379944, 8.201106894284438e-13, 1.6657903355310477e-12, -7.777101185268975e-10, -1.9468496259555934e-11, 3.744146381823299e-10, 0.3974558115005493, 0.281870573759079, 0.8356431126594543, 0.29624122381210327, 2.92808471913375e-10, 0.0, -4.4761763740019944e-11, 8.299786552479205e-11, 2.993507941528861e-10, 1.382537603378296, 0.45478981733322144, 0.0, 7.654427092163019e-11, 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": [-2.0490291118621826, -0.01997126266360283, 1.5700000524520874, -0.397042840719223, -1.5700000524520874, -0.6324348449707031, 7.858501176183363e-12, 0.5531433820724487, -1.5700000524520874, -0.40979018807411194, 4.74561015484376e-11, -0.2502184212207794, 5.064850205904747e-10, -3.4687017147483346e-10, 0.6372383236885071, 0.7113146781921387, 0.0, 0.536334216594696, 0.699999988079071, -0.07758267223834991, -0.07646524161100388, 0.2899942696094513, -0.18248748779296875, 0.20000000298023224, 8.874194157293402e-10, 3.7658381968341814e-10, 0.0, 5.768007182993529e-10, 5.037971428922816e-11, 0.7414752244949341, 0.5834600925445557, -0.2152222841978073, 0.5704793930053711, 0.37382522225379944, 8.201106894284438e-13, 1.6657903355310477e-12, -7.777101185268975e-10, -1.9468496259555934e-11, 3.744146381823299e-10, 0.3974558115005493, 0.281870573759079, 0.8356431126594543, 0.29624122381210327, 0.0, 2.92808471913375e-10, 0.0, -4.4761763740019944e-11, 8.299786552479205e-11, 2.993507941528861e-10, 1.382537603378296, 0.45478981733322144, 0.0, 7.654427092163019e-11, 3.683971183665591e-11, 2.0341735240680947e-11, 0.0, 8.260812173199739e-12, 0.0], "shielded_full_target": [-2.0490291118621826, -0.01997126266360283, 1.5700000524520874, -0.397042840719223, -1.5700000524520874, -0.6324348449707031, 7.858501176183363e-12, 0.5531433820724487, -1.5700000524520874, -0.40979018807411194, 4.74561015484376e-11, -0.2502184212207794, 5.064850205904747e-10, -3.4687017147483346e-10, 0.6372383236885071, 0.7113146781921387, 0.0, 0.536334216594696, 0.699999988079071, -0.07758267223834991, -0.07646524161100388, 0.2899942696094513, -0.18248748779296875, 0.20000000298023224, 8.874194157293402e-10, 3.7658381968341814e-10, 0.0, 5.768007182993529e-10, 5.037971428922816e-11, 0.7414752244949341, 0.5834600925445557, -0.2152222841978073, 0.5704793930053711, 0.37382522225379944, 8.201106894284438e-13, 1.6657903355310477e-12, -7.777101185268975e-10, -1.9468496259555934e-11, 3.744146381823299e-10, 0.3974558115005493, 0.281870573759079, 0.8356431126594543, 0.29624122381210327, 0.0, 2.92808471913375e-10, 0.0, -4.4761763740019944e-11, 8.299786552479205e-11, 2.993507941528861e-10, 1.382537603378296, 0.45478981733322144, 0.0, 7.654427092163019e-11, 3.683971183665591e-11, 2.0341735240680947e-11, 0.0, 8.260812173199739e-12, 0.0]}, "joint_limit_active_steps": 103, "joint_limit_hard_episode_events": 7, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 63, "max_joint_limit_excess_rad": 0.854444682598114, "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": 103, "joint_limit_active_step_rate": 0.04029733959311424, "finger_joint_limit_saturation_steps": 63, "finger_joint_limit_saturation_step_rate": 0.02464788732394366, "max_joint_limit_excess_rad": 0.854444682598114, "max_joint_limit_excess_joint": "multi_right_pinky_CMC", "stage_completion": {"place_pudding": false, "place_gelatin": false, "place_spatula": false, "place_brush": false}, "current_stage_completion": {"place_pudding": false, "place_gelatin": false, "place_spatula": false, "place_brush": false}, "stage_first_completion_step": {"place_pudding": null, "place_gelatin": null, "place_spatula": null, "place_brush": null}, "violation_counts": {}, "policy_query_count": 21, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2556, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_32_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_32_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4f0e7076e96a819677fe8fac0b8e337059ca9c92 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_32_episode_13/summary.json @@ -0,0 +1,211 @@ +{ + "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": 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": 2556, + "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": { + "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": 28.383333333333333, + "expert_time_step": 1703, + "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": 0.04029733959311424, + "finger_joint_limit_saturation_step_rate": 0.02464788732394366, + "max_joint_limit_excess_rad": 0.854444682598114, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_middle_DIP": 3, + "left_pinky_CMC": 55, + "multi_right_pinky_CMC": 35, + "multi_right_pinky_MCP_FE": 3, + "multi_right_thumb_CMC_AA": 10 + }, + "joint_limit_hard_counts": { + "left_middle_DIP": 2, + "left_pinky_CMC": 1, + "multi_right_pinky_CMC": 2, + "multi_right_pinky_MCP_FE": 6, + "multi_right_thumb_CMC_AA": 2, + "multi_right_thumb_MCP_FE": 4 + }, + "joint_limit_hard_episode_events": 7, + "finger_joint_limit_saturation_counts": { + "left_pinky_CMC": 33, + "multi_right_pinky_CMC": 30 + }, + "joint_limit_max_excess_by_joint": { + "left_middle_DIP": 0.045312102884054184, + "left_pinky_CMC": 0.13673950731754303, + "left_thumb_CMC_AA": 0.001537233591079712, + "multi_right_index_DIP": 1.0969478797528964e-10, + "multi_right_index_MCP_FE": 0.00010366737842559814, + "multi_right_index_PIP": 2.9005146643612534e-05, + "multi_right_middle_DIP": 6.760423471030563e-11, + "multi_right_middle_PIP": 2.988114200519476e-10, + "multi_right_pinky_CMC": 0.854444682598114, + "multi_right_pinky_DIP": 1.3113021850585938e-06, + "multi_right_pinky_MCP_AA": 0.0006324350833892822, + "multi_right_pinky_MCP_FE": 0.016919612884521484, + "multi_right_pinky_PIP": 6.12206535466342e-11, + "multi_right_ring_DIP": 4.768730896276274e-11, + "multi_right_ring_MCP_AA": 0.00028198957443237305, + "multi_right_ring_PIP": 4.461531144528408e-11, + "multi_right_thumb_CMC_AA": 0.026724576950073242, + "multi_right_thumb_IP": 1.0848045349121094e-05, + "multi_right_thumb_MCP_FE": 0.006842076778411865 + }, + "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": 46.38356345021208, + "joint_effort_rms": 36.26152452056265, + "joint_jerk_rms": 4377.5003925776455, + "joint_velocity_rms": 0.7512685564590676 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.0, + "mean_kinematic_grasp_stability": null, + "per_object_best_kinematic_grasp_stability": { + "obj_008_pudding_box_2": 0.0, + "obj_009_gelatin_box_3": 0.0, + "obj_033_spatula_4": 0.0, + "obj_189_brush_5": 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": 0.20000000000003207, + "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": 2556, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_32_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_32_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d13b32b9eccfa2d2bd8787d81aad1ad44005939 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_32_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/32_baking_tray_prep_with_tools.yaml", "episode_index": 14, "seed": 203200013, "success": false, "steps": 2556, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 203200013, "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": 270.0, "base_yaw_deg": -90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, 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1.2999999523162842, 0.8999999761581421, 0.0, 2.92808471913375e-10, 0.0, -4.4761763740019944e-11, 8.299786552479205e-11, 2.993507941528861e-10, 0.8999999761581421, 1.0087623596191406, 0.0, 7.654427092163019e-11, 3.683971183665591e-11, 2.0341735240680947e-11, 0.0, 8.260812173199739e-12, 0.0]}, "joint_limit_active_steps": 175, "joint_limit_hard_episode_events": 3, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 127, "max_joint_limit_excess_rad": 0.44560933113098145, "max_joint_limit_excess_joint": "left_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": 175, "joint_limit_active_step_rate": 0.06846635367762129, "finger_joint_limit_saturation_steps": 127, "finger_joint_limit_saturation_step_rate": 0.04968701095461659, "max_joint_limit_excess_rad": 0.44560933113098145, "max_joint_limit_excess_joint": "left_middle_PIP", "stage_completion": {"place_pudding": false, "place_gelatin": true, "place_spatula": false, "place_brush": false}, "current_stage_completion": {"place_pudding": false, "place_gelatin": true, "place_spatula": false, "place_brush": false}, "stage_first_completion_step": {"place_pudding": null, "place_gelatin": 2125, "place_spatula": null, "place_brush": null}, "violation_counts": {}, "policy_query_count": 20, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2556, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_32_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_32_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..3e6b1f6eb6405762bf0344bc34ac66fac2e62db9 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_32_episode_14/summary.json @@ -0,0 +1,229 @@ +{ + "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": 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": 2556, + "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": 28.383333333333333, + "expert_time_step": 1703, + "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": 0.06846635367762129, + "finger_joint_limit_saturation_step_rate": 0.04968701095461659, + "max_joint_limit_excess_rad": 0.44560933113098145, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_middle_PIP": 31, + "left_pinky_CMC": 67, + "left_pinky_DIP": 47, + "left_pinky_MCP_FE": 47, + "multi_right_thumb_IP": 35, + "multi_right_thumb_MCP_AA": 39, + "multi_right_thumb_MCP_FE": 1 + }, + "joint_limit_hard_counts": { + "left_middle_PIP": 1, + "left_pinky_CMC": 1, + "left_pinky_DIP": 1, + "left_pinky_MCP_FE": 1, + "multi_right_thumb_IP": 1, + "multi_right_thumb_MCP_AA": 1, + "multi_right_thumb_MCP_FE": 3 + }, + "joint_limit_hard_episode_events": 3, + "finger_joint_limit_saturation_counts": { + "left_middle_PIP": 23, + "left_pinky_CMC": 55, + "left_pinky_DIP": 22, + "multi_right_thumb_IP": 25, + "multi_right_thumb_MCP_AA": 18 + }, + "joint_limit_max_excess_by_joint": { + "left_index_DIP": 8.173022675306285e-11, + "left_index_PIP": 4.1938495996873826e-05, + "left_middle_DIP": 4.489372068539055e-11, + "left_middle_PIP": 0.44560933113098145, + "left_pinky_CMC": 0.37280720472335815, + "left_pinky_DIP": 0.4057258367538452, + "left_pinky_MCP_FE": 0.08163511753082275, + "left_pinky_PIP": 5.592887464445084e-05, + "left_ring_DIP": 9.542296538711525e-06, + "left_ring_MCP_AA": 0.0006156563758850098, + "left_ring_PIP": 0.00011069808533648029, + "left_thumb_CMC_AA": 0.0011152327060699463, + "left_thumb_IP": 1.360164425534549e-08, + "multi_right_index_DIP": 6.812878154960345e-07, + "multi_right_index_MCP_FE": 0.0001532137393951416, + "multi_right_index_PIP": 0.0009200755157507956, + "multi_right_middle_DIP": 4.9830946409201715e-06, + "multi_right_middle_MCP_FE": 0.00012952089309692383, + "multi_right_middle_PIP": 0.0012466503540053964, + "multi_right_pinky_CMC": 0.0018419616390019655, + "multi_right_pinky_DIP": 5.87723570788512e-06, + "multi_right_pinky_MCP_AA": 9.298324584960938e-06, + "multi_right_pinky_MCP_FE": 0.0001001209020614624, + "multi_right_pinky_PIP": 0.0024487145710736513, + "multi_right_ring_DIP": 1.486304790887516e-05, + "multi_right_ring_MCP_AA": 0.001158595085144043, + "multi_right_ring_MCP_FE": 4.340708255767822e-05, + "multi_right_ring_PIP": 0.001789224217645824, + "multi_right_thumb_IP": 0.4199718236923218, + "multi_right_thumb_MCP_AA": 0.3752760589122772, + "multi_right_thumb_MCP_FE": 0.01320880651473999 + }, + "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": 78.92940926029542, + "joint_effort_rms": 33.19060402531543, + "joint_jerk_rms": 8270.78122252965, + "joint_velocity_rms": 1.0942453894764677 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.997097407637073, + "mean_kinematic_grasp_stability": 0.563667763526929, + "per_object_best_kinematic_grasp_stability": { + "obj_008_pudding_box_2": 0.0, + "obj_009_gelatin_box_3": 0.997097407637073, + "obj_033_spatula_4": 0.0, + "obj_189_brush_5": 0.0362466128326172 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9875782472613233, + "mean_duration_score": 0.04073748043818466, + "mean_hold_score": 0.04153951486697966, + "mean_kinematic_stability_score": 0.028117229988139068, + "mean_legacy_gsi": 0.23138596574469025, + "mean_lift_score": 0.04988262910798122, + "mean_motion_stability_score": 0.04192142492991121 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2556, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_34_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_34_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b340917859ed9e6272308e0c395e31595e39c6fa --- /dev/null +++ b/gpt6_astra_1x_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": false, "steps": 3240, "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": 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": 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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", "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, 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0.5132716049382716, "finger_joint_limit_saturation_steps": 1577, "finger_joint_limit_saturation_step_rate": 0.4867283950617284, "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": false, "close_fridge": false}, "current_stage_completion": {"open_fridge": false, "take_bottle": true, "pour_wine": true, "return_bottle": false, "close_fridge": false}, "stage_first_completion_step": {"open_fridge": 289, "take_bottle": 475, "pour_wine": 1262, "return_bottle": null, "close_fridge": null}, "violation_counts": {"drop_to_table_obj_224_wine_bottle_1": 1}, "policy_query_count": 30, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3240, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_34_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_34_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..6803ab9e10c95fc909e7e0455d71bd5a464ae3eb --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_34_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": 203400000, + "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": 3240, + "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": 0.00030864197530864197 + }, + "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": 0.4, + "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": 0.00030864197530864197, + "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": 0.5132716049382716, + "finger_joint_limit_saturation_step_rate": 0.4867283950617284, + "max_joint_limit_excess_rad": 2.037945032119751, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_pip_joint": 16, + "left_middle_pip_joint": 54, + "left_ring_pip_joint": 28, + "left_thumb_mcp_joint": 445, + "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": 833, + "right_thumb_pip_joint": 94, + "right_thumb_yaw_joint": 70 + }, + "joint_limit_hard_counts": { + "left_index_pip_joint": 3, + "left_middle_pip_joint": 3, + "left_ring_pip_joint": 1, + "left_thumb_mcp_joint": 1, + "right_index_dip_joint": 9, + "right_index_mcp_joint": 1, + "right_index_pip_joint": 4, + "right_index_pitch_joint": 4, + "right_middle_dip_joint": 22, + "right_middle_mcp_joint": 1, + "right_middle_pip_joint": 3, + "right_middle_pitch_joint": 4, + "right_pinky_dip_joint": 1, + "right_pinky_mcp_joint": 6, + "right_pinky_pip_joint": 2, + "right_ring_dip_joint": 12, + "right_ring_mcp_joint": 7, + "right_ring_pip_joint": 2, + "right_thumb_dip_joint": 7, + "right_thumb_mcp_joint": 3, + "right_thumb_pip_joint": 2, + "right_thumb_yaw_joint": 1 + }, + "joint_limit_hard_episode_events": 9, + "finger_joint_limit_saturation_counts": { + "left_middle_pip_joint": 24, + "left_ring_pip_joint": 2, + "left_thumb_mcp_joint": 418, + "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": 787, + "right_thumb_pip_joint": 74, + "right_thumb_yaw_joint": 53 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 1.2509261182458431e-08, + "left_index_pip_joint": 0.01302429474890232, + "left_index_pitch_joint": 0.000973417132627219, + "left_middle_dip_joint": 0.00079895812086761, + "left_middle_pip_joint": 0.3632863759994507, + "left_pinky_mcp_joint": 0.0028734756633639336, + "left_ring_dip_joint": 0.0005476330406963825, + "left_ring_pip_joint": 0.17693205177783966, + "left_thumb_mcp_joint": 0.37806472182273865, + "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": 0.4725065231323242, + "right_thumb_pip_joint": 0.2756539583206177, + "right_thumb_yaw_joint": 0.6658437252044678 + }, + "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": 87.76296868561772, + "joint_effort_rms": 48.14339285730111, + "joint_jerk_rms": 8813.959142032933, + "joint_velocity_rms": 1.2894411956335905 + }, + "grasp": { + "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_anti_slip_score": 0.4497942386831041, + "mean_duration_score": 0.8202160493827161, + "mean_hold_score": 0.46523148148148097, + "mean_kinematic_stability_score": 0.10850452460320445, + "mean_legacy_gsi": 0.507335360879901, + "mean_lift_score": 0.5419753086419753, + "mean_motion_stability_score": 0.3832686184720242 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3240, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_34_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_34_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8cbf110e134e918b9e0893b2374185315bce2de4 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_34_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/34_fridge_wine_interhand_pour.yaml", "episode_index": 6, "seed": 203400005, "success": false, "steps": 3240, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 203400005, "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": 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0.7930607291900851], "rpy_deg": [90.0, 0.0, -7.410837051350345]}, "obj_224_wine_bottle_1": {"position": [-0.2196158946309143, 0.4338732334550202, 0.843060727894194], "rpy_deg": [0.0, 0.0, -4.222343813445077]}, "obj_111_refrigerator_1": {"position": [-0.2, 0.5, 1.1698763430281303], "rpy_deg": [0.0, 0.0, 91.53291281592458]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "articulation_pour", "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": 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": 36.0, "expert_time_step": 2160, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.6, "normalized_progress_score": 0.6, "chain_depth_progress_score": 0.6, "current_stage_completion_rate": 0.6, "current_normalized_progress_score": 0.6, "current_chain_depth_progress_score": 0.6, "current_chain_depth": 3, "latched_stage_completion_rate": 0.6, "latched_normalized_progress_score": 0.6, "latched_chain_depth_progress_score": 0.6, "latched_chain_depth": 3, "task_efficiency": null, "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_legacy_gsi": 0.4406500504594703, "mean_kinematic_stability_score": 0.07615904915169397, "mean_lift_score": 0.36604938271604937, "mean_hold_score": 0.2901234567901228, "mean_motion_stability_score": 0.22426109911510125, "mean_duration_score": 0.7901748971193415, "mean_anti_slip_score": 0.6318930041152263}, "robot_motion_metrics": {"joint_velocity_rms": 0.6999120129027584, "joint_acceleration_rms": 29.980904192611707, "joint_jerk_rms": 3081.617970794624, "joint_effort_rms": 34.23149084910355}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.00030864197530865216, "safety_violation_rate_time": 0.00030864197530865216, "safety_violation_rate_event": 0.00030864197530864197, "safety_violation_step_rate": 0.00030864197530864197, "safety_violation_events_per_step": 0.00030864197530864197, "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": 54, "left_index_pitch_joint": 70, "left_middle_pip_joint": 83, "left_middle_pitch_joint": 45, "left_pinky_pip_joint": 2, "left_ring_mcp_joint": 28, "left_ring_pip_joint": 46, "left_thumb_mcp_joint": 372, "left_thumb_pip_joint": 125, "right_thumb_mcp_joint": 866}, "joint_limit_hard_counts": {"left_index_pip_joint": 9, "left_index_pitch_joint": 1, "left_middle_pip_joint": 6, "left_middle_pitch_joint": 2, "left_pinky_mcp_joint": 2, "left_pinky_pip_joint": 2, "left_ring_mcp_joint": 1, "left_ring_pip_joint": 3, "left_thumb_mcp_joint": 11, "left_thumb_pip_joint": 3, "left_thumb_yaw_joint": 1, "right_thumb_mcp_joint": 1}, "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_ring_mcp_joint": 21, "left_ring_pip_joint": 22, "left_thumb_mcp_joint": 258, "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": 0.007578417658805847, "left_pinky_pip_joint": 0.06845664978027344, "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}, "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": 136, "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": -0.00546633405610919, "hard_excess_rad": 0.00546633405610919, "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": [1.6561764478683472, -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": 1439, "joint_limit_hard_episode_events": 21, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 1233, "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": 1439, "joint_limit_active_step_rate": 0.4441358024691358, "finger_joint_limit_saturation_steps": 1233, "finger_joint_limit_saturation_step_rate": 0.38055555555555554, "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": 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": 289, "take_bottle": 289, "pour_wine": 2238, "return_bottle": null, "close_fridge": null}, "violation_counts": {"drop_to_table_obj_224_wine_bottle_1": 1}, "policy_query_count": 37, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3240, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_34_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_34_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..28dcbfe000505f43f19e6edcbb7d97d89c9cf0e4 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_34_episode_06/summary.json @@ -0,0 +1,239 @@ +{ + "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": 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": 3240, + "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": 0.00030864197530864197 + }, + "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": 0.00030864197530864197, + "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": 0.4441358024691358, + "finger_joint_limit_saturation_step_rate": 0.38055555555555554, + "max_joint_limit_excess_rad": 1.5431932210922241, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_pip_joint": 54, + "left_index_pitch_joint": 70, + "left_middle_pip_joint": 83, + "left_middle_pitch_joint": 45, + "left_pinky_pip_joint": 2, + "left_ring_mcp_joint": 28, + "left_ring_pip_joint": 46, + "left_thumb_mcp_joint": 372, + "left_thumb_pip_joint": 125, + "right_thumb_mcp_joint": 866 + }, + "joint_limit_hard_counts": { + "left_index_pip_joint": 9, + "left_index_pitch_joint": 1, + "left_middle_pip_joint": 6, + "left_middle_pitch_joint": 2, + "left_pinky_mcp_joint": 2, + "left_pinky_pip_joint": 2, + "left_ring_mcp_joint": 1, + "left_ring_pip_joint": 3, + "left_thumb_mcp_joint": 11, + "left_thumb_pip_joint": 3, + "left_thumb_yaw_joint": 1, + "right_thumb_mcp_joint": 1 + }, + "joint_limit_hard_episode_events": 21, + "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_ring_mcp_joint": 21, + "left_ring_pip_joint": 22, + "left_thumb_mcp_joint": 258, + "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": 0.007578417658805847, + "left_pinky_pip_joint": 0.06845664978027344, + "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": { + 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"finger_joint_limit_saturation_steps": 467, "finger_joint_limit_saturation_step_rate": 0.1441358024691358, "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": false, "return_bottle": false, "close_fridge": false}, "current_stage_completion": {"open_fridge": true, "take_bottle": false, "pour_wine": false, "return_bottle": false, "close_fridge": false}, "stage_first_completion_step": {"open_fridge": 311, "take_bottle": 2450, "pour_wine": null, "return_bottle": null, "close_fridge": null}, "violation_counts": {}, "policy_query_count": 31, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3240, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_34_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_34_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..cd1085173e359457c56c871a1e419a8bd16fd61e --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_34_episode_07/summary.json @@ -0,0 +1,230 @@ +{ + "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": 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": 3240, + "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": 0.4 + }, + "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_pour": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.2, + "current_chain_depth_progress_score": 0.2, + "latched_chain_depth_progress_score": 0.4, + "avg_current_chain_depth": 1, + "avg_latched_chain_depth": 2 + }, + "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": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.19506172839506172, + "finger_joint_limit_saturation_step_rate": 0.1441358024691358, + "max_joint_limit_excess_rad": 1.4258047342300415, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_pip_joint": 256, + "left_index_pitch_joint": 231, + "left_middle_pip_joint": 195, + "left_middle_pitch_joint": 140, + "left_pinky_mcp_joint": 113, + "left_pinky_pip_joint": 37, + "left_ring_mcp_joint": 82, + "left_ring_pip_joint": 120, + "left_thumb_mcp_joint": 62 + }, + "joint_limit_hard_counts": { + "left_index_pip_joint": 12, + "left_index_pitch_joint": 6, + "left_middle_mcp_joint": 1, + "left_middle_pip_joint": 7, + "left_middle_pitch_joint": 6, + "left_pinky_mcp_joint": 12, + "left_pinky_pip_joint": 3, + "left_ring_mcp_joint": 8, + "left_ring_pip_joint": 7, + "left_thumb_mcp_joint": 5 + }, + "joint_limit_hard_episode_events": 25, + "finger_joint_limit_saturation_counts": { + "left_index_pip_joint": 220, + "left_index_pitch_joint": 184, + "left_middle_pip_joint": 132, + "left_middle_pitch_joint": 92, + "left_pinky_mcp_joint": 21, + "left_pinky_pip_joint": 30, + "left_ring_mcp_joint": 39, + "left_ring_pip_joint": 77, + "left_thumb_mcp_joint": 54 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 5.554757720460657e-08, + "left_index_pip_joint": 1.2517415285110474, + "left_index_pitch_joint": 1.0933383703231812, + "left_middle_dip_joint": 0.0020228771027177572, + "left_middle_mcp_joint": 0.007247269153594971, + "left_middle_pip_joint": 0.8507091999053955, + "left_middle_pitch_joint": 1.314996600151062, + "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": 1.229817314651882e-07, + "right_index_pip_joint": 0.00017030673916451633, + "right_index_pitch_joint": 3.96227960663964e-06, + "right_middle_dip_joint": 7.75345051806653e-06, + "right_middle_pip_joint": 0.0002379939833190292, + "right_pinky_dip_joint": 2.2623071818661522e-11, + "right_pinky_mcp_joint": 0.00017763255164027214, + "right_ring_dip_joint": 1.0907289833994582e-05, + "right_ring_mcp_joint": 2.688734639377799e-05, + "right_ring_pip_joint": 0.00021639253827743232, + "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": 60.25778368411298, + "joint_effort_rms": 45.17063408202883, + "joint_jerk_rms": 6262.8121721033895, + "joint_velocity_rms": 1.0684945902013903 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9883990963549432, + "mean_kinematic_grasp_stability": 0.3849410168341508, + "per_object_best_kinematic_grasp_stability": { + "obj_224_wine_bottle_1": 0.9883990963549432 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6684156378601147, + "mean_duration_score": 0.7578703703703704, + "mean_hold_score": 0.5039506172839695, + "mean_kinematic_stability_score": 0.29571549101858063, + "mean_legacy_gsi": 0.61196197346826, + "mean_lift_score": 0.7682098765432098, + "mean_motion_stability_score": 0.5477583242097337 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3240, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_34_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_34_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..00bedf7713f2cef970f28745930a45b0f9aa00ad --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_34_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/34_fridge_wine_interhand_pour.yaml", "episode_index": 8, "seed": 203400007, "success": true, "steps": 2710, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 203400007, "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": 270.0, "base_yaw_deg": -90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan315", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": 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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_030_fork_2": {"position": [0.0557662482659364, 0.4323529180921844, 0.7151040776392705], "rpy_deg": [0.0, 0.0, 90.51372820588166]}, "obj_029_plate_2": {"position": [0.28, 0.4, 0.7179348775644115], "rpy_deg": [0.0, 0.0, 2.0337891632830605]}, "obj_194_wineglass_2": {"position": [0.48, 0.38, 0.7142040789506217], "rpy_deg": [90.0, 0.0, -0.2948895524973132]}, "obj_224_wine_bottle_1": {"position": [-0.18059490073343754, 0.4172433143192106, 0.7642040776547305], "rpy_deg": [0.0, 0.0, -2.754861004732385]}, "obj_111_refrigerator_1": {"position": [-0.2, 0.5, 1.0910196927886668], "rpy_deg": [0.0, 0.0, 89.98434007363066]}}, "_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": 2680, "stable_success_step": 2709, "first_stable_success_step": 2709, "steps_to_stable_success": 2710, "policy_steps_to_stable_success": 904, "policy_queries_to_stable_success": 26, "time_to_stable_success_s": 45.166666666665385, "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": 0.6, "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": 0.7970479704797274, "kinematic_grasp_stability_index": 0.8741989651535799, "mean_kinematic_grasp_stability": 0.4195157568321191, "per_object_best_kinematic_grasp_stability": {"obj_224_wine_bottle_1": 0.8741989651535799}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.5120744298784027, "mean_kinematic_stability_score": 0.13328526444002015, "mean_lift_score": 0.6166051660516605, "mean_hold_score": 0.49630996309963404, "mean_motion_stability_score": 0.3980748371083314, "mean_duration_score": 0.7699261992619926, "mean_anti_slip_score": 0.4282902829028174}, "robot_motion_metrics": {"joint_velocity_rms": 0.6400717629850596, "joint_acceleration_rms": 23.810548323654707, "joint_jerk_rms": 2437.6908364820433, "joint_effort_rms": 29.60487240349096}, "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": 5, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_index_pip_joint": 33, "left_middle_pip_joint": 78, "left_ring_pip_joint": 51, "right_thumb_mcp_joint": 865}, "joint_limit_hard_counts": {"left_index_pip_joint": 11, "left_middle_pip_joint": 4, "left_ring_pip_joint": 3, "right_thumb_mcp_joint": 1}, "finger_joint_limit_saturation_counts": {"left_middle_pip_joint": 36, "left_ring_pip_joint": 32, "right_thumb_mcp_joint": 839}, "joint_limit_max_excess_by_joint": {"left_index_dip_joint": 1.057370813128955e-08, "left_index_pip_joint": 0.03840729221701622, "left_index_pitch_joint": 0.0011141300201416016, "left_middle_dip_joint": 0.000515637279022485, "left_middle_pip_joint": 0.5611448884010315, "left_middle_pitch_joint": 0.0031658411026000977, "left_pinky_dip_joint": 3.654463853308698e-06, "left_pinky_mcp_joint": 0.0006275177001953125, "left_pinky_pip_joint": 1.9832682482956443e-06, "left_ring_dip_joint": 0.0010798047296702862, "left_ring_mcp_joint": 0.00028312206268310547, "left_ring_pip_joint": 0.5008751153945923, "left_thumb_dip_joint": 4.659575097321067e-06, "left_thumb_pip_joint": 4.710666925977769e-11, "right_index_dip_joint": 1.2575321306940168e-05, "right_index_pip_joint": 0.0007753145764581859, "right_index_pitch_joint": 2.4253467927337624e-05, "right_middle_dip_joint": 0.0005104650626890361, "right_middle_mcp_joint": 0.000566631555557251, "right_middle_pip_joint": 0.0008721585036255419, "right_pinky_dip_joint": 0.0004441628698259592, "right_pinky_mcp_joint": 0.0007551908493041992, "right_pinky_pip_joint": 0.0006733390036970377, "right_ring_dip_joint": 0.00047708209604024887, "right_ring_mcp_joint": 0.0011086463928222656, "right_ring_pip_joint": 0.0007898441981524229, "right_thumb_mcp_joint": 0.27072086930274963, "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": 135, "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": -0.007606318220496178, "hard_excess_rad": 0.007606318220496178, "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": [1.6561764478683472, -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": 945, "joint_limit_hard_episode_events": 6, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 876, "max_joint_limit_excess_rad": 0.5611448884010315, "max_joint_limit_excess_joint": "left_middle_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": 945, "joint_limit_active_step_rate": 0.34870848708487084, "finger_joint_limit_saturation_steps": 876, "finger_joint_limit_saturation_step_rate": 0.32324723247232473, "max_joint_limit_excess_rad": 0.5611448884010315, "max_joint_limit_excess_joint": "left_middle_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": false, "pour_wine": true, "return_bottle": true, "close_fridge": true}, "stage_first_completion_step": {"open_fridge": 286, "take_bottle": 640, "pour_wine": 1278, "return_bottle": 2267, "close_fridge": 2680}, "violation_counts": {}, "policy_query_count": 26, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3240, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_34_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_34_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1a792e0ab9e29a3c08fdebfada0be3a3dc7a826e --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_34_episode_08/summary.json @@ -0,0 +1,215 @@ +{ + "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": 3240, + "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": 45.166666666665385 + }, + "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_pour": 1.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.6, + "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": 0.7970479704797274, + "expert_time_s": 36.0, + "expert_time_step": 2160, + "avg_steps_to_success": 2710, + "avg_policy_steps_to_success": 904, + "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": 0.34870848708487084, + "finger_joint_limit_saturation_step_rate": 0.32324723247232473, + "max_joint_limit_excess_rad": 0.5611448884010315, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_pip_joint": 33, + "left_middle_pip_joint": 78, + "left_ring_pip_joint": 51, + "right_thumb_mcp_joint": 865 + }, + "joint_limit_hard_counts": { + "left_index_pip_joint": 11, + "left_middle_pip_joint": 4, + "left_ring_pip_joint": 3, + "right_thumb_mcp_joint": 1 + }, + "joint_limit_hard_episode_events": 6, + "finger_joint_limit_saturation_counts": { + "left_middle_pip_joint": 36, + "left_ring_pip_joint": 32, + "right_thumb_mcp_joint": 839 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 1.057370813128955e-08, + "left_index_pip_joint": 0.03840729221701622, + "left_index_pitch_joint": 0.0011141300201416016, + "left_middle_dip_joint": 0.000515637279022485, + "left_middle_pip_joint": 0.5611448884010315, + "left_middle_pitch_joint": 0.0031658411026000977, + "left_pinky_dip_joint": 3.654463853308698e-06, + "left_pinky_mcp_joint": 0.0006275177001953125, + "left_pinky_pip_joint": 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"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": 23.810548323654707, + "joint_effort_rms": 29.60487240349096, + "joint_jerk_rms": 2437.6908364820433, + "joint_velocity_rms": 0.6400717629850596 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8741989651535799, + "mean_kinematic_grasp_stability": 0.4195157568321191, + "per_object_best_kinematic_grasp_stability": { + "obj_224_wine_bottle_1": 0.8741989651535799 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 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0.025792231783270836, 0.20311035215854645, 0.0, 0.3800687789916992, 0.5383509397506714, 0.7035218477249146, 0.30433517694473267, 0.7265876531600952, 0.736828088760376, 0.0, 0.0, 0.22813354432582855, 0.0, 0.4124886393547058, -0.1649797409772873, -0.06849883496761322, 0.5359852910041809, 0.0, 0.14637723565101624, 0.0, 0.0, 0.03788503259420395, 0.0, 0.0, 0.6020186543464661, 0.0, 0.15886321663856506, 0.0, 0.0, 0.1255398839712143]}, "joint_limit_active_steps": 766, "joint_limit_hard_episode_events": 36, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 515, "max_joint_limit_excess_rad": 1.0637491941452026, "max_joint_limit_excess_joint": "left_middle_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": 766, "joint_limit_active_step_rate": 0.23641975308641974, "finger_joint_limit_saturation_steps": 515, "finger_joint_limit_saturation_step_rate": 0.15895061728395063, "max_joint_limit_excess_rad": 1.0637491941452026, "max_joint_limit_excess_joint": "left_middle_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": 271, "take_bottle": 460, "pour_wine": 2272, "return_bottle": null, "close_fridge": null}, "violation_counts": {"drop_to_table_obj_224_wine_bottle_1": 1}, "policy_query_count": 33, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3240, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_34_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_34_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..a470c6f95ba42cf7b5770e3ba30e972c5a1790e7 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_34_episode_09/summary.json @@ -0,0 +1,238 @@ +{ + "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": 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": 3240, + "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": 0.00030864197530864197 + }, + "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": 0.00030864197530864197, + "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": 0.23641975308641974, + "finger_joint_limit_saturation_step_rate": 0.15895061728395063, + "max_joint_limit_excess_rad": 1.0637491941452026, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_pip_joint": 95, + "left_index_pitch_joint": 3, + "left_middle_pip_joint": 188, + "left_middle_pitch_joint": 6, + "left_pinky_mcp_joint": 15, + "left_pinky_pip_joint": 4, + "left_ring_mcp_joint": 65, + "left_ring_pip_joint": 202, + "left_thumb_mcp_joint": 189, + "left_thumb_yaw_joint": 32, + "right_thumb_mcp_joint": 309 + }, + "joint_limit_hard_counts": { + "left_index_pip_joint": 22, + "left_index_pitch_joint": 3, + "left_middle_mcp_joint": 1, + "left_middle_pip_joint": 17, + "left_middle_pitch_joint": 3, + "left_pinky_mcp_joint": 6, + "left_pinky_pip_joint": 3, + "left_ring_mcp_joint": 11, + "left_ring_pip_joint": 17, + "left_thumb_mcp_joint": 5, + "left_thumb_pip_joint": 1, + "left_thumb_yaw_joint": 1, + "right_thumb_mcp_joint": 1 + }, + "joint_limit_hard_episode_events": 36, + "finger_joint_limit_saturation_counts": { + "left_index_pip_joint": 35, + "left_middle_pip_joint": 99, + "left_ring_mcp_joint": 19, + "left_ring_pip_joint": 112, + "left_thumb_mcp_joint": 85, + "left_thumb_yaw_joint": 26, + "right_thumb_mcp_joint": 267 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 4.356551741580006e-08, + "left_index_pip_joint": 0.6282223463058472, + "left_index_pitch_joint": 0.08447331190109253, + "left_middle_dip_joint": 0.0015108006773516536, + "left_middle_mcp_joint": 0.006929665803909302, + "left_middle_pip_joint": 1.0637491941452026, + "left_middle_pitch_joint": 0.10092809051275253, + "left_pinky_mcp_joint": 0.2013646960258484, + "left_pinky_pip_joint": 0.07365438342094421, + "left_ring_dip_joint": 0.0019695181399583817, + "left_ring_mcp_joint": 0.7693564295768738, + "left_ring_pip_joint": 0.7892996668815613, + "left_thumb_dip_joint": 2.7513156055647414e-06, + "left_thumb_mcp_joint": 0.47696197032928467, + "left_thumb_pip_joint": 0.005512129049748182, + "left_thumb_yaw_joint": 0.5279140472412109, + "right_index_dip_joint": 3.319852112326771e-05, + "right_index_pip_joint": 0.00017030673916451633, + "right_index_pitch_joint": 2.4251692593679763e-05, + "right_middle_dip_joint": 7.75345051806653e-06, + "right_middle_pip_joint": 0.0002379939833190292, + "right_pinky_dip_joint": 2.2623071818661522e-11, + "right_pinky_mcp_joint": 0.0008931159973144531, + "right_ring_dip_joint": 8.036495273699984e-05, + "right_ring_mcp_joint": 0.00010599575034575537, + "right_ring_pip_joint": 0.00021639253827743232, + "right_thumb_dip_joint": 3.066704812226817e-05, + "right_thumb_mcp_joint": 0.24080531299114227, + "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": 44.69981540406694, + "joint_effort_rms": 42.51401857355419, + "joint_jerk_rms": 4577.357756370664, + "joint_velocity_rms": 0.9179667992299192 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9974825117702737, + "mean_kinematic_grasp_stability": 0.8306304646743253, + "per_object_best_kinematic_grasp_stability": { + "obj_224_wine_bottle_1": 0.9974825117702737 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.4843621399176957, + "mean_duration_score": 0.7835699588477365, + "mean_hold_score": 0.6056635802469172, + "mean_kinematic_stability_score": 0.24483089313703107, + "mean_legacy_gsi": 0.6012404225980289, + "mean_lift_score": 0.7876543209876543, + "mean_motion_stability_score": 0.5334104299955909 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3240, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_34_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_34_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79ab64e620626456fa8583f6f28341d6fc7ce8a1 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_34_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/34_fridge_wine_interhand_pour.yaml", "episode_index": 10, "seed": 203400009, "success": true, "steps": 3140, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 203400009, "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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{"position": [0.48, 0.38, 0.7617929329172815], "rpy_deg": [90.0, 0.0, -1.688230942351062]}, "obj_224_wine_bottle_1": {"position": [-0.2158438108561545, 0.433917777544908, 0.8117929316213903], "rpy_deg": [0.0, 0.0, 7.792267799679738]}, "obj_111_refrigerator_1": {"position": [-0.2, 0.5, 1.1386085467553266], "rpy_deg": [0.0, 0.0, 91.99527044950136]}}, "_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": 3110, "stable_success_step": 3139, "first_stable_success_step": 3139, "steps_to_stable_success": 3140, "policy_steps_to_stable_success": 1047, "policy_queries_to_stable_success": 34, "time_to_stable_success_s": 52.333333333331645, "expert_time_s": 36.0, "expert_time_step": 2160, "success_hold_s": 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"mean_anti_slip_score": 0.4771762208067953}, "robot_motion_metrics": {"joint_velocity_rms": 0.7059472410331737, "joint_acceleration_rms": 25.716507312237635, "joint_jerk_rms": 2639.5240376757324, "joint_effort_rms": 34.657074917680546}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0003184713375796281, "safety_violation_rate_time": 0.0003184713375796281, "safety_violation_rate_event": 0.0003184713375796178, "safety_violation_step_rate": 0.0003184713375796178, "safety_violation_events_per_step": 0.0003184713375796178, "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": 5, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_index_pip_joint": 9, "left_middle_pip_joint": 54, "left_ring_pip_joint": 42, "left_thumb_mcp_joint": 775, "right_thumb_mcp_joint": 1167}, "joint_limit_hard_counts": {"left_index_pip_joint": 1, "left_middle_pip_joint": 3, "left_ring_pip_joint": 1, "left_thumb_mcp_joint": 3, "right_thumb_mcp_joint": 5}, "finger_joint_limit_saturation_counts": {"left_middle_pip_joint": 26, "left_ring_pip_joint": 15, "left_thumb_mcp_joint": 697, "right_thumb_mcp_joint": 1066}, "joint_limit_max_excess_by_joint": {"left_index_dip_joint": 9.59781321085984e-09, "left_index_pip_joint": 0.015456287190318108, "left_middle_dip_joint": 0.0006762283737771213, "left_middle_pip_joint": 0.3449206054210663, "left_pinky_dip_joint": 4.800911483471282e-05, "left_pinky_mcp_joint": 0.002198251197114587, "left_pinky_pip_joint": 0.0034514828585088253, "left_ring_dip_joint": 0.0006296198698692024, "left_ring_pip_joint": 0.2930789589881897, "left_thumb_mcp_joint": 0.38620731234550476, "right_index_dip_joint": 2.841889363480732e-05, "right_index_pip_joint": 0.001341135473921895, "right_index_pitch_joint": 2.4253560695797205e-05, "right_middle_dip_joint": 0.0002569297212176025, "right_middle_mcp_joint": 0.0033191144466400146, "right_middle_pip_joint": 0.0005284110084176064, "right_pinky_dip_joint": 0.00033667252864688635, "right_pinky_mcp_joint": 0.001984711503610015, "right_pinky_pip_joint": 0.0005243614432401955, "right_ring_dip_joint": 0.00020761176710948348, "right_ring_mcp_joint": 0.0014144182205200195, "right_ring_pip_joint": 0.0003910927625838667, "right_thumb_mcp_joint": 0.35213321447372437}, "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": -0.005259738303720951, "hard_excess_rad": 0.005259738303720951, "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": [1.6561764478683472, -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": 1798, "joint_limit_hard_episode_events": 6, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 1673, "max_joint_limit_excess_rad": 0.38620731234550476, "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": 1798, "joint_limit_active_step_rate": 0.5726114649681529, "finger_joint_limit_saturation_steps": 1673, "finger_joint_limit_saturation_step_rate": 0.5328025477707007, "max_joint_limit_excess_rad": 0.38620731234550476, "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": false, "pour_wine": true, "return_bottle": true, "close_fridge": true}, "stage_first_completion_step": {"open_fridge": 288, "take_bottle": 580, "pour_wine": 1285, "return_bottle": 2727, "close_fridge": 3110}, "violation_counts": {"drop_to_table_obj_224_wine_bottle_1": 1}, "policy_query_count": 34, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3240, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_34_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_34_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..d7d8f385e8377da5a647e13d33b8572da83ca8db --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_34_episode_10/summary.json @@ -0,0 +1,215 @@ +{ + "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": 3240, + "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": 52.333333333331645 + }, + "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": 0.0003184713375796178 + }, + "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": 0.6, + "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": 0.6878980891719967, + "expert_time_s": 36.0, + "expert_time_step": 2160, + "avg_steps_to_success": 3140, + "avg_policy_steps_to_success": 1047, + "avg_policy_queries_to_success": 34 + }, + "safety": { + "safety_violation_events_per_step": 0.0003184713375796178, + "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": 0.5726114649681529, + "finger_joint_limit_saturation_step_rate": 0.5328025477707007, + "max_joint_limit_excess_rad": 0.38620731234550476, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_pip_joint": 9, + "left_middle_pip_joint": 54, + "left_ring_pip_joint": 42, + "left_thumb_mcp_joint": 775, + "right_thumb_mcp_joint": 1167 + }, + "joint_limit_hard_counts": { + "left_index_pip_joint": 1, + "left_middle_pip_joint": 3, + "left_ring_pip_joint": 1, + "left_thumb_mcp_joint": 3, + "right_thumb_mcp_joint": 5 + }, + "joint_limit_hard_episode_events": 6, + "finger_joint_limit_saturation_counts": { + "left_middle_pip_joint": 26, + "left_ring_pip_joint": 15, + "left_thumb_mcp_joint": 697, + "right_thumb_mcp_joint": 1066 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 9.59781321085984e-09, + "left_index_pip_joint": 0.015456287190318108, + "left_middle_dip_joint": 0.0006762283737771213, + "left_middle_pip_joint": 0.3449206054210663, + "left_pinky_dip_joint": 4.800911483471282e-05, + "left_pinky_mcp_joint": 0.002198251197114587, + "left_pinky_pip_joint": 0.0034514828585088253, + "left_ring_dip_joint": 0.0006296198698692024, + "left_ring_pip_joint": 0.2930789589881897, + "left_thumb_mcp_joint": 0.38620731234550476, + "right_index_dip_joint": 2.841889363480732e-05, + "right_index_pip_joint": 0.001341135473921895, + "right_index_pitch_joint": 2.4253560695797205e-05, + "right_middle_dip_joint": 0.0002569297212176025, + "right_middle_mcp_joint": 0.0033191144466400146, + "right_middle_pip_joint": 0.0005284110084176064, + 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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": 1218, "joint_limit_hard_episode_events": 12, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 962, "max_joint_limit_excess_rad": 0.4502773582935333, "max_joint_limit_excess_joint": "left_middle_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": 1218, "joint_limit_active_step_rate": 0.4422657952069717, "finger_joint_limit_saturation_steps": 962, "finger_joint_limit_saturation_step_rate": 0.3493100944081336, "max_joint_limit_excess_rad": 0.4502773582935333, "max_joint_limit_excess_joint": "left_middle_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": false, "pour_wine": true, "return_bottle": true, "close_fridge": true}, "stage_first_completion_step": {"open_fridge": 288, "take_bottle": 622, "pour_wine": 1250, "return_bottle": 2165, "close_fridge": 2724}, "violation_counts": {}, "policy_query_count": 23, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3240, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_34_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_34_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..28ae0dba2da69e16c9909c8d514a18e41af66e67 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_34_episode_11/summary.json @@ -0,0 +1,219 @@ +{ + "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": 3240, + "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": 45.89999999999868 + }, + "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_pour": 1.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.6, + "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": 0.7843137254902187, + "expert_time_s": 36.0, + "expert_time_step": 2160, + "avg_steps_to_success": 2754, + "avg_policy_steps_to_success": 918, + "avg_policy_queries_to_success": 23 + }, + "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": 0.4422657952069717, + "finger_joint_limit_saturation_step_rate": 0.3493100944081336, + "max_joint_limit_excess_rad": 0.4502773582935333, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_pip_joint": 39, + "left_middle_pip_joint": 83, + "left_ring_pip_joint": 53, + "left_thumb_mcp_joint": 274, + "right_thumb_mcp_joint": 871 + }, + "joint_limit_hard_counts": { + "left_index_pip_joint": 9, + "left_middle_pip_joint": 6, + "left_ring_pip_joint": 3, + "left_thumb_mcp_joint": 5, + "right_thumb_mcp_joint": 1 + }, + "joint_limit_hard_episode_events": 12, + "finger_joint_limit_saturation_counts": { + "left_middle_pip_joint": 35, + "left_ring_pip_joint": 33, + "left_thumb_mcp_joint": 80, + "right_thumb_mcp_joint": 844 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 1.4873415388194644e-08, + "left_index_pip_joint": 0.062244758009910583, + "left_index_pitch_joint": 0.0003930330276489258, + "left_middle_dip_joint": 0.0004127967986278236, + "left_middle_pip_joint": 0.4502773582935333, + "left_middle_pitch_joint": 0.00010263919830322266, + "left_pinky_dip_joint": 1.8933014871436171e-06, + "left_pinky_mcp_joint": 0.0007370710372924805, + "left_pinky_pip_joint": 1.677331056271214e-06, + "left_ring_dip_joint": 0.0010257988469675183, + "left_ring_mcp_joint": 0.0009161233901977539, + "left_ring_pip_joint": 0.4410960078239441, + "left_thumb_dip_joint": 1.1164275747432839e-05, + "left_thumb_mcp_joint": 0.11463266611099243, + "left_thumb_pip_joint": 4.710666925977769e-11, + "right_index_dip_joint": 1.1726438060577493e-05, + "right_index_pip_joint": 0.00017030673916451633, + "right_index_pitch_joint": 2.4253571609733626e-05, + "right_middle_dip_joint": 0.00046889367513358593, + "right_middle_mcp_joint": 0.0008729696273803711, + "right_middle_pip_joint": 0.0009914147667586803, + "right_pinky_dip_joint": 0.000611737254075706, + "right_pinky_mcp_joint": 0.0011525154113769531, + "right_pinky_pip_joint": 0.0009397164103575051, + "right_ring_dip_joint": 0.0005149964708834887, + "right_ring_mcp_joint": 0.0011070966720581055, + "right_ring_pip_joint": 0.0008681371109560132, + "right_thumb_mcp_joint": 0.333316445350647, + "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": 26.265011319532736, + "joint_effort_rms": 29.934958816359384, + "joint_jerk_rms": 2700.201390845847, + "joint_velocity_rms": 0.6731680915318047 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9386350847079805, + "mean_kinematic_grasp_stability": 0.44421144557776165, + "per_object_best_kinematic_grasp_stability": { + "obj_224_wine_bottle_1": 0.9386350847079805 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.44807552650689003, + "mean_duration_score": 0.7765068990559186, + "mean_hold_score": 0.49055918663761794, + "mean_kinematic_stability_score": 0.140489531262974, + "mean_legacy_gsi": 0.5096653404133168, + "mean_lift_score": 0.5824255628177197, + "mean_motion_stability_score": 0.3815860628667323 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2754, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_34_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_34_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6640952f5149aa26dfe016b351a63570e718c262 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_34_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/34_fridge_wine_interhand_pour.yaml", "episode_index": 12, "seed": 203400011, "success": false, "steps": 3240, "metric_schema_version": "core-v1.8-policy-step-query-split", 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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": 25, "left_middle_pip_joint": 54, "left_middle_pitch_joint": 19, "left_ring_mcp_joint": 18, "left_ring_pip_joint": 65, "left_thumb_mcp_joint": 482, "right_index_dip_joint": 85, "right_index_mcp_joint": 85, "right_index_pip_joint": 284, "right_index_pitch_joint": 285, "right_middle_dip_joint": 159, "right_middle_mcp_joint": 249, "right_middle_pip_joint": 256, "right_middle_pitch_joint": 206, "right_pinky_mcp_joint": 235, "right_pinky_pip_joint": 271, "right_ring_dip_joint": 259, "right_ring_mcp_joint": 287, "right_ring_pip_joint": 356, "right_thumb_mcp_joint": 738}, "joint_limit_hard_counts": {"left_index_pip_joint": 3, "left_middle_pip_joint": 3, "left_middle_pitch_joint": 1, "left_ring_mcp_joint": 1, "left_ring_pip_joint": 5, "left_thumb_mcp_joint": 1, "right_index_dip_joint": 7, "right_index_mcp_joint": 1, "right_index_pip_joint": 4, "right_index_pitch_joint": 7, "right_middle_dip_joint": 2, "right_middle_mcp_joint": 2, "right_middle_pip_joint": 5, "right_middle_pitch_joint": 4, "right_pinky_mcp_joint": 6, "right_pinky_pip_joint": 3, "right_ring_dip_joint": 3, "right_ring_mcp_joint": 8, "right_ring_pip_joint": 4, "right_thumb_mcp_joint": 1}, "finger_joint_limit_saturation_counts": {"left_middle_pip_joint": 22, "left_middle_pitch_joint": 15, "left_ring_mcp_joint": 15, "left_ring_pip_joint": 35, "left_thumb_mcp_joint": 446, "right_index_dip_joint": 73, "right_index_mcp_joint": 64, "right_index_pip_joint": 231, "right_index_pitch_joint": 232, "right_middle_dip_joint": 147, "right_middle_mcp_joint": 201, "right_middle_pip_joint": 209, "right_middle_pitch_joint": 155, "right_pinky_mcp_joint": 167, "right_pinky_pip_joint": 261, "right_ring_dip_joint": 246, "right_ring_mcp_joint": 221, "right_ring_pip_joint": 299, "right_thumb_mcp_joint": 714}, "joint_limit_max_excess_by_joint": {"left_index_dip_joint": 1.0790104809643708e-08, "left_index_pip_joint": 0.02569480426609516, "left_middle_dip_joint": 0.0008363832021132112, "left_middle_pip_joint": 0.3138613700866699, "left_middle_pitch_joint": 0.6525686383247375, "left_pinky_mcp_joint": 0.001034379005432129, "left_ring_dip_joint": 0.0010242803255096078, "left_ring_mcp_joint": 0.5760012269020081, "left_ring_pip_joint": 0.5231024622917175, "left_thumb_mcp_joint": 0.3245398700237274, "right_index_dip_joint": 1.0168943405151367, "right_index_mcp_joint": 0.18328210711479187, "right_index_pip_joint": 1.1883829832077026, "right_index_pitch_joint": 0.711122453212738, "right_middle_dip_joint": 0.8343515396118164, "right_middle_mcp_joint": 0.5486183166503906, "right_middle_pip_joint": 1.3216737508773804, "right_middle_pitch_joint": 0.835150420665741, "right_pinky_dip_joint": 0.00033220238401554525, "right_pinky_mcp_joint": 0.9765199422836304, "right_pinky_pip_joint": 1.4550007581710815, "right_ring_dip_joint": 1.306758165359497, "right_ring_mcp_joint": 0.5623847246170044, "right_ring_pip_joint": 1.5177359580993652, "right_thumb_dip_joint": 1.0146763088414446e-05, "right_thumb_mcp_joint": 0.23769496381282806}, "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": -0.005613076966255903, "hard_excess_rad": 0.005613076966255903, "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": [1.6568262577056885, -1.8547824621200562, -1.5764107704162598, 1.9407174587249756, 1.2874494791030884, -0.36047786474227905, -1.464277982711792, 1.5066884756088257, 0.47081783413887024, 0.4480830729007721, -1.5851519107818604, -0.9820845723152161, 0.048127561807632446, 0.0759396180510521, 0.0, 0.0, 0.6298839449882507, -0.04038797691464424, 0.026047196239233017, 0.20401768386363983, 0.0, 0.3807513415813446, 0.6219416856765747, 0.7982316017150879, 0.38629594445228577, 0.8186410069465637, 0.768353283405304, 0.0, 0.0, -0.15926863253116608, -0.049284033477306366, 0.5000264644622803, 0.0, 0.16420122981071472, 0.03777666762471199, 0.0, 0.0, 0.11931753903627396], "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": [1.6568262577056885, -1.8547824621200562, -1.5764107704162598, 1.9407174587249756, 1.2874494791030884, -0.36047786474227905, -1.464277982711792, 1.5066884756088257, 0.47081783413887024, 0.4480830729007721, -1.5851519107818604, -0.9820845723152161, 0.048127561807632446, 0.0759396180510521, 0.0, 0.0, 0.6298839449882507, -0.04038797691464424, 0.026047196239233017, 0.20401768386363983, 0.0, 0.3807513415813446, 0.6219416856765747, 0.7982316017150879, 0.38629594445228577, 0.8186410069465637, 0.768353283405304, 0.0, 0.0, 0.22915266454219818, 0.0, 0.41322943568229675, -0.15926863253116608, -0.049284033477306366, 0.5000264644622803, 0.0, 0.16420122981071472, 0.0, 0.0, 0.03777666762471199, 0.0, 0.0, 0.5616297125816345, 0.0, 0.17820759117603302, 0.0, 0.0, 0.11931753903627396], "shielded_full_target": [1.6568262577056885, -1.8547824621200562, -1.5764107704162598, 1.9407174587249756, 1.2874494791030884, -0.36047786474227905, -1.464277982711792, 1.5066884756088257, 0.47081783413887024, 0.4480830729007721, -1.5851519107818604, -0.9820845723152161, 0.048127561807632446, 0.0759396180510521, 0.0, 0.0, 0.6298839449882507, -0.04038797691464424, 0.026047196239233017, 0.20401768386363983, 0.0, 0.3807513415813446, 0.6219416856765747, 0.7982316017150879, 0.38629594445228577, 0.8186410069465637, 0.768353283405304, 0.0, 0.0, 0.22915266454219818, 0.0, 0.41322943568229675, -0.15926863253116608, -0.049284033477306366, 0.5000264644622803, 0.0, 0.16420122981071472, 0.0, 0.0, 0.03777666762471199, 0.0, 0.0, 0.5616297125816345, 0.0, 0.17820759117603302, 0.0, 0.0, 0.11931753903627396]}, "joint_limit_active_steps": 1635, "joint_limit_hard_episode_events": 10, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 1535, "max_joint_limit_excess_rad": 1.5177359580993652, "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": 1635, "joint_limit_active_step_rate": 0.5046296296296297, "finger_joint_limit_saturation_steps": 1535, "finger_joint_limit_saturation_step_rate": 0.4737654320987654, "max_joint_limit_excess_rad": 1.5177359580993652, "max_joint_limit_excess_joint": "right_ring_pip_joint", "stage_completion": {"open_fridge": true, "take_bottle": true, "pour_wine": true, "return_bottle": false, "close_fridge": false}, "current_stage_completion": {"open_fridge": false, "take_bottle": false, "pour_wine": true, "return_bottle": false, "close_fridge": false}, "stage_first_completion_step": {"open_fridge": 279, "take_bottle": 572, "pour_wine": 1216, "return_bottle": null, "close_fridge": null}, "violation_counts": {"drop_to_table_obj_224_wine_bottle_1": 1}, "policy_query_count": 24, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3240, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_34_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_34_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..cd00253edf6a966c222255d483a61f52fe0d0f1c --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_34_episode_12/summary.json @@ -0,0 +1,263 @@ +{ + "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": 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": 3240, + "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": { + 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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": 1535, "joint_limit_hard_episode_events": 5, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 1463, "max_joint_limit_excess_rad": 0.9987016916275024, "max_joint_limit_excess_joint": "right_thumb_dip_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": 1535, "joint_limit_active_step_rate": 0.4737654320987654, "finger_joint_limit_saturation_steps": 1463, "finger_joint_limit_saturation_step_rate": 0.45154320987654323, "max_joint_limit_excess_rad": 0.9987016916275024, "max_joint_limit_excess_joint": "right_thumb_dip_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": false, "pour_wine": true, "return_bottle": false, "close_fridge": false}, "stage_first_completion_step": {"open_fridge": 290, "take_bottle": 574, "pour_wine": 1250, "return_bottle": null, "close_fridge": null}, "violation_counts": {"drop_to_table_obj_224_wine_bottle_1": 1}, "policy_query_count": 28, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3240, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_34_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_34_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e15d224c305bd9b00758840ecf52d0ab0ed5a298 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_34_episode_13/summary.json @@ -0,0 +1,225 @@ +{ + "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": 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": 3240, + "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": 0.00030864197530864197 + }, + "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": 0.4, + "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": 0.00030864197530864197, + "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": 0.4737654320987654, + "finger_joint_limit_saturation_step_rate": 0.45154320987654323, + "max_joint_limit_excess_rad": 0.9987016916275024, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_pip_joint": 16, + "left_middle_pip_joint": 49, + "left_ring_pip_joint": 28, + "left_thumb_mcp_joint": 548, + "right_index_pitch_joint": 1, + "right_thumb_dip_joint": 52, + "right_thumb_mcp_joint": 1032 + }, + "joint_limit_hard_counts": { + "left_index_pip_joint": 1, + "left_middle_pip_joint": 2, + "left_ring_pip_joint": 1, + "left_thumb_mcp_joint": 2, + "right_index_pitch_joint": 1, + "right_thumb_dip_joint": 1, + "right_thumb_mcp_joint": 2 + }, + "joint_limit_hard_episode_events": 5, + "finger_joint_limit_saturation_counts": { + "left_middle_pip_joint": 22, + "left_ring_pip_joint": 3, + "left_thumb_mcp_joint": 488, + "right_thumb_dip_joint": 51, + "right_thumb_mcp_joint": 987 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 1.3606770821184e-08, + "left_index_pip_joint": 0.014381912536919117, + "left_index_pitch_joint": 0.0003911972453352064, + "left_middle_dip_joint": 0.00028533668955788016, + "left_middle_pip_joint": 0.29313042759895325, + "left_middle_pitch_joint": 3.3736228942871094e-05, + "left_pinky_dip_joint": 8.229422746808268e-06, + "left_pinky_mcp_joint": 0.0007915496826171875, + "left_pinky_pip_joint": 0.0036711147986352444, + "left_ring_dip_joint": 0.0005948039470240474, + "left_ring_mcp_joint": 4.112720489501953e-05, + "left_ring_pip_joint": 0.1707354187965393, + "left_thumb_dip_joint": 1.9932681425416376e-06, + "left_thumb_mcp_joint": 0.35946470499038696, + "right_index_dip_joint": 2.922381099779159e-05, + "right_index_pip_joint": 0.002952645067125559, + "right_index_pitch_joint": 0.010811153799295425, + "right_middle_dip_joint": 0.0001897670008474961, + "right_middle_mcp_joint": 0.003277719020843506, + "right_middle_pip_joint": 0.0004075219330843538, + "right_pinky_dip_joint": 0.00029836027533747256, + "right_pinky_mcp_joint": 0.0009545087814331055, + "right_pinky_pip_joint": 0.0004629964823834598, + "right_ring_dip_joint": 0.0001431619020877406, + "right_ring_mcp_joint": 0.0011750459671020508, + "right_ring_pip_joint": 0.00025808197096921504, + "right_thumb_dip_joint": 0.9987016916275024, + "right_thumb_mcp_joint": 0.6458135843276978 + }, + "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": 25.10150748676656, + "joint_effort_rms": 38.411807882734074, + "joint_jerk_rms": 2583.084204157743, + "joint_velocity_rms": 0.6468184889610586 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9700244094138882, + "mean_kinematic_grasp_stability": 0.5724757763102949, + "per_object_best_kinematic_grasp_stability": { + "obj_224_wine_bottle_1": 0.9700244094138882 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.4812757201646073, + "mean_duration_score": 0.8155864197530864, + "mean_hold_score": 0.32865740740740745, + "mean_kinematic_stability_score": 0.18199075604926043, + "mean_legacy_gsi": 0.44059884741935607, + "mean_lift_score": 0.4302469135802469, + "mean_motion_stability_score": 0.26842623288110806 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3240, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_34_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_34_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e4aec2cd7fbf3ab221b254d9d12856f5ddcf05e --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_34_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/34_fridge_wine_interhand_pour.yaml", "episode_index": 14, "seed": 203400013, "success": false, "steps": 3240, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 203400013, "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": 90.0, "base_yaw_deg": 90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan10", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan10_physics/scene.usda", "scene_offset": [-0.73022, 0.88397, 0.0]}, "table_surface": {"enabled": true, 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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": [1.6578893661499023, -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": 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"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": 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"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": 623, "joint_limit_active_step_rate": 0.19228395061728396, "finger_joint_limit_saturation_steps": 393, "finger_joint_limit_saturation_step_rate": 0.12129629629629629, "max_joint_limit_excess_rad": 1.7634187936782837, "max_joint_limit_excess_joint": "left_pinky_mcp_joint", "stage_completion": {"open_fridge": true, "take_bottle": true, "pour_wine": false, "return_bottle": false, "close_fridge": false}, "current_stage_completion": {"open_fridge": false, "take_bottle": false, "pour_wine": false, "return_bottle": false, "close_fridge": false}, "stage_first_completion_step": {"open_fridge": 1177, "take_bottle": 1608, "pour_wine": null, "return_bottle": null, "close_fridge": null}, "violation_counts": {"drop_to_table_obj_224_wine_bottle_1": 1}, "policy_query_count": 37, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3240, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_34_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_34_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..770b648d48fcc7bd7eda293ebbafd3937f8ed072 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_34_episode_14/summary.json @@ -0,0 +1,260 @@ +{ + "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": 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": 3240, + "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": 0.4 + }, + "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": 0.00030864197530864197 + }, + "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": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 0.4, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 2 + }, + "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": 0.00030864197530864197, + "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": 0.19228395061728396, + "finger_joint_limit_saturation_step_rate": 0.12129629629629629, + "max_joint_limit_excess_rad": 1.7634187936782837, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_dip_joint": 61, + "left_index_mcp_joint": 12, + "left_index_pip_joint": 154, + "left_index_pitch_joint": 190, + "left_middle_dip_joint": 40, + "left_middle_mcp_joint": 61, + "left_middle_pip_joint": 335, + "left_middle_pitch_joint": 134, + "left_pinky_mcp_joint": 85, + "left_pinky_pip_joint": 97, + "left_ring_dip_joint": 27, + "left_ring_mcp_joint": 84, + "left_ring_pip_joint": 261, + "left_thumb_dip_joint": 56, + "left_thumb_mcp_joint": 112, + "right_middle_mcp_joint": 23, + "right_pinky_mcp_joint": 3, + "right_ring_mcp_joint": 10, + "right_thumb_yaw_joint": 22 + }, + "joint_limit_hard_counts": { + "left_index_dip_joint": 4, + "left_index_mcp_joint": 2, + "left_index_pip_joint": 18, + "left_index_pitch_joint": 7, + "left_middle_dip_joint": 3, + "left_middle_mcp_joint": 3, + "left_middle_pip_joint": 11, + "left_middle_pitch_joint": 2, + "left_pinky_mcp_joint": 2, + "left_pinky_pip_joint": 2, + "left_ring_dip_joint": 4, + "left_ring_mcp_joint": 3, + "left_ring_pip_joint": 16, + "left_thumb_dip_joint": 1, + "left_thumb_mcp_joint": 4, + "right_middle_mcp_joint": 1, + "right_pinky_mcp_joint": 3, + "right_ring_mcp_joint": 1, + "right_thumb_yaw_joint": 1 + }, + "joint_limit_hard_episode_events": 37, + "finger_joint_limit_saturation_counts": { + "left_index_dip_joint": 35, + "left_index_pip_joint": 91, + "left_index_pitch_joint": 103, + "left_middle_dip_joint": 7, + "left_middle_pip_joint": 241, + "left_middle_pitch_joint": 121, + "left_pinky_mcp_joint": 81, + "left_pinky_pip_joint": 76, + "left_ring_mcp_joint": 77, + "left_ring_pip_joint": 197, + "left_thumb_dip_joint": 52, + "left_thumb_mcp_joint": 75, + "right_middle_mcp_joint": 1, + "right_thumb_yaw_joint": 15 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 0.2799852788448334, + "left_index_mcp_joint": 0.1833624243736267, + "left_index_pip_joint": 1.2716604471206665, + "left_index_pitch_joint": 1.605282187461853, + "left_middle_dip_joint": 0.16115638613700867, + "left_middle_mcp_joint": 0.2435968816280365, + "left_middle_pip_joint": 1.4053504467010498, + "left_middle_pitch_joint": 1.5653107166290283, + "left_pinky_dip_joint": 2.0260172277630772e-06, + "left_pinky_mcp_joint": 1.7634187936782837, + "left_pinky_pip_joint": 1.73162043094635, + "left_ring_dip_joint": 0.15498420596122742, + "left_ring_mcp_joint": 1.5648345947265625, + "left_ring_pip_joint": 1.2001138925552368, + "left_thumb_dip_joint": 1.2471123933792114, + "left_thumb_mcp_joint": 0.5641999244689941, + "right_index_dip_joint": 0.00014198312419466674, + "right_index_pip_joint": 0.000508338853251189, + "right_index_pitch_joint": 2.11345268326113e-05, + "right_middle_dip_joint": 7.753608770144638e-06, + "right_middle_mcp_joint": 0.18744567036628723, + "right_middle_pip_joint": 0.00023799503105692565, + "right_pinky_mcp_joint": 0.017780065536499023, + "right_pinky_pip_joint": 1.3587097669187642e-07, + "right_ring_dip_joint": 1.1485873073979747e-05, + "right_ring_mcp_joint": 0.08584070205688477, + "right_ring_pip_joint": 0.00021639291662722826, + "right_thumb_dip_joint": 7.1095701059675775e-06, + "right_thumb_mcp_joint": 9.490991942584515e-06, + "right_thumb_yaw_joint": 0.39783918857574463 + }, + "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": 62.39624333262221, + "joint_effort_rms": 37.39872017222655, + "joint_jerk_rms": 6450.981641295603, + "joint_velocity_rms": 1.047340988791573 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.6447126399898422, + "mean_kinematic_grasp_stability": 0.4775900186864253, + "per_object_best_kinematic_grasp_stability": { + "obj_224_wine_bottle_1": 0.6447126399898422 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.5052469135802469, + "mean_duration_score": 0.5084876543209876, + "mean_hold_score": 0.024043209876543226, + "mean_kinematic_stability_score": 0.00913906825881431, + "mean_legacy_gsi": 0.21593315125178691, + "mean_lift_score": 0.03209876543209877, + "mean_motion_stability_score": 0.014885178676708721 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3240, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_42_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_42_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77257c397b9b9a5550999f444644eb5dd7a74780 --- /dev/null +++ b/gpt6_astra_1x_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": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204200004, "base_seed": 204200000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, 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{"enabled": true, "position_offset_m": [0.0009812208741764895, -0.002303966623307201, 0.002374921809424128], "target_offset_m": [-0.002638710432833229, -0.0023447321285599665, 0.0021635468935680066], "distance_offset_m": 0.020449153932058435, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.05289987038756361, -0.9096970001782636, 0.5560621093550986], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [0.002777312080791453, -0.0016300626570186117, -0.00192288371198835], "target_offset_m": [-0.0030829090316248954, -0.0012330144356722792, -0.004935206258888123], "distance_offset_m": -0.0005997530447841501, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.8837988821393912, -0.4824008762076666, 0.2939868228930189], "has_offset": true}, "cam_stereo_right": {"enabled": true, "position_offset_m": [0.002777312080791453, -0.0016300626570186117, -0.00192288371198835], "target_offset_m": [-0.0030829090316248954, -0.0012330144356722792, 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"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": [-0.4953457433267511, 0.14029223728378004, 0.8458328658343406], "rpy_deg": [90.0, 0.0, -7.649307768679527]}, "obj_349_paper_low_2": {"position": [0.24081448461170124, -0.0005844135249333526, 0.7621837660298796], "rpy_deg": [0.0, 0.0, 34.56979827901684]}, "obj_080_bottle_3": {"position": [-0.23458933020612383, 0.13494292472672542, 0.6415265127644987], "rpy_deg": [0.0, 0.0, -8.170252348487955]}, "obj_122_trashcan_6": {"position": [0.0, 0.17, 0.8693813322772038], "rpy_deg": [0.0, 0.0, 98.58629919937218]}}, "_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": 1266, "stable_success_step": 1421, "first_stable_success_step": 1421, "steps_to_stable_success": 1422, "policy_steps_to_stable_success": 474, "policy_queries_to_stable_success": 14, "time_to_stable_success_s": 23.699999999999935, "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": 0.9395218002812965, "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_legacy_gsi": 0.4250643369283048, "mean_kinematic_stability_score": 0.13249799485572383, "mean_lift_score": 0.43905297702766055, "mean_hold_score": 0.3410571964369443, "mean_motion_stability_score": 0.2931968917672835, "mean_duration_score": 0.3740584466322866, "mean_anti_slip_score": 0.7902797312079901}, "robot_motion_metrics": {"joint_velocity_rms": 1.0828404120527646, "joint_acceleration_rms": 58.03058153948807, "joint_jerk_rms": 5920.321903118448, "joint_effort_rms": 53.14052391174751}, "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_1x_icl/source_runs/task_42_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_42_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8c5f9af8a79a93be1f8521b0b8a2ad817c0dea09 --- /dev/null +++ b/gpt6_astra_1x_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_1x_icl/source_runs/task_42_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_42_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a62047495f425281e6ce7c79e57c3a4981096467 --- /dev/null +++ b/gpt6_astra_1x_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": "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, 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0.9253582001476139, -0.7783269066084701], "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": [-0.0003521209621536181, 0.003485700169554095, 0.0021370617032416394], "rpy_offset_deg": [-0.3977843938796255, -0.12032578162319263, -0.21173412593134344], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 2, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_072b_toy_airplane", "uri": "dex2bench_dataset/Objects/072-b_toy_airplane/google_16k/usd_decomposition_linux/textured.usd", "scale": [1.0616652648919007, 1.0616652648919007, 1.0616652648919007], "body_type": "dynamic", "category": "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_1x_icl/source_runs/task_42_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_42_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..19d988cb6c26805737b93889f543de208523e57f --- /dev/null +++ b/gpt6_astra_1x_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" + 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"left_index_1_joint", "left_little_1_joint", "left_middle_1_joint", "left_ring_1_joint", "left_thumb_1_joint", "right_thumb_3_joint", "left_index_2_joint", "left_little_2_joint", "left_middle_2_joint", "left_ring_2_joint", "left_thumb_2_joint", "right_thumb_4_joint", "left_thumb_3_joint", "left_thumb_4_joint"], "expanded_full_target": [2.294081926345825, -1.4674937725067139, -1.5699794292449951, 1.6632909774780273, 1.562464952468872, -0.09541825950145721, -1.5838395357131958, 1.7864376306533813, -0.0035965973511338234, 0.10819220542907715, -1.5699987411499023, 0.0028283274732530117, 0.0, 0.14711520075798035, 0.0001337522262474522, 0.00023495567438658327, 0.34261542558670044, -0.15000000596046448, 0.014312967658042908, -0.14985060691833496, -0.14973758161067963, 0.3168717324733734, 0.004607484210282564, 0.002604363951832056, 0.005371524952352047, 0.004135452676564455, 0.0, 0.3620259463787079, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.37180909514427185, 0.0, 0.10000000149011612], "shielded_full_target": [2.294081926345825, -1.4674937725067139, -1.5699794292449951, 1.6632909774780273, 1.562464952468872, -0.09541825950145721, -1.5838395357131958, 1.7864376306533813, -0.0035965973511338234, 0.10819220542907715, -1.5699987411499023, 0.0028283274732530117, 0.0, 0.14711520075798035, 0.0001337522262474522, 0.00023495567438658327, 0.34261542558670044, -0.15000000596046448, 0.014312967658042908, -0.14985060691833496, -0.14973758161067963, 0.3168717324733734, 0.004607484210282564, 0.002604363951832056, 0.005371524952352047, 0.004135452676564455, 0.0, 0.3620259463787079, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.37180909514427185, 0.0, 0.10000000149011612]}, "joint_limit_active_steps": 596, "joint_limit_hard_episode_events": 19, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 408, "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": 596, "joint_limit_active_step_rate": 0.29740518962075846, "finger_joint_limit_saturation_steps": 408, "finger_joint_limit_saturation_step_rate": 0.20359281437125748, "max_joint_limit_excess_rad": 1.2053589820861816, "max_joint_limit_excess_joint": "right_little_1_joint", "stage_completion": {"place_banana_peel": false, "place_paper": false, "place_bottle": false}, "current_stage_completion": {"place_banana_peel": false, "place_paper": false, "place_bottle": false}, "stage_first_completion_step": {"place_banana_peel": null, "place_paper": null, "place_bottle": null}, "violation_counts": {"high_speed_obj_349_paper_low_2": 1}, "policy_query_count": 21, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2004, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_42_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_42_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..73424724d4f2597a6484bd5f93d66bec27562abf --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_42_episode_07/summary.json @@ -0,0 +1,227 @@ +{ + "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": 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": 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": 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": 0.000998003992015968 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "trash_sorting_disposal": 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": 22.266666666666666, + "expert_time_step": 1336, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.000499001996007984, + "violation_counts": { + "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": 0.29740518962075846, + "finger_joint_limit_saturation_step_rate": 0.20359281437125748, + "max_joint_limit_excess_rad": 1.2053589820861816, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "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_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": 19, + "finger_joint_limit_saturation_counts": { + "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_2_joint": 1.0126883154271127e-07, + "left_little_2_joint": 2.5963646521631745e-07, + "left_middle_2_joint": 8.361742942497585e-08, + "left_ring_2_joint": 8.458483762296964e-07, + "left_thumb_1_joint": 1.7274382116738707e-05, + "left_thumb_2_joint": 0.6838836669921875, + "left_thumb_3_joint": 1.4751443814020604e-05, + "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": 62.92026288509299, + "joint_effort_rms": 59.881603386507834, + "joint_jerk_rms": 6386.7860601772045, + "joint_velocity_rms": 1.238027991528972 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.965117981249367, + "mean_kinematic_grasp_stability": 0.36313331043894753, + "per_object_best_kinematic_grasp_stability": { + "obj_080_bottle_3": 0.6575983267006003, + "obj_341_banana_peel_1": 0.0011178811167748173, + "obj_349_paper_low_2": 0.965117981249367 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9867487247726889, + "mean_duration_score": 0.04196052339764914, + "mean_hold_score": 0.0543995342648037, + "mean_kinematic_stability_score": 0.03575763802060162, + "mean_legacy_gsi": 0.24060268184872172, + "mean_lift_score": 0.09846972721224219, + "mean_motion_stability_score": 0.04781784073108314 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2004, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_42_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_42_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee740b8cf626a19ae43fdeae77ee15d46ab1675d --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_42_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/42_trash_disposal.yaml", "episode_index": 8, "seed": 204200007, "success": false, "steps": 2004, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204200007, "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": 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": 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"obj_349_paper_low_2": {"position": [0.2517026767950436, 0.002204022336560651, 0.7515488380973715], "rpy_deg": [0.0, 0.0, 30.76909946826451]}, "obj_080_bottle_3": {"position": [-0.24584388519827213, 0.12180406123428798, 0.6308915848319906], "rpy_deg": [0.0, 0.0, 9.89881461442376]}, "obj_122_trashcan_6": {"position": [0.0, 0.17, 0.8587464043446957], "rpy_deg": [0.0, 0.0, 83.21798366911733]}}, "_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": 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": 22.266666666666666, "expert_time_step": 1336, "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": 0.9960934223343058, "mean_kinematic_grasp_stability": 0.5713550431495297, "per_object_best_kinematic_grasp_stability": {"obj_080_bottle_3": 0.9960934223343058, "obj_341_banana_peel_1": 0.1634762155411246, "obj_349_paper_low_2": 0.935418351515969}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.39594151446412773, "mean_kinematic_stability_score": 0.19824461410677294, "mean_lift_score": 0.34697272122421824, "mean_hold_score": 0.26639221556886433, "mean_motion_stability_score": 0.23168999404322183, "mean_duration_score": 0.2490352628077179, "mean_anti_slip_score": 0.9652361942781421}, "robot_motion_metrics": {"joint_velocity_rms": 1.134416086300169, "joint_acceleration_rms": 42.95412264394066, "joint_jerk_rms": 4362.351988443215, "joint_effort_rms": 59.81385713816945}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0024950099800399657, "safety_violation_rate_time": 0.0024950099800399657, "safety_violation_rate_event": 0.001996007984031936, "safety_violation_step_rate": 0.00249500998003992, "safety_violation_events_per_step": 0.001996007984031936, "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_index_1_joint": 23, "left_middle_1_joint": 19, "left_thumb_2_joint": 189, "right_index_1_joint": 84, "right_middle_1_joint": 194, "right_ring_1_joint": 9}, "joint_limit_hard_counts": {"left_index_1_joint": 1, "left_middle_1_joint": 1, "left_thumb_2_joint": 2, "right_index_1_joint": 5, "right_middle_1_joint": 5, "right_ring_1_joint": 4}, "finger_joint_limit_saturation_counts": {"left_index_1_joint": 7, "left_thumb_2_joint": 142, "right_index_1_joint": 14, "right_middle_1_joint": 148}, "joint_limit_max_excess_by_joint": {"left_index_1_joint": 0.25217071175575256, "left_index_2_joint": 2.435721853544237e-06, "left_little_1_joint": 0.0018493924289941788, "left_little_2_joint": 6.114720235927962e-06, "left_middle_1_joint": 0.14051909744739532, "left_middle_2_joint": 9.318147021986078e-06, "left_ring_2_joint": 5.055980523138714e-07, "left_thumb_1_joint": 1.6255935406661592e-05, "left_thumb_2_joint": 0.7019599080085754, "left_thumb_3_joint": 0.00012214263551868498, "left_thumb_4_joint": 0.0013807713985443115, "right_index_1_joint": 0.11925385892391205, "right_index_2_joint": 5.22221000665013e-07, "right_little_2_joint": 1.3671242413693108e-05, "right_middle_1_joint": 0.2588413953781128, "right_middle_2_joint": 1.2730660273518879e-05, "right_ring_1_joint": 0.026469100266695023, "right_ring_2_joint": 4.601970431394875e-05, "right_thumb_1_joint": 1.3154425687389448e-05, "right_thumb_2_joint": 2.8928584470122587e-06, "right_thumb_3_joint": 7.5660645961761475e-06, "right_thumb_4_joint": 0.001089245080947876}, "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": 104, "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": -0.0054436009377241135, "hard_excess_rad": 0.0054436009377241135, "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": [2.285505533218384, -1.4455569982528687, -1.5699794292449951, 1.6765251159667969, 1.562464952468872, -0.11757421493530273, -1.5838395357131958, 1.7845699787139893, -0.0035965973511338234, 0.1121419221162796, -1.5699987411499023, 0.0028283274732530117, 0.0, 0.1448889970779419, 0.0, 0.0, 0.3412604033946991, 0.31986626982688904, 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": [2.285505533218384, -1.4455569982528687, -1.5699794292449951, 1.6765251159667969, 1.562464952468872, -0.11757421493530273, -1.5838395357131958, 1.7845699787139893, -0.0035965973511338234, 0.1121419221162796, -1.5699987411499023, 0.0028283274732530117, 0.0, 0.1448889970779419, 0.0, 0.0, 0.3412604033946991, -0.15000000596046448, 0.011826520785689354, -0.15000000596046448, -0.15000000596046448, 0.31986626982688904, 0.004607484210282564, 0.002604363951832056, 0.005371524952352047, 0.004135452676564455, 0.0, 0.3654472231864929, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.3743777871131897, 0.0, 0.10000000149011612], "shielded_full_target": [2.285505533218384, -1.4455569982528687, -1.5699794292449951, 1.6765251159667969, 1.562464952468872, -0.11757421493530273, -1.5838395357131958, 1.7845699787139893, -0.0035965973511338234, 0.1121419221162796, -1.5699987411499023, 0.0028283274732530117, 0.0, 0.1448889970779419, 0.0, 0.0, 0.3412604033946991, -0.15000000596046448, 0.011826520785689354, -0.15000000596046448, -0.15000000596046448, 0.31986626982688904, 0.004607484210282564, 0.002604363951832056, 0.005371524952352047, 0.004135452676564455, 0.0, 0.3654472231864929, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.3743777871131897, 0.0, 0.10000000149011612]}, "joint_limit_active_steps": 461, "joint_limit_hard_episode_events": 12, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 297, "max_joint_limit_excess_rad": 0.7019599080085754, "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": 461, "joint_limit_active_step_rate": 0.23003992015968064, "finger_joint_limit_saturation_steps": 297, "finger_joint_limit_saturation_step_rate": 0.14820359281437126, "max_joint_limit_excess_rad": 0.7019599080085754, "max_joint_limit_excess_joint": "left_thumb_2_joint", "stage_completion": {"place_banana_peel": false, "place_paper": false, "place_bottle": false}, "current_stage_completion": {"place_banana_peel": false, "place_paper": false, "place_bottle": false}, "stage_first_completion_step": {"place_banana_peel": null, "place_paper": null, "place_bottle": null}, "violation_counts": {"high_speed_obj_349_paper_low_2": 1, "drop_to_table_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": 25, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2004, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_42_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_42_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..890cbeeb3874ce8a83487b7e0bbbd9248d2c2976 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_42_episode_08/summary.json @@ -0,0 +1,221 @@ +{ + "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": 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": 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": 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": 0.00249500998003992 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "trash_sorting_disposal": 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": 22.266666666666666, + "expert_time_step": 1336, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.001996007984031936, + "violation_counts": { + "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": 0.23003992015968064, + "finger_joint_limit_saturation_step_rate": 0.14820359281437126, + "max_joint_limit_excess_rad": 0.7019599080085754, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 23, + "left_middle_1_joint": 19, + "left_thumb_2_joint": 189, + "right_index_1_joint": 84, + "right_middle_1_joint": 194, + "right_ring_1_joint": 9 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 1, + "left_middle_1_joint": 1, + "left_thumb_2_joint": 2, + "right_index_1_joint": 5, + "right_middle_1_joint": 5, + "right_ring_1_joint": 4 + }, + "joint_limit_hard_episode_events": 12, + 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0.3069799840450287, 0.0, 0.0, 0.0, 0.0, 0.031207606196403503, 0.35072463750839233, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.1133742406964302, 0.36332404613494873, 0.12953007221221924, 0.19725117087364197]}, "joint_limit_active_steps": 718, "joint_limit_hard_episode_events": 16, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 609, "max_joint_limit_excess_rad": 1.6444499492645264, "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": 718, "joint_limit_active_step_rate": 0.37829293993677554, "finger_joint_limit_saturation_steps": 609, "finger_joint_limit_saturation_step_rate": 0.32086406743940993, "max_joint_limit_excess_rad": 1.6444499492645264, "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": 1868, "place_paper": 1868, "place_bottle": 1868}, "violation_counts": {"drop_obj_080_bottle_3": 1, "drop_to_table_obj_349_paper_low_2": 1, "high_speed_obj_349_paper_low_2": 2, "drop_to_table_obj_341_banana_peel_1": 1}, "policy_query_count": 19, "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_1x_icl/source_runs/task_42_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_42_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..9479ba8ca6798b4fc0d9d27f99b34d0ee7554ec8 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_42_episode_09/summary.json @@ -0,0 +1,250 @@ +{ + "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": 31.633333333332818 + }, + "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": 0.7523709167544784 + }, + "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": 0.7038988408851538, + "expert_time_s": 22.266666666666666, + "expert_time_step": 1336, + "avg_steps_to_success": 1898, + "avg_policy_steps_to_success": 633, + "avg_policy_queries_to_success": 19 + }, + "safety": { + "safety_violation_events_per_step": 0.0026343519494204425, + "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_349_paper_low_2": 2 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.37829293993677554, + "finger_joint_limit_saturation_step_rate": 0.32086406743940993, + "max_joint_limit_excess_rad": 1.6444499492645264, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_little_1_joint": 47, + "left_middle_1_joint": 18, + "left_ring_1_joint": 57, + "left_thumb_1_joint": 1, + "left_thumb_2_joint": 195, + "right_index_1_joint": 352, + "right_little_1_joint": 192, + "right_little_2_joint": 39, + "right_middle_1_joint": 313, + "right_ring_1_joint": 226, + "right_ring_2_joint": 69, + "right_thumb_1_joint": 38, + "right_thumb_2_joint": 54, + "right_thumb_3_joint": 19, + "right_thumb_4_joint": 17 + }, + "joint_limit_hard_counts": { + "left_little_1_joint": 2, + "left_middle_1_joint": 3, + "left_middle_2_joint": 1, + "left_ring_1_joint": 2, + "left_thumb_1_joint": 2, + "left_thumb_2_joint": 5, + "right_index_1_joint": 5, + "right_little_1_joint": 6, + "right_little_2_joint": 1, + "right_middle_1_joint": 5, + "right_ring_1_joint": 12, + "right_ring_2_joint": 6, + "right_thumb_1_joint": 1, + "right_thumb_2_joint": 1, + "right_thumb_3_joint": 1, + "right_thumb_4_joint": 3 + }, + "joint_limit_hard_episode_events": 16, + "finger_joint_limit_saturation_counts": { + "left_little_1_joint": 42, + "left_ring_1_joint": 54, + "left_thumb_2_joint": 143, + "right_index_1_joint": 304, + "right_little_1_joint": 146, + "right_little_2_joint": 36, + "right_middle_1_joint": 252, + "right_ring_1_joint": 157, + "right_ring_2_joint": 39, + "right_thumb_1_joint": 32, + "right_thumb_2_joint": 47, + "right_thumb_3_joint": 1 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.00038274400867521763, + "left_index_2_joint": 1.2871721821738902e-07, + "left_little_1_joint": 1.0754948854446411, + "left_little_2_joint": 2.2549495042767376e-05, + "left_middle_1_joint": 0.1719074547290802, + "left_middle_2_joint": 0.005117721855640411, + "left_ring_1_joint": 1.0245829820632935, + "left_ring_2_joint": 0.00010254754306515679, + "left_thumb_1_joint": 0.017337480559945107, + "left_thumb_2_joint": 0.22436794638633728, + "left_thumb_3_joint": 0.0013845557114109397, + "left_thumb_4_joint": 0.0011623501777648926, + "right_index_1_joint": 1.2606998682022095, + "right_index_2_joint": 6.259642304939916e-06, + "right_little_1_joint": 1.6444499492645264, + "right_little_2_joint": 0.8218870162963867, + "right_middle_1_joint": 1.1572142839431763, + "right_middle_2_joint": 0.0036814932245761156, + "right_ring_1_joint": 0.7069861888885498, + "right_ring_2_joint": 0.3739415407180786, + "right_thumb_1_joint": 0.34854838252067566, + "right_thumb_2_joint": 1.0910316705703735, + "right_thumb_3_joint": 0.14538374543190002, + "right_thumb_4_joint": 0.04604159668087959 + }, + "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": 66.73763449757318, + "joint_effort_rms": 69.122345706703, + "joint_jerk_rms": 6748.265825613154, + "joint_velocity_rms": 1.394433320254786 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9780158907557666, + "mean_kinematic_grasp_stability": 0.310150054741818, + "per_object_best_kinematic_grasp_stability": { + "obj_080_bottle_3": 0.2858661969449349, + "obj_341_banana_peel_1": 0.13230780470389725, + "obj_349_paper_low_2": 0.9780158907557666 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9109003629551746, + "mean_duration_score": 0.13511883854349535, + "mean_hold_score": 0.11933614330874519, + "mean_kinematic_stability_score": 0.053598112726720916, + "mean_legacy_gsi": 0.2922820335691056, + "mean_lift_score": 0.2428872497365648, + "mean_motion_stability_score": 0.12409237942916845 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1898, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_42_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_42_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4efbc140474d8f59c096288f0f9a3c735532e7aa --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_42_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/42_trash_disposal.yaml", "episode_index": 10, "seed": 204200009, "success": false, "steps": 2004, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204200009, "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": 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_metal_metal0639_jpg", "asset_uri": "dex2bench_dataset/textures/metal/metal0639.jpg", "asset_category": "metal", "asset_id": "metal/metal0639.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1363.8395582222165, "color": [0.9432802800506518, 0.6001523567072008, 0.9064283316153362], "pitch_deg": -15.898816488563428, "yaw_deg": -81.35086939528352, "angle_deg": 0.817366197044262}, "dome": {"intensity": 312.5965589534092, "color": [0.8424973029602609, 0.9102892213919623, 0.92169791000698], "exposure": 0.1873842040426268}, "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": 0.03627833176313046, "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": [0.0031789037070997896, 0.0007169981282886904, -0.0007578849122369287], "target_offset_m": [0.00274168809538682, 0.0037421814830401546, -0.004322887592462345], "distance_offset_m": -0.006731141346008589, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": 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{"enabled": true, "count": 1, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_072b_toy_airplane", "uri": "dex2bench_dataset/Objects/072-b_toy_airplane/google_16k/usd_decomposition_linux/textured.usd", "scale": [1.03830936746947, 1.03830936746947, 1.03830936746947], "body_type": "dynamic", "category": "toy", "asset_code": "072", "asset_id": "clutter_072b_toy_airplane", "asset_split": "unseen", "spawn_position": [-0.7731499557400238, 0.32460699673541793, 0.7866874256564218], "spawn_yaw_deg": 249.30254818966915, "obj_id": "distractor_00_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_341_banana_peel_1": {"position": [-0.5069328259218551, 0.13562071991612318, 0.9046283318838299], "rpy_deg": [90.0, 0.0, -1.5180141399452936]}, "obj_349_paper_low_2": {"position": [0.24401544420910254, 0.00738002504054204, 0.8209792320793688], "rpy_deg": [0.0, 0.0, 22.682737026105244]}, "obj_080_bottle_3": {"position": [-0.2263822596106351, 0.127046036152715, 0.7003219788139879], "rpy_deg": [0.0, 0.0, 9.002472465322299]}, "obj_122_trashcan_6": {"position": [0.0, 0.17, 0.9281767983266931], "rpy_deg": [0.0, 0.0, 80.64399352017364]}}, "_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": false, "ever_instant_success": true, "at_end_success": false, "at_end_success_observed": false, "at_end_success_budget": false, "first_success_step": 1208, "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": 22.266666666666666, "expert_time_step": 1336, "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": 0.6666666666666666, "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": null, "kinematic_grasp_stability_index": 0.9972535124065453, "mean_kinematic_grasp_stability": 0.662884381952082, "per_object_best_kinematic_grasp_stability": {"obj_080_bottle_3": 0.953519086494552, "obj_341_banana_peel_1": 0.8505131089066502, "obj_349_paper_low_2": 0.9972535124065453}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.6028304562226136, "mean_kinematic_stability_score": 0.41193214420708224, "mean_lift_score": 0.6214238190286094, "mean_hold_score": 0.5613689288090484, "mean_motion_stability_score": 0.46937473057610907, "mean_duration_score": 0.5458860057662454, "mean_anti_slip_score": 0.9369594145043396}, "robot_motion_metrics": {"joint_velocity_rms": 0.958409197314411, "joint_acceleration_rms": 50.86105968891482, "joint_jerk_rms": 5236.662255486384, "joint_effort_rms": 49.48333318314474}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.3667664670658806, "safety_violation_rate_time": 0.3667664670658806, "safety_violation_rate_event": 0.0014970059880239522, "safety_violation_step_rate": 0.36676646706586824, "safety_violation_events_per_step": 0.0014970059880239522, "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_little_1_joint": 65, "left_little_2_joint": 28, "left_middle_1_joint": 24, "left_middle_2_joint": 10, "left_ring_1_joint": 40, "left_ring_2_joint": 69, "left_thumb_2_joint": 168, "right_index_1_joint": 129, "right_little_1_joint": 35, "right_middle_1_joint": 82, "right_ring_1_joint": 71, "right_thumb_2_joint": 16}, "joint_limit_hard_counts": {"left_little_1_joint": 1, "left_little_2_joint": 2, "left_middle_1_joint": 1, "left_middle_2_joint": 2, "left_ring_1_joint": 1, "left_ring_2_joint": 1, "left_thumb_2_joint": 3, "right_index_1_joint": 5, "right_little_1_joint": 2, "right_middle_1_joint": 3, "right_ring_1_joint": 5, "right_thumb_2_joint": 1}, "finger_joint_limit_saturation_counts": {"left_little_1_joint": 60, "left_middle_1_joint": 2, "left_ring_1_joint": 27, "left_ring_2_joint": 55, "left_thumb_2_joint": 142, "right_index_1_joint": 46, "right_little_1_joint": 8, "right_middle_1_joint": 39, "right_ring_1_joint": 44}, "joint_limit_max_excess_by_joint": {"left_index_2_joint": 3.7007259834354045e-07, "left_little_1_joint": 0.5770031213760376, "left_little_2_joint": 0.11992128938436508, "left_middle_1_joint": 0.21853390336036682, "left_middle_2_joint": 0.040635135024785995, "left_ring_1_joint": 0.30725932121276855, "left_ring_2_joint": 0.5659329891204834, "left_thumb_2_joint": 0.7147122025489807, "left_thumb_3_joint": 0.002461508382111788, "left_thumb_4_joint": 0.0012502968311309814, "right_index_1_joint": 0.24413226544857025, "right_index_2_joint": 5.490250714501599e-06, "right_little_1_joint": 0.795354425907135, "right_little_2_joint": 5.753845107392408e-05, "right_middle_1_joint": 0.7760375142097473, "right_middle_2_joint": 1.9978404452558607e-05, "right_ring_1_joint": 0.8695412874221802, "right_ring_2_joint": 0.00014003837713971734, "right_thumb_2_joint": 0.13782519102096558, "right_thumb_4_joint": 0.001134634017944336}, "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": 87, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_ring_1_joint", "role": "finger", "qpos": -0.006821013055741787, "hard_excess_rad": 0.006821013055741787, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3442769050598145, "operating_lower": 0.0, "operating_upper": 1.3442769050598145, "expanded_target": 0.0014120228588581085, "shielded_target": 0.0014120228588581085}], "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": [2.3282198905944824, -1.5309371948242188, -2.1016783714294434, 1.7760411500930786, 1.8142105340957642, -0.214308962225914, -2.014132499694824, 1.7997386455535889, 0.5565800666809082, 0.1054457575082779, -2.066127061843872, 0.024997524917125702, 0.0002970549394376576, 0.14746637642383575, 0.001214359886944294, 0.0014120228588581085, 0.34991002082824707, 0.30955228209495544, 0.0, 0.0, 0.0, 0.0, 0.030900558456778526, 0.11478977650403976], "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": [2.3282198905944824, -1.5309371948242188, -2.1016783714294434, 1.7760411500930786, 1.8142105340957642, -0.214308962225914, -2.014132499694824, 1.7997386455535889, 0.5565800666809082, 0.1054457575082779, -2.066127061843872, 0.024997524917125702, 0.0002970549394376576, 0.14746637642383575, 0.001214359886944294, 0.0014120228588581085, 0.34991002082824707, -0.14966821670532227, 0.014705196022987366, -0.14864368736743927, -0.14842291176319122, 0.30955228209495544, 0.0, 0.0, 0.0, 0.0, 0.030900558456778526, 0.35366347432136536, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.11478977650403976, 0.3655305504798889, 0.1311473250389099, 0.19846540689468384], "shielded_full_target": [2.3282198905944824, -1.5309371948242188, -2.1016783714294434, 1.7760411500930786, 1.8142105340957642, -0.214308962225914, -2.014132499694824, 1.7997386455535889, 0.5565800666809082, 0.1054457575082779, -2.066127061843872, 0.024997524917125702, 0.0002970549394376576, 0.14746637642383575, 0.001214359886944294, 0.0014120228588581085, 0.34991002082824707, -0.14966821670532227, 0.014705196022987366, -0.14864368736743927, -0.14842291176319122, 0.30955228209495544, 0.0, 0.0, 0.0, 0.0, 0.030900558456778526, 0.35366347432136536, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.11478977650403976, 0.3655305504798889, 0.1311473250389099, 0.19846540689468384]}, "joint_limit_active_steps": 371, "joint_limit_hard_episode_events": 12, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 257, "max_joint_limit_excess_rad": 0.8695412874221802, "max_joint_limit_excess_joint": "right_ring_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": 371, "joint_limit_active_step_rate": 0.18512974051896208, "finger_joint_limit_saturation_steps": 257, "finger_joint_limit_saturation_step_rate": 0.1282435129740519, "max_joint_limit_excess_rad": 0.8695412874221802, "max_joint_limit_excess_joint": "right_ring_1_joint", "stage_completion": {"place_banana_peel": true, "place_paper": true, "place_bottle": true}, "current_stage_completion": {"place_banana_peel": false, "place_paper": true, "place_bottle": true}, "stage_first_completion_step": {"place_banana_peel": 1208, "place_paper": 1208, "place_bottle": 1208}, "violation_counts": {"drop_obj_080_bottle_3": 1, "high_speed_obj_349_paper_low_2": 1, "drop_to_table_obj_341_banana_peel_1": 1}, "policy_query_count": 23, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2004, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_42_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_42_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..702ce16b8784c7260f3c84a672958422fcb330c8 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_42_episode_10/summary.json @@ -0,0 +1,235 @@ +{ + "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": 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": 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": 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": 1.0, + "safety_violation_step_rate": 0.36676646706586824 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 1.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "trash_sorting_disposal": 0.0 + } + }, + "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": null, + "expert_time_s": 22.266666666666666, + "expert_time_step": 1336, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0014970059880239522, + "violation_counts": { + "drop_obj_080_bottle_3": 1, + "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": 0.18512974051896208, + "finger_joint_limit_saturation_step_rate": 0.1282435129740519, + "max_joint_limit_excess_rad": 0.8695412874221802, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_little_1_joint": 65, + "left_little_2_joint": 28, + "left_middle_1_joint": 24, + "left_middle_2_joint": 10, + "left_ring_1_joint": 40, + "left_ring_2_joint": 69, + "left_thumb_2_joint": 168, + "right_index_1_joint": 129, + "right_little_1_joint": 35, + "right_middle_1_joint": 82, + "right_ring_1_joint": 71, + "right_thumb_2_joint": 16 + }, + "joint_limit_hard_counts": { + "left_little_1_joint": 1, + "left_little_2_joint": 2, + "left_middle_1_joint": 1, + "left_middle_2_joint": 2, + "left_ring_1_joint": 1, + "left_ring_2_joint": 1, + "left_thumb_2_joint": 3, + "right_index_1_joint": 5, + "right_little_1_joint": 2, + "right_middle_1_joint": 3, + "right_ring_1_joint": 5, + "right_thumb_2_joint": 1 + }, + "joint_limit_hard_episode_events": 12, + "finger_joint_limit_saturation_counts": { + "left_little_1_joint": 60, + "left_middle_1_joint": 2, + "left_ring_1_joint": 27, + "left_ring_2_joint": 55, + "left_thumb_2_joint": 142, + "right_index_1_joint": 46, + "right_little_1_joint": 8, + "right_middle_1_joint": 39, + "right_ring_1_joint": 44 + 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"place_bottle": true}, "stage_first_completion_step": {"place_banana_peel": 1227, "place_paper": 1227, "place_bottle": 1227}, "violation_counts": {}, "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_1x_icl/source_runs/task_42_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_42_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e36b37665a1c645df0eabdc90d4ddbf1271e0227 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_42_episode_11/summary.json @@ -0,0 +1,219 @@ +{ + "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": 21.61666666666672 + }, + "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": { + "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": 1.030069390902079, + "expert_time_s": 22.266666666666666, + "expert_time_step": 1336, + "avg_steps_to_success": 1297, + "avg_policy_steps_to_success": 433, + "avg_policy_queries_to_success": 17 + }, + "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": 0.2690824980724749, + "finger_joint_limit_saturation_step_rate": 0.19583654587509639, + "max_joint_limit_excess_rad": 0.5032021403312683, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 8, + "left_little_1_joint": 19, + "left_ring_1_joint": 1, + "left_ring_2_joint": 2, + "left_thumb_2_joint": 190, + "right_index_1_joint": 131, + "right_middle_1_joint": 16, + "right_ring_1_joint": 2 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 2, + "left_little_1_joint": 1, + "left_ring_1_joint": 2, + "left_ring_2_joint": 4, + "left_thumb_2_joint": 5, + "right_index_1_joint": 1, + "right_middle_1_joint": 3, + "right_ring_1_joint": 2 + }, + "joint_limit_hard_episode_events": 12, + "finger_joint_limit_saturation_counts": { + "left_little_1_joint": 6, + "left_thumb_2_joint": 140, + "right_index_1_joint": 108 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.052519626915454865, + "left_index_2_joint": 4.4271544652474404e-07, + "left_little_1_joint": 0.27938947081565857, + "left_little_2_joint": 7.050498425087426e-06, + "left_middle_1_joint": 0.00010723072773544118, + "left_middle_2_joint": 8.100002560240682e-06, + "left_ring_1_joint": 0.01196477934718132, + "left_ring_2_joint": 0.01135132648050785, + "left_thumb_1_joint": 1.2274375876586419e-05, + "left_thumb_2_joint": 0.5032021403312683, + "left_thumb_3_joint": 0.004792214836925268, + "left_thumb_4_joint": 0.0013023018836975098, + "right_index_1_joint": 0.436161071062088, + "right_index_2_joint": 4.288932586860028e-07, + "right_little_2_joint": 2.692163434403483e-06, + "right_middle_1_joint": 0.1374020278453827, + "right_middle_2_joint": 1.8524035112932324e-05, + "right_ring_1_joint": 0.02691175788640976, + "right_ring_2_joint": 2.8475114959292114e-06, + "right_thumb_1_joint": 1.227223219757434e-05, + "right_thumb_2_joint": 2.8928584470122587e-06, + "right_thumb_3_joint": 7.213819571916247e-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": 49.28683434880817, + "joint_effort_rms": 52.34819621589759, + "joint_jerk_rms": 5098.339315708245, + "joint_velocity_rms": 0.9764034204132699 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9220356423588197, + "mean_kinematic_grasp_stability": 0.4900724354337309, + "per_object_best_kinematic_grasp_stability": { + "obj_080_bottle_3": 0.6620332437961364, + "obj_341_banana_peel_1": 0.8946609429965439, + "obj_349_paper_low_2": 0.9220356423588197 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9384048659298957, + "mean_duration_score": 0.27280904651760485, + "mean_hold_score": 0.29680030840400784, + "mean_kinematic_stability_score": 0.20970717167750244, + "mean_legacy_gsi": 0.4271235873089533, + "mean_lift_score": 0.4279105628373169, + "mean_motion_stability_score": 0.28542473429446347 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1297, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_42_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_42_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1aa1bf989ef112bb1827f5b75bc213d330a109eb --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_42_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/42_trash_disposal.yaml", "episode_index": 12, "seed": 204200011, "success": false, "steps": 2004, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204200011, "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": 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", 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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_341_banana_peel_1": {"position": [-0.4889644878268198, 0.16938778452870107, 0.8200485501610639], "rpy_deg": [90.0, 0.0, -5.062062353369059]}, "obj_349_paper_low_2": {"position": [0.2205422483127262, -0.01109204767119825, 0.7363994503566029], "rpy_deg": [0.0, 0.0, 39.725044046626664]}, "obj_080_bottle_3": {"position": [-0.2353031107373711, 0.12255356040522686, 0.615742197091222], "rpy_deg": [0.0, 0.0, 4.3895160973774505]}, "obj_122_trashcan_6": {"position": [0.0, 0.17, 0.8435970166039272], "rpy_deg": [0.0, 0.0, 88.07673538524854]}}, "_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": false, "ever_instant_success": true, "at_end_success": false, "at_end_success_observed": false, "at_end_success_budget": false, "first_success_step": 1500, "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": 22.266666666666666, "expert_time_step": 1336, "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": 0.6666666666666666, "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": null, "kinematic_grasp_stability_index": 0.9986314369068885, "mean_kinematic_grasp_stability": 0.6954092898524056, "per_object_best_kinematic_grasp_stability": {"obj_080_bottle_3": 0.9868463129705428, "obj_341_banana_peel_1": 0.20430505048171127, "obj_349_paper_low_2": 0.9986314369068885}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.5466211775265185, "mean_kinematic_stability_score": 0.39455107912284687, "mean_lift_score": 0.5673652694610778, "mean_hold_score": 0.42475049900200407, "mean_motion_stability_score": 0.41597578082436504, "mean_duration_score": 0.4067143490796183, "mean_anti_slip_score": 1.0}, "robot_motion_metrics": {"joint_velocity_rms": 1.1082713949040588, "joint_acceleration_rms": 53.945349363794406, "joint_jerk_rms": 5426.888492649161, "joint_effort_rms": 53.21328027821699}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.002994011976047959, "safety_violation_rate_time": 0.002994011976047959, "safety_violation_rate_event": 0.001996007984031936, "safety_violation_step_rate": 0.0029940119760479044, "safety_violation_events_per_step": 0.001996007984031936, "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": 64, "left_ring_1_joint": 6, "left_thumb_2_joint": 232, "right_index_1_joint": 55, "right_middle_1_joint": 76, "right_ring_1_joint": 74, "right_thumb_2_joint": 22}, "joint_limit_hard_counts": {"left_index_1_joint": 10, "left_middle_1_joint": 1, "left_ring_1_joint": 1, "left_thumb_2_joint": 11, "right_index_1_joint": 1, "right_middle_1_joint": 4, "right_ring_1_joint": 5, "right_thumb_2_joint": 1}, "finger_joint_limit_saturation_counts": {"left_index_1_joint": 22, "left_thumb_2_joint": 181, "right_middle_1_joint": 8, "right_ring_1_joint": 25}, "joint_limit_max_excess_by_joint": {"left_index_1_joint": 0.1788795441389084, "left_index_2_joint": 5.689080921911227e-07, "left_little_2_joint": 9.74460931502108e-07, "left_middle_1_joint": 0.007443669252097607, "left_middle_2_joint": 1.1595963769650552e-05, "left_ring_1_joint": 0.22649145126342773, "left_ring_2_joint": 1.9709277694346383e-05, "left_thumb_1_joint": 0.0012725591659545898, "left_thumb_2_joint": 0.7735734581947327, "left_thumb_3_joint": 0.0044387695379555225, "left_thumb_4_joint": 0.001529306173324585, "right_index_1_joint": 0.06303378194570541, "right_index_2_joint": 2.6044747301057214e-06, "right_little_2_joint": 3.7844860344193876e-05, "right_middle_1_joint": 0.25971877574920654, "right_middle_2_joint": 3.034864494111389e-05, "right_ring_1_joint": 0.48473626375198364, "right_ring_2_joint": 1.0508492778171785e-05, "right_thumb_1_joint": 2.276519990118686e-05, "right_thumb_2_joint": 0.10322708636522293, "right_thumb_3_joint": 1.9133354726363905e-05, "right_thumb_4_joint": 0.0009721815586090088}, "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": 99, "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": -0.0066840313374996185, "hard_excess_rad": 0.0066840313374996185, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3442769050598145, "operating_lower": 0.0, "operating_upper": 1.3442769050598145, "expanded_target": 0.00041719028376974165, "shielded_target": 0.00041719028376974165}], "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": [2.306572437286377, -1.459456205368042, -1.5699794292449951, 1.7896097898483276, 1.562464952468872, -0.2522701621055603, -1.5838395357131958, 1.790514349937439, -0.0035965973511338234, 0.10345187038183212, -1.5699987411499023, 0.0028283274732530117, 0.0, 0.14725913107395172, 0.00041719028376974165, 0.0005436945939436555, 0.3444617688655853, 0.314971923828125, 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": [2.306572437286377, -1.459456205368042, -1.5699794292449951, 1.7896097898483276, 1.562464952468872, -0.2522701621055603, -1.5838395357131958, 1.790514349937439, -0.0035965973511338234, 0.10345187038183212, -1.5699987411499023, 0.0028283274732530117, 0.0, 0.14725913107395172, 0.00041719028376974165, 0.0005436945939436555, 0.3444617688655853, -0.15000000596046448, 0.014473723247647285, -0.14953404664993286, -0.1493927538394928, 0.314971923828125, 0.004607484210282564, 0.002604363951832056, 0.005371524952352047, 0.004135452676564455, 0.0, 0.35985541343688965, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.3701794445514679, 0.0, 0.10000000149011612], "shielded_full_target": [2.306572437286377, -1.459456205368042, -1.5699794292449951, 1.7896097898483276, 1.562464952468872, -0.2522701621055603, -1.5838395357131958, 1.790514349937439, -0.0035965973511338234, 0.10345187038183212, -1.5699987411499023, 0.0028283274732530117, 0.0, 0.14725913107395172, 0.00041719028376974165, 0.0005436945939436555, 0.3444617688655853, -0.15000000596046448, 0.014473723247647285, -0.14953404664993286, -0.1493927538394928, 0.314971923828125, 0.004607484210282564, 0.002604363951832056, 0.005371524952352047, 0.004135452676564455, 0.0, 0.35985541343688965, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.3701794445514679, 0.0, 0.10000000149011612]}, "joint_limit_active_steps": 446, "joint_limit_hard_episode_events": 23, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 230, "max_joint_limit_excess_rad": 0.7735734581947327, "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": 446, "joint_limit_active_step_rate": 0.22255489021956087, "finger_joint_limit_saturation_steps": 230, "finger_joint_limit_saturation_step_rate": 0.11477045908183632, "max_joint_limit_excess_rad": 0.7735734581947327, "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": false, "place_paper": true, "place_bottle": true}, "stage_first_completion_step": {"place_banana_peel": 1500, "place_paper": 1500, "place_bottle": 1500}, "violation_counts": {"high_speed_obj_349_paper_low_2": 1, "drop_to_table_obj_349_paper_low_2": 1, "high_speed_obj_080_bottle_3": 1, "drop_to_table_obj_341_banana_peel_1": 1}, "policy_query_count": 27, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2004, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_42_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_42_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..a0c685a4c5d55862ac30b60befc85a8433e9411f --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_42_episode_12/summary.json @@ -0,0 +1,224 @@ +{ + "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": 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": 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": 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": 1.0, + "safety_violation_step_rate": 0.0029940119760479044 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 1.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "trash_sorting_disposal": 0.0 + } + }, + "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": null, + "expert_time_s": 22.266666666666666, + "expert_time_step": 1336, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.001996007984031936, + "violation_counts": { + "drop_to_table_obj_341_banana_peel_1": 1, + "drop_to_table_obj_349_paper_low_2": 1, + "high_speed_obj_080_bottle_3": 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": 0.22255489021956087, + "finger_joint_limit_saturation_step_rate": 0.11477045908183632, + "max_joint_limit_excess_rad": 0.7735734581947327, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 64, + "left_ring_1_joint": 6, + "left_thumb_2_joint": 232, + "right_index_1_joint": 55, + "right_middle_1_joint": 76, + "right_ring_1_joint": 74, + "right_thumb_2_joint": 22 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 10, + "left_middle_1_joint": 1, + "left_ring_1_joint": 1, + "left_thumb_2_joint": 11, + "right_index_1_joint": 1, + "right_middle_1_joint": 4, + "right_ring_1_joint": 5, + "right_thumb_2_joint": 1 + }, + "joint_limit_hard_episode_events": 23, + "finger_joint_limit_saturation_counts": { + "left_index_1_joint": 22, + "left_thumb_2_joint": 181, + "right_middle_1_joint": 8, + "right_ring_1_joint": 25 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.1788795441389084, + "left_index_2_joint": 5.689080921911227e-07, + "left_little_2_joint": 9.74460931502108e-07, + "left_middle_1_joint": 0.007443669252097607, + "left_middle_2_joint": 1.1595963769650552e-05, + "left_ring_1_joint": 0.22649145126342773, + "left_ring_2_joint": 1.9709277694346383e-05, + "left_thumb_1_joint": 0.0012725591659545898, + "left_thumb_2_joint": 0.7735734581947327, + "left_thumb_3_joint": 0.0044387695379555225, + "left_thumb_4_joint": 0.001529306173324585, + "right_index_1_joint": 0.06303378194570541, + "right_index_2_joint": 2.6044747301057214e-06, + "right_little_2_joint": 3.7844860344193876e-05, + "right_middle_1_joint": 0.25971877574920654, + "right_middle_2_joint": 3.034864494111389e-05, + "right_ring_1_joint": 0.48473626375198364, + "right_ring_2_joint": 1.0508492778171785e-05, + "right_thumb_1_joint": 2.276519990118686e-05, + "right_thumb_2_joint": 0.10322708636522293, + "right_thumb_3_joint": 1.9133354726363905e-05, + "right_thumb_4_joint": 0.0009721815586090088 + }, + "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": 53.945349363794406, + "joint_effort_rms": 53.21328027821699, + "joint_jerk_rms": 5426.888492649161, + "joint_velocity_rms": 1.1082713949040588 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9986314369068885, + "mean_kinematic_grasp_stability": 0.6954092898524056, + "per_object_best_kinematic_grasp_stability": { + "obj_080_bottle_3": 0.9868463129705428, + "obj_341_banana_peel_1": 0.20430505048171127, + "obj_349_paper_low_2": 0.9986314369068885 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.4067143490796183, + "mean_hold_score": 0.42475049900200407, + "mean_kinematic_stability_score": 0.39455107912284687, + "mean_legacy_gsi": 0.5466211775265185, + "mean_lift_score": 0.5673652694610778, + "mean_motion_stability_score": 0.41597578082436504 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2004, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_42_episode_13/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_42_episode_13/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9488afc66572174c6573c51eac3fd22f8a65f94 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_42_episode_13/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/42_trash_disposal.yaml", "episode_index": 13, "seed": 204200012, "success": false, "steps": 2004, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204200012, "base_seed": 204200000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 270.0, "base_yaw_deg": -90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan315", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan315_physics/scene.usda", "scene_offset": [1.7814, -0.84301, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_stone_stone1973_jpg", "asset_uri": 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"stage_first_completion_step": {"place_banana_peel": null, "place_paper": null, "place_bottle": null}, "violation_counts": {"high_speed_obj_349_paper_low_2": 1, "drop_to_table_obj_080_bottle_3": 1, "drop_obj_080_bottle_3": 1, "high_speed_obj_080_bottle_3": 1}, "policy_query_count": 20, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2004, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_42_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_42_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..70def68f1a7895778f9efe41da411d0b9ec84420 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_42_episode_13/summary.json @@ -0,0 +1,237 @@ +{ + "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": 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": 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": 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": 0.08882235528942116 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "trash_sorting_disposal": 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": 22.266666666666666, + "expert_time_step": 1336, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.001996007984031936, + "violation_counts": { + "drop_obj_080_bottle_3": 1, + "drop_to_table_obj_080_bottle_3": 1, + "high_speed_obj_080_bottle_3": 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": 0.3502994011976048, + "finger_joint_limit_saturation_step_rate": 0.22904191616766467, + "max_joint_limit_excess_rad": 1.0950721502304077, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 130, + "left_index_2_joint": 1, + "left_little_1_joint": 32, + "left_middle_1_joint": 156, + "left_ring_1_joint": 114, + "left_ring_2_joint": 11, + "left_thumb_1_joint": 1, + "left_thumb_2_joint": 321, + "right_index_1_joint": 2, + "right_middle_1_joint": 2, + "right_ring_1_joint": 160, + "right_thumb_2_joint": 51 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 3, + "left_index_2_joint": 1, + "left_little_1_joint": 2, + "left_middle_1_joint": 2, + "left_ring_1_joint": 6, + "left_ring_2_joint": 4, + "left_thumb_1_joint": 1, + "left_thumb_2_joint": 6, + "right_index_1_joint": 2, + "right_middle_1_joint": 2, + "right_ring_1_joint": 6, + "right_thumb_2_joint": 1 + }, + "joint_limit_hard_episode_events": 11, + "finger_joint_limit_saturation_counts": { + "left_index_1_joint": 94, + "left_little_1_joint": 22, + "left_middle_1_joint": 108, + "left_ring_1_joint": 64, + "left_thumb_2_joint": 195, + "right_ring_1_joint": 129 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.9848292469978333, + "left_index_2_joint": 0.02854819782078266, + "left_little_1_joint": 0.8579269051551819, + "left_little_2_joint": 2.439698073430918e-05, + "left_middle_1_joint": 1.0950721502304077, + "left_middle_2_joint": 4.476333560887724e-05, + "left_ring_1_joint": 0.5422619581222534, + "left_ring_2_joint": 0.17863565683364868, + "left_thumb_1_joint": 0.02052757702767849, + "left_thumb_2_joint": 0.8127384185791016, + "left_thumb_3_joint": 0.002924032276496291, + "left_thumb_4_joint": 0.0034056901931762695, + "right_index_1_joint": 0.017157386988401413, + "right_index_2_joint": 4.5816859710612334e-06, + "right_little_1_joint": 0.0002567485498730093, + "right_little_2_joint": 1.184745087812189e-05, + "right_middle_1_joint": 0.028675206005573273, + "right_middle_2_joint": 1.0536958143347874e-05, + "right_ring_1_joint": 0.8366376757621765, + "right_ring_2_joint": 6.799593393225223e-06, + "right_thumb_1_joint": 1.227223219757434e-05, + "right_thumb_2_joint": 0.026176288723945618, + "right_thumb_3_joint": 7.213819571916247e-06, + "right_thumb_4_joint": 0.001131296157836914 + }, + "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": 64.19200818852445, + "joint_effort_rms": 67.74988692543549, + "joint_jerk_rms": 6447.253295211846, + "joint_velocity_rms": 1.3018424111253255 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9973305741064756, + "mean_kinematic_grasp_stability": 0.8835877447053954, + "per_object_best_kinematic_grasp_stability": { + "obj_080_bottle_3": 0.30609473099960655, + "obj_341_banana_peel_1": 0.0, + "obj_349_paper_low_2": 0.9973305741064756 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7891993790197382, + "mean_duration_score": 0.4143934353515189, + "mean_hold_score": 0.3602711244178335, + "mean_kinematic_stability_score": 0.24088494903062924, + "mean_legacy_gsi": 0.4640094265047362, + "mean_lift_score": 0.4535928143712575, + "mean_motion_stability_score": 0.35719711537047383 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2004, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_42_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_42_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a4f04f2819da6e4dc6a2b65b5a2580584139d6b --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_42_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/42_trash_disposal.yaml", "episode_index": 14, "seed": 204200013, "success": true, "steps": 1303, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204200013, "base_seed": 204200000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 270.0, "base_yaw_deg": -90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan329", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan329_physics/scene.usda", "scene_offset": [0.65, 1.85, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_metal_metal0490_jpg", "asset_uri": "dex2bench_dataset/textures/metal/metal0490.jpg", "asset_category": "metal", "asset_id": "metal/metal0490.jpg", "asset_split": "unseen", 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"target_offset_m": [0.0022326907377161276, 0.0041199130876062, -0.0015716894550672567], "distance_offset_m": -0.008008607577751493, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.3772515659616429, 0.4391713244107094, 0.7930574660036764], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [0.001491233850214495, 0.0026983966686355268, -0.0027042922222282927], "target_offset_m": [-0.004810988640262758, -0.00033719997410861045, -1.229380232775374e-05], "distance_offset_m": 0.009222926276766574, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.5806827314669041, -0.5296471531968829, 0.4270061073814988], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [0.00015687683661247745, -0.0014971725059643869, -0.002827240380839352], "target_offset_m": [-0.0032454531756630368, 0.0021964946557339014, -0.000990183234150118], "distance_offset_m": 0.004151130054800854, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.36304473563023865, 0.07830452413178479, -0.336731744599684], "has_offset": true}, "cam_stereo_right": {"enabled": true, "position_offset_m": [0.00015687683661247745, -0.0014971725059643869, -0.002827240380839352], "target_offset_m": [-0.0032454531756630368, 0.0021964946557339014, -0.000990183234150118], "distance_offset_m": 0.004151130054800854, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.36304473563023865, 0.07830452413178479, -0.336731744599684], "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": [0.002474416055335488, -0.0021003626879827443, 0.0032973175179186196], "rpy_offset_deg": [0.7022704084690441, 0.47188158081728737, 0.05190334259287521], "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": 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"category": "misc", "asset_code": "026", "asset_id": "clutter_026_sponge", "asset_split": "unseen", "spawn_position": [-0.7855375614391353, 0.1329240024785665, 0.765861403911008], "spawn_yaw_deg": 10.244349238137932, "obj_id": "distractor_01_clutter_026_sponge"}]}}, "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": [-0.504543296689327, 0.15305510227194163, 0.8843405562680998], "rpy_deg": [90.0, 0.0, 4.2886181332357225]}, "obj_349_paper_low_2": {"position": [0.2508499748457728, -0.005634708761758889, 0.8006914564636388], "rpy_deg": [0.0, 0.0, 26.970256421946843]}, "obj_080_bottle_3": {"position": [-0.25161733999975944, 0.13115338666609036, 0.6800342031982579], "rpy_deg": [0.0, 0.0, 6.910678300612812]}, "obj_122_trashcan_6": {"position": [0.0, 0.17, 0.9078890227109631], "rpy_deg": [0.0, 0.0, 89.66075305002201]}}, "_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": 1193, "stable_success_step": 1302, "first_stable_success_step": 1302, "steps_to_stable_success": 1303, "policy_steps_to_stable_success": 435, "policy_queries_to_stable_success": 17, "time_to_stable_success_s": 21.716666666666715, "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": 1.025326170376053, "kinematic_grasp_stability_index": 0.9589302033635716, "mean_kinematic_grasp_stability": 0.5260546783362008, "per_object_best_kinematic_grasp_stability": {"obj_080_bottle_3": 0.3018604871374735, "obj_341_banana_peel_1": 0.5948663291451777, "obj_349_paper_low_2": 0.9589302033635716}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.42616995591471124, "mean_kinematic_stability_score": 0.15785677607786225, "mean_lift_score": 0.4336147352264006, "mean_hold_score": 0.32177027372729544, "mean_motion_stability_score": 0.3143227783382004, "mean_duration_score": 0.31986867911656763, "mean_anti_slip_score": 0.8135925641681419}, "robot_motion_metrics": {"joint_velocity_rms": 0.9686503491781229, "joint_acceleration_rms": 47.066462975303885, "joint_jerk_rms": 4813.100214994592, "joint_effort_rms": 52.369796999162936}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.500383729854187, "safety_violation_rate_time": 0.500383729854187, "safety_violation_rate_event": 0.0015349194167306216, "safety_violation_step_rate": 0.5003837298541827, "safety_violation_events_per_step": 0.0015349194167306216, "episode_violation_rate": 1.0, "safety_hard_violation": true, "drop_violation": true, "high_speed_violation": false, "excessive_impact_violation": null, "robot_constraint_violation": true, "finger_joint_limit_saturation": true, "impact_metric_available": false, "chain_depth": 3, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_index_1_joint": 20, "left_thumb_2_joint": 151, "right_index_1_joint": 53, "right_middle_1_joint": 34}, "joint_limit_hard_counts": {"left_index_1_joint": 4, "left_middle_1_joint": 2, "left_ring_1_joint": 2, "left_thumb_2_joint": 4, "right_index_1_joint": 3, "right_middle_1_joint": 3}, "finger_joint_limit_saturation_counts": {"left_thumb_2_joint": 116, "right_index_1_joint": 7, "right_middle_1_joint": 3}, "joint_limit_max_excess_by_joint": {"left_index_1_joint": 0.09413502365350723, "left_index_2_joint": 4.3666176452461514e-07, "left_little_2_joint": 1.8866580830945168e-06, "left_middle_1_joint": 0.005459161009639502, "left_middle_2_joint": 3.032917811651714e-05, "left_ring_1_joint": 0.0060250116512179375, "left_ring_2_joint": 2.988913365697954e-05, "left_thumb_1_joint": 1.2274375876586419e-05, "left_thumb_2_joint": 0.2659606635570526, "left_thumb_3_joint": 0.00020946211589034647, "left_thumb_4_joint": 0.0013500452041625977, "right_index_1_joint": 0.22688797116279602, "right_index_2_joint": 1.4411591564567061e-06, "right_little_2_joint": 3.874041567542008e-07, "right_middle_1_joint": 0.23177941143512726, "right_middle_2_joint": 1.551394598209299e-05, "right_ring_1_joint": 0.0009128854726441205, "right_ring_2_joint": 9.444904208066873e-06, "right_thumb_1_joint": 1.227223219757434e-05, "right_thumb_2_joint": 0.001033246866427362, "right_thumb_3_joint": 7.213819571916247e-06, "right_thumb_4_joint": 0.0010696649551391602}, "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": 99, "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": -0.011723091825842857, "hard_excess_rad": 0.011723091825842857, "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": [2.285505533218384, -1.4455569982528687, -2.0700135231018066, 1.6765251159667969, 1.8608211278915405, -0.11757421493530273, -2.053252935409546, 1.7845699787139893, 0.5712738037109375, 0.1121419221162796, -2.0597331523895264, -0.010827405378222466, 0.0, 0.1448889970779419, 0.0, 0.0, 0.3412604033946991, 0.31986626982688904, 0.0, 0.0, 0.0, 0.0, 0.03247726708650589, 0.12016130238771439], "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": [2.285505533218384, -1.4455569982528687, -2.0700135231018066, 1.6765251159667969, 1.8608211278915405, -0.11757421493530273, -2.053252935409546, 1.7845699787139893, 0.5712738037109375, 0.1121419221162796, -2.0597331523895264, -0.010827405378222466, 0.0, 0.1448889970779419, 0.0, 0.0, 0.3412604033946991, -0.15000000596046448, 0.011826520785689354, -0.15000000596046448, -0.15000000596046448, 0.31986626982688904, 0.0, 0.0, 0.0, 0.0, 0.03247726708650589, 0.3654472231864929, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.12016130238771439, 0.3743777871131897, 0.1372842937707901, 0.20307305455207825], "shielded_full_target": [2.285505533218384, -1.4455569982528687, -2.0700135231018066, 1.6765251159667969, 1.8608211278915405, -0.11757421493530273, -2.053252935409546, 1.7845699787139893, 0.5712738037109375, 0.1121419221162796, -2.0597331523895264, -0.010827405378222466, 0.0, 0.1448889970779419, 0.0, 0.0, 0.3412604033946991, -0.15000000596046448, 0.011826520785689354, -0.15000000596046448, -0.15000000596046448, 0.31986626982688904, 0.0, 0.0, 0.0, 0.0, 0.03247726708650589, 0.3654472231864929, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.12016130238771439, 0.3743777871131897, 0.1372842937707901, 0.20307305455207825]}, "joint_limit_active_steps": 229, "joint_limit_hard_episode_events": 13, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 124, "max_joint_limit_excess_rad": 0.2659606635570526, "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": 229, "joint_limit_active_step_rate": 0.17574827321565617, "finger_joint_limit_saturation_steps": 124, "finger_joint_limit_saturation_step_rate": 0.09516500383729855, "max_joint_limit_excess_rad": 0.2659606635570526, "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": 1193, "place_paper": 1193, "place_bottle": 1193}, "violation_counts": {"drop_obj_080_bottle_3": 1, "drop_to_table_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_1x_icl/source_runs/task_42_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_42_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..cd3b88295a89934c5b858f13480bef6fa7603aea --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_42_episode_14/summary.json @@ -0,0 +1,216 @@ +{ + "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": 21.716666666666715 + }, + "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": 0.5003837298541827 + }, + "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": 1.025326170376053, + "expert_time_s": 22.266666666666666, + "expert_time_step": 1336, + "avg_steps_to_success": 1303, + "avg_policy_steps_to_success": 435, + "avg_policy_queries_to_success": 17 + }, + "safety": { + "safety_violation_events_per_step": 0.0015349194167306216, + "violation_counts": { + "drop_obj_080_bottle_3": 1, + "drop_to_table_obj_341_banana_peel_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.17574827321565617, + "finger_joint_limit_saturation_step_rate": 0.09516500383729855, + "max_joint_limit_excess_rad": 0.2659606635570526, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 20, + "left_thumb_2_joint": 151, + "right_index_1_joint": 53, + "right_middle_1_joint": 34 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 4, + "left_middle_1_joint": 2, + "left_ring_1_joint": 2, + "left_thumb_2_joint": 4, + "right_index_1_joint": 3, + "right_middle_1_joint": 3 + }, + "joint_limit_hard_episode_events": 13, + "finger_joint_limit_saturation_counts": { + "left_thumb_2_joint": 116, + "right_index_1_joint": 7, + "right_middle_1_joint": 3 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.09413502365350723, + "left_index_2_joint": 4.3666176452461514e-07, + "left_little_2_joint": 1.8866580830945168e-06, + "left_middle_1_joint": 0.005459161009639502, + "left_middle_2_joint": 3.032917811651714e-05, + "left_ring_1_joint": 0.0060250116512179375, + "left_ring_2_joint": 2.988913365697954e-05, + "left_thumb_1_joint": 1.2274375876586419e-05, + "left_thumb_2_joint": 0.2659606635570526, + "left_thumb_3_joint": 0.00020946211589034647, + "left_thumb_4_joint": 0.0013500452041625977, + "right_index_1_joint": 0.22688797116279602, + "right_index_2_joint": 1.4411591564567061e-06, + "right_little_2_joint": 3.874041567542008e-07, + "right_middle_1_joint": 0.23177941143512726, + "right_middle_2_joint": 1.551394598209299e-05, + "right_ring_1_joint": 0.0009128854726441205, + "right_ring_2_joint": 9.444904208066873e-06, + "right_thumb_1_joint": 1.227223219757434e-05, + "right_thumb_2_joint": 0.001033246866427362, + "right_thumb_3_joint": 7.213819571916247e-06, + "right_thumb_4_joint": 0.0010696649551391602 + }, + "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": 47.066462975303885, + "joint_effort_rms": 52.369796999162936, + "joint_jerk_rms": 4813.100214994592, + "joint_velocity_rms": 0.9686503491781229 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9589302033635716, + "mean_kinematic_grasp_stability": 0.5260546783362008, + "per_object_best_kinematic_grasp_stability": { + "obj_080_bottle_3": 0.3018604871374735, + "obj_341_banana_peel_1": 0.5948663291451777, + "obj_349_paper_low_2": 0.9589302033635716 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8135925641681419, + "mean_duration_score": 0.31986867911656763, + "mean_hold_score": 0.32177027372729544, + "mean_kinematic_stability_score": 0.15785677607786225, + "mean_legacy_gsi": 0.42616995591471124, + "mean_lift_score": 0.4336147352264006, + "mean_motion_stability_score": 0.3143227783382004 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1303, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_43_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_43_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52fe6730cd622eaa9ffc412855637f611386469a --- /dev/null +++ b/gpt6_astra_1x_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": 4125, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "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, "flip_180_applied": false, 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"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, 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0.00024192359705921263, 0.502539336681366, 0.07465947419404984, 0.027925075963139534]}, "joint_limit_active_steps": 991, "joint_limit_hard_episode_events": 44, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 741, "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": 991, "joint_limit_active_step_rate": 0.24024242424242423, "finger_joint_limit_saturation_steps": 741, "finger_joint_limit_saturation_step_rate": 0.17963636363636365, "max_joint_limit_excess_rad": 1.548326015472412, "max_joint_limit_excess_joint": "THJ1", "stage_completion": {"open_fridge": true, "place_banana": false, "place_apple": false, "close_fridge": false}, "current_stage_completion": {"open_fridge": false, "place_banana": false, "place_apple": false, "close_fridge": false}, "stage_first_completion_step": {"open_fridge": 1483, "place_banana": null, "place_apple": null, "close_fridge": null}, "violation_counts": {"high_speed_obj_013_apple_1": 2, "drop_to_table_obj_013_apple_1": 1, "drop_to_table_obj_011_banana_2": 1}, "policy_query_count": 37, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4125, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_43_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_43_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..7662b443f73ff3aca95e04efc8da16c050e6eeed --- /dev/null +++ b/gpt6_astra_1x_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": 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": 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": 0.0019393939393939393 + }, + "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": 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": 0.0009696969696969697, + "violation_counts": { + "drop_to_table_obj_011_banana_2": 1, + "drop_to_table_obj_013_apple_1": 1, + "high_speed_obj_013_apple_1": 2 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.24024242424242423, + "finger_joint_limit_saturation_step_rate": 0.17963636363636365, + "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": 96, + "l_FFJ3": 153, + "l_LFJ2": 189, + "l_LFJ3": 334, + "l_LFJ4": 2, + "l_LFJ5": 154, + "l_MFJ2": 185, + "l_MFJ3": 138, + "l_RFJ2": 193, + "l_RFJ3": 64, + "l_THJ4": 15, + "l_THJ5": 76, + "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": 12, + "l_FFJ3": 5, + "l_LFJ2": 6, + "l_LFJ3": 6, + "l_LFJ4": 3, + "l_LFJ5": 27, + "l_MFJ2": 12, + "l_MFJ3": 15, + "l_RFJ2": 17, + "l_RFJ3": 10, + "l_THJ4": 10, + "l_THJ5": 11, + "l_WRJ1": 3, + "l_WRJ2": 2 + }, + "joint_limit_hard_episode_events": 44, + "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": 39, + "l_LFJ2": 100, + "l_LFJ3": 306, + "l_LFJ5": 68, + "l_MFJ2": 61, + "l_MFJ3": 25, + "l_RFJ2": 130, + "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": 26.221133159945825, + "joint_effort_rms": 65.30473785273502, + "joint_jerk_rms": 2539.458363572384, + "joint_velocity_rms": 0.6188745308887869 + }, + "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": 0.6956767676767962, + "mean_duration_score": 0.6881212121212121, + "mean_hold_score": 0.5747212121212091, + "mean_kinematic_stability_score": 0.32674010071639437, + "mean_legacy_gsi": 0.6215668947071689, + "mean_lift_score": 0.6494545454545455, + "mean_motion_stability_score": 0.5608777798567167 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 4125, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_43_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_43_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bccd42bfbc3c87d6276d5f1bdfc6aec77c0616f0 --- /dev/null +++ b/gpt6_astra_1x_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": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 180.0, "base_yaw_deg": 180.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan20", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan20_physics/scene.usda", "scene_offset": [0.08, 1.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_carpet_carpet1392_jpg", "asset_uri": "dex2bench_dataset/textures/carpet/carpet1392.jpg", "asset_category": "carpet", "asset_id": "carpet/carpet1392.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1000.6321757593407, "color": [0.8674657962100677, 0.9300402481264043, 0.6878729195839917], "pitch_deg": -10.133376847802893, "yaw_deg": -2.3470747019683387, "angle_deg": 0.6919910206847011}, "dome": {"intensity": 317.7662900562766, "color": [0.9711955739524765, 0.9218157071669716, 0.6938515102658072], "exposure": -0.42568910597167775}, "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": 0.042628334734497605, "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": [1.5616847425415845e-05, -0.0011267526101890989, 0.002423918393019261], "target_offset_m": [-0.0006823607709099885, -0.0017279796141030047, -0.004322064425343523], "distance_offset_m": -0.02550521044079178, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.43285885589378004, -0.6849785223098523, 0.5955046892986635], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [0.00032753124584607423, -0.0049038598985693595, 0.0027841773441487742], "target_offset_m": [0.0013210623684263003, -0.0037266092265018213, -0.004251197740427236], "distance_offset_m": -0.017720051483596885, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.03368535575446385, 0.832113698688963, -0.0496634356100909], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [-0.0008440846599334683, -0.002452638462101533, 0.00484441475365045], "target_offset_m": [-0.004695981533841957, -0.0037516980096939834, 0.0006884309158399259], "distance_offset_m": -0.015805856369660795, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.3415252617239335, 0.5359887295563421, -0.9174133877337245], "has_offset": true}, "cam_stereo_right": {"enabled": true, "position_offset_m": [-0.0008440846599334683, -0.002452638462101533, 0.00484441475365045], "target_offset_m": [-0.004695981533841957, -0.0037516980096939834, 0.0006884309158399259], "distance_offset_m": -0.015805856369660795, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.3415252617239335, 0.5359887295563421, -0.9174133877337245], "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": [-0.004627682585211609, 0.001894398606715443, 0.0046134253058830186], "rpy_offset_deg": [0.6083838122521275, -0.5381047331799746, 0.2161075373240937], "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": [0.004948665036419014, 0.00158987638129828, -0.0024084835519372883], "rpy_offset_deg": [-0.03327906947816994, 0.7360258346231257, 0.7852827913164961], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 3, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_054_softball", "uri": "dex2bench_dataset/Objects/054_softball/usd_decomposition_linux/textured.usd", "scale": [1.1998994740644302, 1.1998994740644302, 1.1998994740644302], "body_type": "dynamic", "category": "ball", "asset_code": "054", "asset_id": "clutter_054_softball", "asset_split": "unseen", "spawn_position": [-0.893199619023203, 0.15333021351306414, 0.7930147023737197], "spawn_yaw_deg": 228.99177283523346, "obj_id": "distractor_00_clutter_054_softball"}, {"name": "clutter_028_skillet_lid", "uri": "dex2bench_dataset/Objects/028_skillet_lid/usd_decomposition_linux/textured.usd", "scale": [1.1875489434131103, 1.1875489434131103, 1.1875489434131103], "body_type": "dynamic", "category": "kitchen", "asset_code": "028", "asset_id": "clutter_028_skillet_lid", "asset_split": "unseen", "spawn_position": [0.7824115854033096, 0.2081031513734915, 0.7985399535961478], "spawn_yaw_deg": 4.9800257832608175, "obj_id": "distractor_01_clutter_028_skillet_lid"}, {"name": "clutter_018_plum", "uri": "dex2bench_dataset/Objects/018_plum/usd_decomposition_linux/textured.usd", "scale": [0.9934934973112816, 0.9934934973112816, 0.9934934973112816], "body_type": "dynamic", "category": "fruit", "asset_code": "018", "asset_id": "clutter_018_plum", "asset_split": "unseen", "spawn_position": [-0.9799152866256763, -0.06234857066664698, 0.7929234022946607], "spawn_yaw_deg": 39.488540108775126, "obj_id": "distractor_02_clutter_018_plum"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_013_apple_1": {"position": [-0.41464797403976483, 0.17637885861449976, 0.7930213347292989], "rpy_deg": [0.0, 0.0, -0.4510134623695716]}, "obj_011_banana_2": {"position": [0.3467063260419649, 0.2058570515001339, 0.7930353347485903], "rpy_deg": [0.0, 0.0, 36.24663614529345]}, "obj_111_refrigerator_3": {"position": [0.04, 0.31, 1.1223419979766918], "rpy_deg": [0.0, 0.0, 90.0]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "articulation_multi", "robot_key": "multi_ur5_shadow_hand_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": 3439, "stable_success_step": 3468, "first_stable_success_step": 3468, "steps_to_stable_success": 3469, "policy_steps_to_stable_success": 1157, "policy_queries_to_stable_success": 24, "time_to_stable_success_s": 57.816666666664666, "expert_time_s": 45.833333333333336, "expert_time_step": 2750, "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": 0.75, "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": 1391.7580993269298, "joint_effort_rms": 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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}, "finger_joint_limit_saturation_counts": {"MFJ2": 14, "RFJ2": 34, "RFJ3": 4, "l_FFJ3": 22, "l_LFJ3": 13, "l_LFJ5": 85, "l_MFJ2": 31, "l_MFJ3": 18, "l_RFJ2": 65, "l_THJ5": 32}, "joint_limit_max_excess_by_joint": {"FFJ1": 2.4296636183862574e-05, "FFJ2": 0.00215001474134624, "FFJ4": 1.1771917343139648e-05, "LFJ1": 0.00013723853044211864, "LFJ2": 0.002111815381795168, "LFJ4": 0.16886797547340393, "LFJ5": 0.12526334822177887, "MFJ1": 0.0007420668262057006, "MFJ2": 0.2771172523498535, "MFJ4": 0.004090756177902222, "RFJ1": 0.006359267979860306, "RFJ2": 0.36221009492874146, "RFJ3": 0.2565620541572571, "RFJ4": 0.01734831929206848, "THJ4": 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_1x_icl/source_runs/task_43_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_43_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1c5f475fe3c27a6a44bfb81c57baea200b0555a6 --- /dev/null +++ b/gpt6_astra_1x_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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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": 491, "joint_limit_hard_episode_events": 49, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 302, "max_joint_limit_excess_rad": 1.9151273965835571, "max_joint_limit_excess_joint": "l_MFJ2", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_ur5_shadow_hand_with_flange", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 491, "joint_limit_active_step_rate": 0.11903030303030303, "finger_joint_limit_saturation_steps": 302, "finger_joint_limit_saturation_step_rate": 0.07321212121212121, "max_joint_limit_excess_rad": 1.9151273965835571, "max_joint_limit_excess_joint": "l_MFJ2", "stage_completion": {"open_fridge": true, "place_banana": false, "place_apple": false, "close_fridge": false}, "current_stage_completion": {"open_fridge": true, "place_banana": false, "place_apple": false, "close_fridge": false}, "stage_first_completion_step": {"open_fridge": 1726, "place_banana": null, "place_apple": null, "close_fridge": null}, "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": 41, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4125, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_43_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_43_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e5ab7fe44eea8f8514b430e5389133e79ed6cda8 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_43_episode_07/summary.json @@ -0,0 +1,255 @@ +{ + "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": 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": 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": 0.00048484848484848484 + }, + "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": 0.25, + "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": 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": 0.0007272727272727272, + "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": 0.11903030303030303, + "finger_joint_limit_saturation_step_rate": 0.07321212121212121, + "max_joint_limit_excess_rad": 1.9151273965835571, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "l_FFJ2": 131, + "l_FFJ3": 301, + "l_LFJ2": 14, + "l_LFJ3": 59, + "l_LFJ5": 76, + "l_MFJ2": 246, + "l_MFJ3": 95, + "l_MFJ4": 35, + "l_RFJ2": 207, + "l_RFJ3": 67, + "l_THJ4": 11, + "l_THJ5": 43, + "l_WRJ2": 77 + }, + "joint_limit_hard_counts": { + "FFJ2": 4, + "LFJ5": 1, + "RFJ2": 5, + "l_FFJ2": 26, + "l_FFJ3": 11, + "l_LFJ2": 2, + "l_LFJ3": 3, + "l_LFJ4": 1, + "l_LFJ5": 17, + "l_MFJ2": 15, + "l_MFJ3": 5, + "l_MFJ4": 2, + "l_RFJ2": 20, + "l_RFJ3": 9, + "l_THJ4": 5, + "l_THJ5": 9, + "l_WRJ2": 3 + }, + "joint_limit_hard_episode_events": 49, + "finger_joint_limit_saturation_counts": { + "l_FFJ2": 91, + "l_FFJ3": 164, + "l_LFJ3": 30, + "l_LFJ5": 23, + "l_MFJ2": 141, + "l_MFJ3": 30, + "l_MFJ4": 25, + "l_RFJ2": 156, + "l_RFJ3": 34, + "l_THJ5": 32 + }, + "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": 0.00033533573150634766, + "LFJ5": 0.009850271046161652, + "MFJ1": 0.00032352260313928127, + "MFJ2": 0.003340652212500572, + "MFJ4": 0.0007202327251434326, + "RFJ1": 0.003802299965173006, + "RFJ2": 0.006569752003997564, + "RFJ4": 0.0009732544422149658, + "THJ4": 0.0015579198952764273, + "THJ5": 0.003934502601623535, + "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": 0.009300053119659424, + "l_LFJ5": 0.3533749282360077, + "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_THJ4": 0.0900266170501709, + "l_THJ5": 0.5432956218719482, + "l_WRJ1": 0.0001837015151977539, + "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": 37.92565561956998, + "joint_effort_rms": 52.41035269931419, + "joint_jerk_rms": 3926.243686543146, + "joint_velocity_rms": 0.6780734233667561 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9983375869686055, + "mean_kinematic_grasp_stability": 0.3364815194120417, + "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": 0.7612525252525978, + "mean_duration_score": 0.6523353535353538, + "mean_hold_score": 0.12084242424242288, + "mean_kinematic_stability_score": 0.06223888468154856, + "mean_legacy_gsi": 0.36251714341968283, + "mean_lift_score": 0.23115151515151516, + "mean_motion_stability_score": 0.12400130886873041 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 4125, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_43_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_43_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..def650cd4bf0b543812cbdad32895c1e251ebf70 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_43_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/43_fridge_fruit_shelf_sorting.yaml", "episode_index": 8, "seed": 204300007, "success": false, "steps": 4125, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204300007, "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, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan1", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan1_physics/scene.usda", "scene_offset": [0.0, 0.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, 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"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, 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0.027925075963139534]}, "joint_limit_active_steps": 710, "joint_limit_hard_episode_events": 34, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 283, "max_joint_limit_excess_rad": 0.8548819422721863, "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": 710, "joint_limit_active_step_rate": 0.17212121212121212, "finger_joint_limit_saturation_steps": 283, "finger_joint_limit_saturation_step_rate": 0.0686060606060606, "max_joint_limit_excess_rad": 0.8548819422721863, "max_joint_limit_excess_joint": "l_FFJ2", "stage_completion": {"open_fridge": true, "place_banana": false, "place_apple": false, "close_fridge": false}, "current_stage_completion": {"open_fridge": true, "place_banana": false, "place_apple": false, "close_fridge": false}, "stage_first_completion_step": {"open_fridge": 1513, "place_banana": null, "place_apple": null, "close_fridge": null}, "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": 33, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4125, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_43_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_43_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0f1f6915c76df60e2243bc08045a6a03e76473b2 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_43_episode_08/summary.json @@ -0,0 +1,251 @@ +{ + "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": 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": 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": 0.0009696969696969697 + }, + "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": 0.25, + "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": 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": 0.0007272727272727272, + "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": 0.17212121212121212, + "finger_joint_limit_saturation_step_rate": 0.0686060606060606, + "max_joint_limit_excess_rad": 0.8548819422721863, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "RFJ2": 40, + "l_FFJ2": 45, + "l_FFJ3": 111, + "l_LFJ2": 12, + "l_LFJ3": 25, + "l_LFJ5": 359, + "l_MFJ2": 103, + "l_MFJ3": 65, + "l_RFJ2": 114, + "l_RFJ3": 11, + "l_THJ4": 58, + "l_THJ5": 74, + "l_WRJ2": 41 + }, + "joint_limit_hard_counts": { + "RFJ1": 1, + "RFJ2": 2, + "l_FFJ2": 11, + "l_FFJ3": 3, + "l_LFJ2": 1, + "l_LFJ3": 3, + "l_LFJ5": 26, + "l_MFJ2": 7, + "l_MFJ3": 15, + "l_RFJ2": 7, + "l_RFJ3": 3, + "l_RFJ4": 4, + "l_THJ4": 5, + "l_THJ5": 4, + "l_WRJ2": 1 + }, + "joint_limit_hard_episode_events": 34, + "finger_joint_limit_saturation_counts": { + "RFJ2": 19, + "l_FFJ2": 38, + "l_FFJ3": 20, + "l_LFJ3": 11, + "l_LFJ5": 95, + "l_MFJ2": 36, + "l_MFJ3": 14, + "l_RFJ2": 71, + "l_THJ4": 13, + "l_THJ5": 40 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 2.429483356536366e-05, + "FFJ2": 0.00215001474134624, + "FFJ4": 3.516674041748047e-06, + "LFJ1": 0.00019002458429895341, + "LFJ2": 0.002111815381795168, + "LFJ4": 0.00025141239166259766, + "LFJ5": 0.004114293493330479, + "MFJ1": 0.0010570840677246451, + "MFJ2": 0.0024545553606003523, + "MFJ4": 0.0004094839096069336, + "RFJ1": 0.006171192973852158, + "RFJ2": 0.27264484763145447, + "RFJ4": 0.0008375644683837891, + "THJ4": 0.0015579198952764273, + "THJ5": 0.0018723011016845703, + "l_FFJ1": 5.219835657044314e-05, + "l_FFJ2": 0.8548819422721863, + "l_FFJ3": 0.20356976985931396, + "l_LFJ1": 2.3546695047116373e-06, + "l_LFJ2": 0.15642134845256805, + "l_LFJ3": 0.4406502842903137, + "l_LFJ5": 0.22707590460777283, + "l_MFJ1": 0.0014135860837996006, + "l_MFJ2": 0.24123267829418182, + "l_MFJ3": 0.283327579498291, + "l_RFJ1": 0.0013733721571043134, + "l_RFJ2": 0.4508484899997711, + "l_RFJ3": 0.09550866484642029, + "l_RFJ4": 0.007417231798171997, + "l_THJ4": 0.36442261934280396, + "l_THJ5": 0.5436379909515381, + "l_WRJ2": 0.1457166075706482 + }, + "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": 15.55423073636462, + "joint_effort_rms": 43.484756229490706, + "joint_jerk_rms": 1510.8075936403375, + "joint_velocity_rms": 0.42202885162547865 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9992467288312734, + "mean_kinematic_grasp_stability": 0.327372486967007, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.7181259155631832, + "obj_013_apple_1": 0.9992467288312734 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.804000000000004, + "mean_duration_score": 0.6658545454545457, + "mean_hold_score": 0.17059393939394074, + "mean_kinematic_stability_score": 0.047419408718251316, + "mean_legacy_gsi": 0.4040860522062226, + "mean_lift_score": 0.29818181818181816, + "mean_motion_stability_score": 0.1803690696312982 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 4125, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_43_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_43_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..407bd0bcd6e7728b1cae3001844b06d13a8d9184 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_43_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/43_fridge_fruit_shelf_sorting.yaml", "episode_index": 9, "seed": 204300008, "success": false, "steps": 4125, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204300008, "base_seed": 204300000, "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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"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": 2, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"FFJ2": 9, "LFJ4": 18, "LFJ5": 17, "MFJ4": 15, "RFJ2": 21, "RFJ3": 10, "RFJ4": 12, "THJ5": 46, "WRJ1": 42, "WRJ2": 17, "l_FFJ2": 30, "l_FFJ3": 111, "l_LFJ2": 20, "l_LFJ3": 26, "l_LFJ4": 1, "l_LFJ5": 168, "l_MFJ2": 149, "l_MFJ3": 169, "l_MFJ4": 21, "l_RFJ2": 141, "l_RFJ3": 12, "l_RFJ4": 11, "l_THJ4": 26, "l_THJ5": 71, "l_WRJ1": 47, "l_WRJ2": 120}, "joint_limit_hard_counts": {"FFJ2": 1, "FFJ4": 2, "LFJ4": 2, "LFJ5": 2, "MFJ4": 2, "RFJ2": 4, "RFJ3": 1, "RFJ4": 2, "THJ5": 6, "WRJ1": 1, "WRJ2": 1, "l_FFJ2": 13, "l_FFJ3": 3, "l_LFJ2": 2, "l_LFJ3": 3, "l_LFJ4": 3, "l_LFJ5": 28, "l_MFJ2": 11, "l_MFJ3": 9, "l_MFJ4": 1, "l_RFJ2": 10, "l_RFJ3": 2, "l_RFJ4": 3, "l_THJ4": 10, "l_THJ5": 6, "l_WRJ1": 3, "l_WRJ2": 2}, "finger_joint_limit_saturation_counts": {"LFJ4": 12, "RFJ2": 16, "RFJ3": 6, "THJ5": 17, "l_FFJ2": 14, "l_FFJ3": 23, "l_LFJ3": 10, "l_LFJ5": 136, "l_MFJ2": 53, "l_MFJ3": 128, "l_MFJ4": 15, "l_RFJ2": 71, "l_THJ4": 7, "l_THJ5": 54}, "joint_limit_max_excess_by_joint": {"FFJ1": 2.429483356536366e-05, "FFJ2": 0.217909574508667, "FFJ4": 0.005583912134170532, "LFJ1": 5.617799160972936e-06, "LFJ2": 0.0021452917717397213, "LFJ4": 0.6373152732849121, "LFJ5": 0.22383184731006622, "MFJ1": 0.00020300089090596884, "MFJ2": 0.0031701214611530304, "MFJ4": 0.1731272041797638, "RFJ1": 0.004023990593850613, "RFJ2": 0.37930285930633545, "RFJ3": 0.38790106773376465, "RFJ4": 0.12483513355255127, "THJ4": 0.0015579198952764273, "THJ5": 0.6881670951843262, "WRJ1": 1.4698245525360107, "WRJ2": 0.30311793088912964, "l_FFJ1": 9.299958765041083e-05, "l_FFJ2": 0.40852558612823486, "l_FFJ3": 0.20211675763130188, "l_LFJ1": 1.0608473301199073e-11, "l_LFJ2": 0.15322649478912354, "l_LFJ3": 0.435022234916687, "l_LFJ4": 0.011643439531326294, "l_LFJ5": 1.5674127340316772, "l_MFJ1": 0.00035175986704416573, "l_MFJ2": 0.24230732023715973, "l_MFJ3": 1.060526728630066, "l_MFJ4": 0.3757489025592804, "l_RFJ1": 0.0009524406050331891, "l_RFJ2": 0.45360302925109863, "l_RFJ3": 0.08634349703788757, "l_RFJ4": 0.1300182044506073, "l_THJ4": 0.3894827961921692, "l_THJ5": 1.0347974300384521, "l_WRJ1": 0.3298899829387665, "l_WRJ2": 0.4630935788154602}, "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": 654, "joint_limit_hard_episode_events": 43, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 455, "max_joint_limit_excess_rad": 1.5674127340316772, "max_joint_limit_excess_joint": "l_LFJ5", "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": 654, "joint_limit_active_step_rate": 0.15854545454545454, "finger_joint_limit_saturation_steps": 455, "finger_joint_limit_saturation_step_rate": 0.1103030303030303, "max_joint_limit_excess_rad": 1.5674127340316772, "max_joint_limit_excess_joint": "l_LFJ5", "stage_completion": {"open_fridge": true, "place_banana": true, "place_apple": false, "close_fridge": false}, "current_stage_completion": {"open_fridge": false, "place_banana": true, "place_apple": false, "close_fridge": false}, "stage_first_completion_step": {"open_fridge": 1531, "place_banana": 3980, "place_apple": null, "close_fridge": null}, "violation_counts": {"drop_to_table_obj_011_banana_2": 1, "high_speed_obj_013_apple_1": 3, "drop_to_table_obj_013_apple_1": 1}, "policy_query_count": 37, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4125, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_43_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_43_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..a64ecc832dcd6aa67de2bb7d75830497cd566aa2 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_43_episode_09/summary.json @@ -0,0 +1,286 @@ +{ + "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": 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": 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": 0.002181818181818182 + }, + "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": 0.25, + "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": 0.0012121212121212121, + "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": 0.15854545454545454, + "finger_joint_limit_saturation_step_rate": 0.1103030303030303, + "max_joint_limit_excess_rad": 1.5674127340316772, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "FFJ2": 9, + "LFJ4": 18, + "LFJ5": 17, + "MFJ4": 15, + "RFJ2": 21, + "RFJ3": 10, + "RFJ4": 12, + "THJ5": 46, + "WRJ1": 42, + "WRJ2": 17, + "l_FFJ2": 30, + "l_FFJ3": 111, + "l_LFJ2": 20, + "l_LFJ3": 26, + "l_LFJ4": 1, + "l_LFJ5": 168, + "l_MFJ2": 149, + "l_MFJ3": 169, + "l_MFJ4": 21, + "l_RFJ2": 141, + "l_RFJ3": 12, + "l_RFJ4": 11, + "l_THJ4": 26, + "l_THJ5": 71, + "l_WRJ1": 47, + "l_WRJ2": 120 + }, + "joint_limit_hard_counts": { + "FFJ2": 1, + "FFJ4": 2, + "LFJ4": 2, + "LFJ5": 2, + "MFJ4": 2, + "RFJ2": 4, + "RFJ3": 1, + "RFJ4": 2, + "THJ5": 6, + "WRJ1": 1, + "WRJ2": 1, + "l_FFJ2": 13, + "l_FFJ3": 3, + "l_LFJ2": 2, + "l_LFJ3": 3, + "l_LFJ4": 3, + "l_LFJ5": 28, + "l_MFJ2": 11, + "l_MFJ3": 9, + "l_MFJ4": 1, + "l_RFJ2": 10, + "l_RFJ3": 2, + "l_RFJ4": 3, + "l_THJ4": 10, + "l_THJ5": 6, + "l_WRJ1": 3, + "l_WRJ2": 2 + }, + "joint_limit_hard_episode_events": 43, + "finger_joint_limit_saturation_counts": { + "LFJ4": 12, + "RFJ2": 16, + "RFJ3": 6, + "THJ5": 17, + "l_FFJ2": 14, + "l_FFJ3": 23, + "l_LFJ3": 10, + "l_LFJ5": 136, + "l_MFJ2": 53, + "l_MFJ3": 128, + "l_MFJ4": 15, + "l_RFJ2": 71, + "l_THJ4": 7, + "l_THJ5": 54 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 2.429483356536366e-05, + "FFJ2": 0.217909574508667, + "FFJ4": 0.005583912134170532, + "LFJ1": 5.617799160972936e-06, + "LFJ2": 0.0021452917717397213, + "LFJ4": 0.6373152732849121, + "LFJ5": 0.22383184731006622, + "MFJ1": 0.00020300089090596884, + "MFJ2": 0.0031701214611530304, + "MFJ4": 0.1731272041797638, + "RFJ1": 0.004023990593850613, + "RFJ2": 0.37930285930633545, + "RFJ3": 0.38790106773376465, + "RFJ4": 0.12483513355255127, + "THJ4": 0.0015579198952764273, + "THJ5": 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"joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 317, "max_joint_limit_excess_rad": 0.7927104234695435, "max_joint_limit_excess_joint": "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": 695, "joint_limit_active_step_rate": 0.1684848484848485, "finger_joint_limit_saturation_steps": 317, "finger_joint_limit_saturation_step_rate": 0.07684848484848485, "max_joint_limit_excess_rad": 0.7927104234695435, "max_joint_limit_excess_joint": "THJ5", "stage_completion": {"open_fridge": true, "place_banana": true, "place_apple": false, "close_fridge": false}, "current_stage_completion": {"open_fridge": false, "place_banana": true, "place_apple": false, "close_fridge": false}, "stage_first_completion_step": {"open_fridge": 1269, "place_banana": 3971, "place_apple": null, "close_fridge": null}, "violation_counts": {"drop_to_table_obj_011_banana_2": 1, "high_speed_obj_013_apple_1": 3, "drop_to_table_obj_013_apple_1": 1}, "policy_query_count": 49, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4125, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_43_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_43_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..bf398ea465c86b92c55750c3d4f8aa27f92d239b --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_43_episode_10/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": 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": 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": 0.0, + "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": 0.0026666666666666666 + }, + "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": 0.25, + "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": 0.0012121212121212121, + "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": 0.1684848484848485, + "finger_joint_limit_saturation_step_rate": 0.07684848484848485, + "max_joint_limit_excess_rad": 0.7927104234695435, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "FFJ2": 3, + "FFJ3": 14, + "LFJ4": 3, + "LFJ5": 5, + "MFJ2": 1, + "MFJ3": 2, + "MFJ4": 11, + "RFJ2": 27, + "RFJ3": 1, + "RFJ4": 8, + "THJ5": 140, + "WRJ1": 68, + "WRJ2": 34, + "l_FFJ2": 11, + "l_FFJ3": 107, + "l_LFJ2": 25, + "l_LFJ3": 96, + "l_LFJ5": 85, + "l_MFJ2": 146, + "l_MFJ3": 87, + "l_RFJ2": 262, + "l_RFJ3": 25, + "l_THJ4": 92, + "l_THJ5": 39 + }, + "joint_limit_hard_counts": { + "FFJ2": 3, + "FFJ3": 1, + "FFJ4": 1, + "LFJ4": 4, + "LFJ5": 8, + "MFJ2": 1, + "MFJ3": 6, + "MFJ4": 3, + "RFJ2": 2, + "RFJ3": 1, + "RFJ4": 1, + "THJ5": 15, + "WRJ1": 1, + "WRJ2": 1, + "l_FFJ2": 15, + "l_FFJ3": 3, + "l_LFJ2": 10, + "l_LFJ3": 5, + "l_LFJ5": 29, + "l_MFJ2": 12, + "l_MFJ3": 4, + "l_RFJ2": 9, + "l_RFJ3": 2, + "l_THJ4": 55, + "l_THJ5": 4 + }, + "joint_limit_hard_episode_events": 87, + "finger_joint_limit_saturation_counts": { + "FFJ3": 2, + "THJ5": 69, + "l_FFJ3": 20, + "l_LFJ2": 6, + "l_LFJ3": 12, + "l_LFJ5": 31, + "l_MFJ2": 35, + "l_MFJ3": 33, + "l_RFJ2": 131, + "l_RFJ3": 9, + "l_THJ4": 45, + "l_THJ5": 31 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 2.2160744265420362e-05, + "FFJ2": 0.034731004387140274, + "FFJ3": 0.339205265045166, + "FFJ4": 0.005161494016647339, + "LFJ1": 0.00020989826589357108, + "LFJ2": 0.0018319066148251295, + "LFJ4": 0.03647547960281372, + "LFJ5": 0.10180817544460297, + "MFJ1": 0.0012401373824104667, + "MFJ2": 0.030203700065612793, + "MFJ3": 0.07780253887176514, + "MFJ4": 0.12715530395507812, + "RFJ1": 0.004551223944872618, + "RFJ2": 0.07391081005334854, + "RFJ3": 0.024107784032821655, + "RFJ4": 0.03029000759124756, + "THJ4": 0.001861155848018825, + "THJ5": 0.7927104234695435, + "WRJ1": 0.675634503364563, + "WRJ2": 0.18640556931495667, + "l_FFJ1": 4.44504403276369e-05, + "l_FFJ2": 0.028939424082636833, + "l_FFJ3": 0.20357060432434082, + "l_LFJ2": 0.36442556977272034, + "l_LFJ3": 0.46712905168533325, + "l_LFJ4": 0.0034962892532348633, + "l_LFJ5": 0.48539769649505615, + "l_MFJ1": 0.004226348362863064, + "l_MFJ2": 0.24047596752643585, + "l_MFJ3": 0.3897787928581238, + "l_RFJ1": 0.004667194560170174, + "l_RFJ2": 0.5682893395423889, + "l_RFJ3": 0.4888831377029419, + "l_RFJ4": 0.003833979368209839, + "l_THJ4": 0.6453428268432617, + "l_THJ5": 0.5411378145217896 + }, + "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": 26.02839609518551, + "joint_effort_rms": 53.24330925504218, + "joint_jerk_rms": 2621.154160580624, + "joint_velocity_rms": 0.5007609123340329 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9881373857853816, + "mean_kinematic_grasp_stability": 0.2678684281348795, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.6102213879215064, + "obj_013_apple_1": 0.9881373857853816 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8462626262626294, + "mean_duration_score": 0.6815313131313133, + "mean_hold_score": 0.13775151515151385, + "mean_kinematic_stability_score": 0.051463207102276844, + "mean_legacy_gsi": 0.3972716334818508, + "mean_lift_score": 0.25587878787878787, + "mean_motion_stability_score": 0.14194050756040824 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 4125, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_43_episode_11/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_43_episode_11/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..587e26f0d2e5547c69399d6ed8d5fae7d3438cc5 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_43_episode_11/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/43_fridge_fruit_shelf_sorting.yaml", "episode_index": 11, "seed": 204300010, "success": false, "steps": 2655, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 204300010, "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": 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_leather_leather0065_jpg", "asset_uri": "dex2bench_dataset/textures/leather/leather0065.jpg", "asset_category": 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0.3177940534082348, "mean_kinematic_stability_score": 0.019436285235329833, "mean_lift_score": 0.24915254237288137, "mean_hold_score": 0.18966101694915202, "mean_motion_stability_score": 0.16379384924594578, "mean_duration_score": 0.6284306340238538, "mean_anti_slip_score": 0.41720025109855724}, "robot_motion_metrics": {"joint_velocity_rms": 0.42074106845880266, "joint_acceleration_rms": 19.858476803743994, "joint_jerk_rms": 2012.5662200262732, "joint_effort_rms": 49.45310679975587}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.00225988700564978, "safety_violation_rate_time": 0.00225988700564978, "safety_violation_rate_event": 0.0007532956685499058, "safety_violation_step_rate": 0.0022598870056497176, "safety_violation_events_per_step": 0.0007532956685499058, "episode_violation_rate": 1.0, "safety_hard_violation": true, "drop_violation": true, "high_speed_violation": true, 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"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": [1.9671000242233276, -1.782483458518982, -2.4136738777160645, 2.2497451305389404, 1.5302287340164185, -0.844890296459198, -2.13385009765625, 1.5933409929275513, 0.8499378561973572, 0.08981617540121078, -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, 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"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": [1.9671000242233276, -1.782483458518982, -2.4136738777160645, 2.2497451305389404, 1.5302287340164185, -0.844890296459198, -2.13385009765625, 1.5933409929275513, 0.8499378561973572, 0.08981617540121078, -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": [1.9671000242233276, -1.782483458518982, -2.4136738777160645, 2.2497451305389404, 1.5302287340164185, -0.844890296459198, -2.13385009765625, 1.5933409929275513, 0.8499378561973572, 0.08981617540121078, -1.9489895105361938, 0.31339144706726074, -0.14755403995513916, 0.14592494070529938, -0.3907719850540161, -0.08985880762338638, 0.0, -0.0021354006603360176, 0.03197638690471649, -0.32649505138397217, 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"max_joint_limit_excess_rad": 0.5417577028274536, "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": 441, "joint_limit_active_step_rate": 0.16610169491525423, "finger_joint_limit_saturation_steps": 221, "finger_joint_limit_saturation_step_rate": 0.0832391713747646, "max_joint_limit_excess_rad": 0.5417577028274536, "max_joint_limit_excess_joint": "l_THJ5", "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": false, "close_fridge": false}, "stage_first_completion_step": {"open_fridge": 1270, "place_banana": null, "place_apple": 1961, "close_fridge": null}, "violation_counts": {"drop_to_table_obj_011_banana_2": 1, "high_speed_obj_013_apple_1": 1}, "policy_query_count": 23, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4125, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_43_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_43_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..89c148b1730e3011e140104e87d0d2c8293893c5 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_43_episode_11/summary.json @@ -0,0 +1,250 @@ +{ + "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": 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": 0.0, + "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": 0.0022598870056497176 + }, + "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": 0.25, + "current_chain_depth_progress_score": 0.3333333333333333, + "latched_chain_depth_progress_score": 0.6666666666666666, + "avg_current_chain_depth": 1, + "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": 0.0007532956685499058, + "violation_counts": { + "drop_to_table_obj_011_banana_2": 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": 0.16610169491525423, + "finger_joint_limit_saturation_step_rate": 0.0832391713747646, + "max_joint_limit_excess_rad": 0.5417577028274536, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "RFJ2": 48, + "l_FFJ2": 14, + "l_FFJ3": 123, + "l_LFJ2": 58, + "l_LFJ3": 23, + "l_LFJ5": 56, + "l_MFJ2": 113, + "l_MFJ3": 64, + "l_RFJ2": 112, + "l_RFJ3": 9, + "l_THJ4": 115, + "l_THJ5": 42, + "l_WRJ2": 47 + }, + "joint_limit_hard_counts": { + "LFJ5": 1, + "RFJ1": 2, + "RFJ2": 1, + "l_FFJ2": 11, + "l_FFJ3": 4, + "l_LFJ2": 2, + "l_LFJ3": 1, + "l_LFJ4": 2, + "l_LFJ5": 23, + "l_MFJ1": 1, + "l_MFJ2": 9, + "l_MFJ3": 3, + "l_RFJ2": 6, + "l_RFJ3": 1, + "l_THJ4": 5, + "l_THJ5": 1, + "l_WRJ2": 1 + }, + "joint_limit_hard_episode_events": 27, + "finger_joint_limit_saturation_counts": { + "RFJ2": 29, + "l_FFJ3": 29, + "l_LFJ2": 41, + "l_LFJ3": 11, + "l_LFJ5": 19, + "l_MFJ2": 36, + "l_MFJ3": 19, + "l_RFJ2": 71, + "l_THJ4": 29, + "l_THJ5": 32 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 2.3827598852221854e-05, + "FFJ2": 0.0021512871608138084, + "FFJ4": 1.8358230590820312e-05, + "LFJ1": 0.00022314714442472905, + "LFJ2": 0.002457030350342393, + "LFJ4": 0.00036513805389404297, + "LFJ5": 0.005461688153445721, + "MFJ1": 0.0012366854352876544, + "MFJ2": 0.0026116804219782352, + "MFJ4": 0.00035631656646728516, + "RFJ1": 0.006319458596408367, + "RFJ2": 0.3612542450428009, + "RFJ4": 0.0005761086940765381, + "THJ4": 0.0015731246676295996, + "l_FFJ1": 7.39164897822775e-05, + "l_FFJ2": 0.11135134845972061, + "l_FFJ3": 0.4297163486480713, + "l_LFJ2": 0.4393867254257202, + "l_LFJ3": 0.444577693939209, + "l_LFJ4": 0.005218625068664551, + "l_LFJ5": 0.24766960740089417, + "l_MFJ1": 0.005357653833925724, + "l_MFJ2": 0.2702682912349701, + "l_MFJ3": 0.2892776131629944, + "l_RFJ1": 0.004953625146299601, + "l_RFJ2": 0.4474642276763916, + "l_RFJ3": 0.1030392050743103, + "l_THJ4": 0.2891716957092285, + "l_THJ5": 0.5417577028274536, + "l_WRJ2": 0.22536540031433105 + }, + "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": 19.858476803743994, + "joint_effort_rms": 49.45310679975587, + "joint_jerk_rms": 2012.5662200262732, + "joint_velocity_rms": 0.42074106845880266 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.706612825226462, + "mean_kinematic_grasp_stability": 0.2511111304126555, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.706612825226462, + "obj_013_apple_1": 0.6898071730449703 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.41720025109855724, + "mean_duration_score": 0.6284306340238538, + "mean_hold_score": 0.18966101694915202, + "mean_kinematic_stability_score": 0.019436285235329833, + "mean_legacy_gsi": 0.3177940534082348, + "mean_lift_score": 0.24915254237288137, + "mean_motion_stability_score": 0.16379384924594578 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2655, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_43_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_43_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..32b16acb21e641521705f939d828553a4c5623ed --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_43_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/43_fridge_fruit_shelf_sorting.yaml", "episode_index": 12, "seed": 204300011, "success": true, "steps": 4106, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204300011, "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, "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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"mean_anti_slip_score": 0.7407858418574308}, "robot_motion_metrics": {"joint_velocity_rms": 0.5000574022183649, "joint_acceleration_rms": 20.79436917972529, "joint_jerk_rms": 2047.3965551128538, "joint_effort_rms": 57.7053001825808}, "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": 3, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"FFJ2": 7, "LFJ2": 86, "LFJ4": 61, "LFJ5": 67, "MFJ1": 8, "MFJ2": 58, "RFJ1": 8, "RFJ2": 66, "THJ5": 66, "WRJ2": 24, "l_FFJ2": 46, "l_FFJ3": 117, "l_LFJ2": 5, "l_LFJ3": 95, "l_LFJ4": 73, "l_LFJ5": 119, "l_MFJ2": 147, "l_MFJ3": 20, "l_MFJ4": 24, "l_RFJ2": 164, "l_RFJ3": 23, "l_RFJ4": 56, "l_THJ2": 49, "l_THJ4": 47, "l_THJ5": 36, "l_WRJ2": 69}, "joint_limit_hard_counts": {"FFJ2": 1, "LFJ1": 1, "LFJ2": 3, "LFJ4": 3, "LFJ5": 6, "MFJ1": 5, "MFJ2": 3, "RFJ1": 2, "RFJ2": 2, "RFJ4": 1, "THJ5": 2, "WRJ2": 1, "l_FFJ2": 10, "l_FFJ3": 4, "l_LFJ2": 2, "l_LFJ3": 2, "l_LFJ4": 1, "l_LFJ5": 12, "l_MFJ2": 7, "l_MFJ3": 1, "l_MFJ4": 2, "l_RFJ2": 13, "l_RFJ3": 2, "l_RFJ4": 2, "l_THJ2": 1, "l_THJ4": 12, "l_THJ5": 1, "l_WRJ2": 2}, "finger_joint_limit_saturation_counts": {"LFJ2": 63, "LFJ4": 39, "LFJ5": 18, "MFJ2": 29, "RFJ2": 39, "THJ5": 56, "l_FFJ3": 25, "l_LFJ4": 70, "l_LFJ5": 41, "l_MFJ2": 88, "l_RFJ2": 82, "l_RFJ4": 32, "l_THJ2": 44, "l_THJ4": 17, "l_THJ5": 29}, "joint_limit_max_excess_by_joint": {"FFJ1": 3.288704465376213e-05, "FFJ2": 0.018936753273010254, "LFJ1": 0.005359958857297897, "LFJ2": 0.6863495111465454, "LFJ4": 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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, 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"joint_limit_active_steps": 613, "joint_limit_hard_episode_events": 29, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 365, "max_joint_limit_excess_rad": 1.0876133441925049, "max_joint_limit_excess_joint": "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": 613, "joint_limit_active_step_rate": 0.14929371651242085, "finger_joint_limit_saturation_steps": 365, "finger_joint_limit_saturation_step_rate": 0.08889430102289332, "max_joint_limit_excess_rad": 1.0876133441925049, "max_joint_limit_excess_joint": "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": 2464, "place_banana": 3630, "place_apple": 3212, "close_fridge": 4076}, "violation_counts": {}, "policy_query_count": 39, "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_1x_icl/source_runs/task_43_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_43_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8e0e28e5a1381c6099e6bd2af6d079135c0ad22a --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_43_episode_12/summary.json @@ -0,0 +1,281 @@ +{ + "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": 68.43333333333074 + }, + "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": 3, + "avg_latched_chain_depth": 3 + }, + "efficiency": { + "task_efficiency": 0.6697515830492218, + "expert_time_s": 45.833333333333336, + "expert_time_step": 2750, + "avg_steps_to_success": 4106, + "avg_policy_steps_to_success": 1369, + "avg_policy_queries_to_success": 39 + }, + "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": 0.14929371651242085, + "finger_joint_limit_saturation_step_rate": 0.08889430102289332, + "max_joint_limit_excess_rad": 1.0876133441925049, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "FFJ2": 7, + "LFJ2": 86, + "LFJ4": 61, + "LFJ5": 67, + "MFJ1": 8, + "MFJ2": 58, + "RFJ1": 8, + "RFJ2": 66, + "THJ5": 66, + "WRJ2": 24, + "l_FFJ2": 46, + "l_FFJ3": 117, + "l_LFJ2": 5, + "l_LFJ3": 95, + "l_LFJ4": 73, + "l_LFJ5": 119, + "l_MFJ2": 147, + "l_MFJ3": 20, + "l_MFJ4": 24, + "l_RFJ2": 164, + "l_RFJ3": 23, + "l_RFJ4": 56, + "l_THJ2": 49, + "l_THJ4": 47, + "l_THJ5": 36, + "l_WRJ2": 69 + }, + "joint_limit_hard_counts": { + "FFJ2": 1, + "LFJ1": 1, + "LFJ2": 3, + "LFJ4": 3, + "LFJ5": 6, + "MFJ1": 5, + "MFJ2": 3, + "RFJ1": 2, + "RFJ2": 2, + "RFJ4": 1, + "THJ5": 2, + "WRJ2": 1, + "l_FFJ2": 10, + "l_FFJ3": 4, + "l_LFJ2": 2, + "l_LFJ3": 2, + "l_LFJ4": 1, + "l_LFJ5": 12, + "l_MFJ2": 7, + "l_MFJ3": 1, + "l_MFJ4": 2, + "l_RFJ2": 13, + "l_RFJ3": 2, + "l_RFJ4": 2, + "l_THJ2": 1, + "l_THJ4": 12, + "l_THJ5": 1, + "l_WRJ2": 2 + }, + "joint_limit_hard_episode_events": 29, + "finger_joint_limit_saturation_counts": { + "LFJ2": 63, + "LFJ4": 39, + "LFJ5": 18, + "MFJ2": 29, + "RFJ2": 39, + "THJ5": 56, + "l_FFJ3": 25, + "l_LFJ4": 70, + "l_LFJ5": 41, + "l_MFJ2": 88, + "l_RFJ2": 82, + "l_RFJ4": 32, + "l_THJ2": 44, + "l_THJ4": 17, + "l_THJ5": 29 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 3.288704465376213e-05, + "FFJ2": 0.018936753273010254, + "LFJ1": 0.005359958857297897, + "LFJ2": 0.6863495111465454, + "LFJ4": 0.5412454605102539, + "LFJ5": 0.38607707619667053, + "MFJ1": 0.01997571624815464, + "MFJ2": 0.4566768407821655, + "MFJ4": 0.0035423338413238525, + "RFJ1": 0.10609907656908035, + "RFJ2": 0.6528729200363159, + "RFJ4": 0.00604131817817688, + "THJ4": 0.0015579198952764273, + "THJ5": 1.0876133441925049, + "WRJ2": 0.10383555293083191, + "l_FFJ1": 0.0005501087289303541, + "l_FFJ2": 0.19590789079666138, + "l_FFJ3": 0.3271276354789734, + "l_LFJ1": 1.0608473301199073e-11, + "l_LFJ2": 0.058522969484329224, + "l_LFJ3": 0.1634223461151123, + "l_LFJ4": 0.6306201219558716, + "l_LFJ5": 0.34729447960853577, + "l_MFJ1": 0.004272203426808119, + "l_MFJ2": 0.5697643160820007, + "l_MFJ3": 0.16172081232070923, + "l_MFJ4": 0.11909741163253784, + "l_RFJ1": 0.004377854056656361, + "l_RFJ2": 0.6473861336708069, + "l_RFJ3": 0.11260625720024109, + "l_RFJ4": 0.4180395305156708, + "l_THJ2": 0.8036614060401917, + "l_THJ4": 0.5771880149841309, + "l_THJ5": 0.535467267036438, + "l_WRJ2": 0.12143522500991821 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, 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-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": 666, "joint_limit_hard_episode_events": 78, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 465, "max_joint_limit_excess_rad": 1.2247565984725952, "max_joint_limit_excess_joint": "LFJ5", "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": 666, "joint_limit_active_step_rate": 0.1712082262210797, "finger_joint_limit_saturation_steps": 465, "finger_joint_limit_saturation_step_rate": 0.11953727506426735, "max_joint_limit_excess_rad": 1.2247565984725952, "max_joint_limit_excess_joint": "LFJ5", "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": 2668, "place_banana": 3472, "place_apple": 3119, "close_fridge": 3860}, "violation_counts": {"drop_to_table_obj_011_banana_2": 1}, "policy_query_count": 37, "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_1x_icl/source_runs/task_43_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_43_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..7d1a7573e2b15330eff2d7b71b1235e591a0c47e --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_43_episode_13/summary.json @@ -0,0 +1,269 @@ +{ + "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": 64.83333333333094 + }, + "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": 0.0002570694087403599 + }, + "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": 0.7069408740360158, + "expert_time_s": 45.833333333333336, + "expert_time_step": 2750, + "avg_steps_to_success": 3890, + "avg_policy_steps_to_success": 1297, + "avg_policy_queries_to_success": 37 + }, + "safety": { + "safety_violation_events_per_step": 0.0002570694087403599, + "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": 0.1712082262210797, + "finger_joint_limit_saturation_step_rate": 0.11953727506426735, + "max_joint_limit_excess_rad": 1.2247565984725952, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "LFJ2": 34, + "LFJ3": 104, + "LFJ4": 56, + "LFJ5": 259, + "MFJ4": 1, + "RFJ2": 92, + "RFJ3": 22, + "RFJ4": 1, + "THJ4": 130, + "THJ5": 87, + "WRJ2": 217, + "l_FFJ2": 30, + "l_FFJ3": 94, + "l_LFJ2": 5, + "l_LFJ5": 47, + "l_MFJ2": 121, + "l_MFJ3": 26, + "l_RFJ2": 121, + "l_RFJ3": 21, + "l_THJ4": 7 + }, + "joint_limit_hard_counts": { + "FFJ2": 1, + "LFJ2": 6, + "LFJ3": 5, + "LFJ4": 5, + "LFJ5": 4, + "MFJ4": 1, + "RFJ2": 2, + "RFJ3": 1, + "RFJ4": 1, + "THJ4": 2, + "THJ5": 15, + "WRJ2": 2, + "l_FFJ2": 7, + "l_FFJ3": 3, + "l_LFJ2": 1, + "l_LFJ3": 1, + "l_LFJ5": 5, + "l_MFJ2": 2, + "l_MFJ3": 3, + "l_MFJ4": 1, + "l_RFJ2": 4, + "l_RFJ3": 2, + "l_RFJ4": 1, + "l_THJ4": 59 + }, + "joint_limit_hard_episode_events": 78, + "finger_joint_limit_saturation_counts": { + "LFJ2": 25, + "LFJ3": 24, + "LFJ4": 30, + "LFJ5": 223, + "RFJ2": 67, + "THJ4": 48, + "THJ5": 70, + "l_FFJ3": 32, + "l_LFJ5": 10, + "l_MFJ2": 81, + "l_RFJ2": 70 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 2.429483356536366e-05, + "FFJ2": 0.006636827252805233, + "LFJ1": 2.8826123525504954e-05, + "LFJ2": 0.6927093267440796, + "LFJ3": 0.42599403858184814, + "LFJ4": 0.5024293661117554, + "LFJ5": 1.2247565984725952, + "MFJ1": 0.0002048157184617594, + "MFJ2": 0.0024545553606003523, + "MFJ4": 0.01762855052947998, + "RFJ1": 0.0015757234068587422, + "RFJ2": 0.5862452983856201, + "RFJ3": 0.05602872371673584, + "RFJ4": 0.010973960161209106, + "THJ4": 0.14650368690490723, + "THJ5": 0.39163267612457275, + "WRJ2": 0.6440258622169495, + "l_FFJ1": 1.882109972939361e-05, + "l_FFJ2": 0.17843346297740936, + "l_FFJ3": 0.34154820442199707, + "l_LFJ1": 1.7093101405407651e-06, + "l_LFJ2": 0.05604613199830055, + "l_LFJ3": 0.0076361000537872314, + "l_LFJ4": 0.0008992552757263184, + "l_LFJ5": 0.25137367844581604, + "l_MFJ1": 0.0012957511935383081, + "l_MFJ2": 0.5564588904380798, + "l_MFJ3": 0.17633852362632751, + "l_MFJ4": 0.006433010101318359, + "l_RFJ1": 0.0010722612496465445, + "l_RFJ2": 0.6400498747825623, + "l_RFJ3": 0.13878726959228516, + "l_RFJ4": 0.006496727466583252, + "l_THJ4": 0.023610949516296387, + "l_THJ5": 0.0034325122833251953 + }, + "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": 15.126938120723421, + "joint_effort_rms": 51.68616333996348, + "joint_jerk_rms": 1482.1656974459095, + "joint_velocity_rms": 0.4128548009465292 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8223357643002973, + "mean_kinematic_grasp_stability": 0.1889418754508498, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.8223357643002973, + "obj_013_apple_1": 0.4941083828122835 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8240788346186813, + "mean_duration_score": 0.5281233933161955, + "mean_hold_score": 0.1904241645244217, + "mean_kinematic_stability_score": 0.017388481082623197, + "mean_legacy_gsi": 0.38914579904424407, + "mean_lift_score": 0.26632390745501283, + "mean_motion_stability_score": 0.18446602656259478 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3890, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_43_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_43_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06bf783a75fd6d6e2d1a329affe051cab08f82aa --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_43_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/43_fridge_fruit_shelf_sorting.yaml", "episode_index": 14, "seed": 204300013, "success": false, "steps": 4125, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204300013, "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, "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": 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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": "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, 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"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, 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"finger_joint_limit_saturation_steps": 406, "max_joint_limit_excess_rad": 1.1656535863876343, "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": 603, "joint_limit_active_step_rate": 0.1461818181818182, "finger_joint_limit_saturation_steps": 406, "finger_joint_limit_saturation_step_rate": 0.09842424242424243, "max_joint_limit_excess_rad": 1.1656535863876343, "max_joint_limit_excess_joint": "l_FFJ2", "stage_completion": {"open_fridge": true, "place_banana": false, "place_apple": false, "close_fridge": false}, "current_stage_completion": {"open_fridge": false, "place_banana": false, "place_apple": false, "close_fridge": false}, "stage_first_completion_step": {"open_fridge": 1273, "place_banana": null, "place_apple": null, "close_fridge": null}, "violation_counts": {"drop_to_table_obj_011_banana_2": 1, "drop_to_table_obj_013_apple_1": 1, "high_speed_obj_013_apple_1": 2}, "policy_query_count": 38, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4125, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_43_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_43_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..aff3973efc8a880c15c9975ea31435fab7067746 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_43_episode_14/summary.json @@ -0,0 +1,301 @@ +{ + "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": 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": 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": 0.0026666666666666666 + }, + "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": 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": 0.0009696969696969697, + "violation_counts": { + "drop_to_table_obj_011_banana_2": 1, + "drop_to_table_obj_013_apple_1": 1, + "high_speed_obj_013_apple_1": 2 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.1461818181818182, + "finger_joint_limit_saturation_step_rate": 0.09842424242424243, + "max_joint_limit_excess_rad": 1.1656535863876343, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "FFJ2": 36, + "FFJ3": 53, + "LFJ3": 41, + "LFJ4": 27, + "LFJ5": 14, + "MFJ2": 50, + "MFJ3": 165, + "RFJ2": 95, + "RFJ3": 162, + "THJ5": 33, + "WRJ1": 99, + "WRJ2": 4, + "l_FFJ2": 76, + "l_FFJ3": 102, + "l_LFJ2": 40, + "l_LFJ3": 26, + "l_LFJ4": 9, + "l_LFJ5": 120, + "l_MFJ1": 1, + "l_MFJ2": 121, + "l_MFJ3": 65, + "l_RFJ1": 1, + "l_RFJ2": 144, + "l_RFJ3": 8, + "l_THJ1": 14, + "l_THJ2": 41, + "l_THJ3": 35, + "l_THJ4": 96, + "l_THJ5": 45 + }, + "joint_limit_hard_counts": { + "FFJ2": 2, + "FFJ3": 1, + "LFJ2": 3, + "LFJ3": 1, + "LFJ4": 2, + "LFJ5": 6, + "MFJ2": 3, + "MFJ3": 3, + "RFJ1": 1, + "RFJ2": 6, + "RFJ3": 3, + "THJ5": 14, + "WRJ1": 1, + "WRJ2": 1, + "l_FFJ2": 14, + "l_FFJ3": 4, + "l_LFJ2": 2, + "l_LFJ3": 6, + "l_LFJ4": 5, + "l_LFJ5": 28, + "l_MFJ1": 1, + "l_MFJ2": 8, + "l_MFJ3": 3, + "l_RFJ1": 1, + "l_RFJ2": 6, + "l_RFJ3": 1, + "l_THJ1": 1, + "l_THJ2": 1, + "l_THJ3": 1, + "l_THJ4": 23, + "l_THJ5": 1 + }, + "joint_limit_hard_episode_events": 45, + "finger_joint_limit_saturation_counts": { + "FFJ3": 33, + "LFJ3": 19, + "LFJ4": 17, + "MFJ2": 3, + "MFJ3": 113, + "RFJ2": 46, + "RFJ3": 113, + "THJ5": 11, + "l_FFJ2": 54, + "l_FFJ3": 21, + "l_LFJ2": 21, + "l_LFJ3": 10, + "l_LFJ5": 25, + "l_MFJ2": 35, + "l_MFJ3": 15, + "l_RFJ2": 78, + "l_THJ2": 37, + "l_THJ3": 31, + "l_THJ4": 46, + "l_THJ5": 35 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 2.4561586542404257e-05, + "FFJ2": 0.11719674617052078, + "FFJ3": 0.2531058192253113, + "FFJ4": 1.6301870346069336e-05, + "LFJ1": 6.95622802595608e-05, + "LFJ2": 0.008861160837113857, + "LFJ3": 0.24742239713668823, + "LFJ4": 0.37995645403862, + "LFJ5": 0.11424624919891357, + "MFJ1": 0.00046004404430277646, + "MFJ2": 0.13159610331058502, + "MFJ3": 0.2703166604042053, + "MFJ4": 0.00035387277603149414, + "RFJ1": 0.005819564685225487, + "RFJ2": 0.35755455493927, + "RFJ3": 0.33307212591171265, + "RFJ4": 0.0007174909114837646, + "THJ4": 0.0037734508514404297, + "THJ5": 0.3153536319732666, + "WRJ1": 0.13644441962242126, + "WRJ2": 0.019899606704711914, + "l_FFJ1": 4.739189535030164e-05, + "l_FFJ2": 1.1656535863876343, + "l_FFJ3": 0.18621477484703064, + "l_LFJ1": 1.0608473301199073e-11, + "l_LFJ2": 0.3691670894622803, + "l_LFJ3": 0.4537118673324585, + "l_LFJ4": 0.1878410279750824, + "l_LFJ5": 0.23500095307826996, + "l_MFJ1": 0.01010024081915617, + "l_MFJ2": 0.24052417278289795, + "l_MFJ3": 0.26652467250823975, + "l_RFJ1": 0.01199818029999733, + "l_RFJ2": 0.4408451020717621, + "l_RFJ3": 0.08458581566810608, + "l_THJ1": 0.1456013321876526, + "l_THJ2": 1.0489020347595215, + "l_THJ3": 1.1338406801223755, + "l_THJ4": 0.47991180419921875, + "l_THJ5": 0.547571063041687 + }, + "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": 19.086359286419274, + "joint_effort_rms": 54.99116249777609, + "joint_jerk_rms": 1823.3677900166708, + "joint_velocity_rms": 0.5363341929827674 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9910592091020943, + "mean_kinematic_grasp_stability": 0.6649779130493321, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.6924622341139401, + "obj_013_apple_1": 0.9910592091020943 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8561212121212399, + "mean_duration_score": 0.9529818181818183, + "mean_hold_score": 0.40593333333333864, + "mean_kinematic_stability_score": 0.28469115016851404, + "mean_legacy_gsi": 0.6003018952451136, + "mean_lift_score": 0.5086060606060606, + "mean_motion_stability_score": 0.38138094354374635 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 4125, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_44_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_44_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5657421549f8e4d9251aee201174feadd364be7e --- /dev/null +++ b/gpt6_astra_1x_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, "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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"position_jitter_m": 0.02, "yaw_jitter_deg": 10.0}, "table_height": {"enabled": true, "height_offset_m": 0.03788608248723423, "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": [-0.0035445778289859356, -0.004057051561607929, -0.002484216911435594], "target_offset_m": [-0.0024296927325998543, -0.0037420762128525667, -0.00017459917010836934], "distance_offset_m": 0.02914673583939359, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.30015633367222727, -0.7498881729976596, -0.9832184867763274], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.001373565961370029, -0.00196514564891508, -0.0021467272253929202], "target_offset_m": [0.0028397510711185648, 0.0012900705643182553, 0.0010302684356609674], "distance_offset_m": 0.0023070556598396227, 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"category": "block", "asset_code": "070", "asset_id": "clutter_070b_colored_wood_blocks", "asset_split": "unseen", "spawn_position": [0.7132317153527028, 0.16298165895720126, 0.7881496312884742], "spawn_yaw_deg": 136.8523537529149, "obj_id": "distractor_00_clutter_070b_colored_wood_blocks"}, {"name": "clutter_054_softball", "uri": "dex2bench_dataset/Objects/054_softball/usd_decomposition_linux/textured.usd", "scale": [0.8616398979266715, 0.8616398979266715, 0.8616398979266715], "body_type": "dynamic", "category": "ball", "asset_code": "054", "asset_id": "clutter_054_softball", "asset_split": "unseen", "spawn_position": [-0.6898171544102014, 0.2771971561695581, 0.7881635305405231], "spawn_yaw_deg": 16.92973042687306, "obj_id": "distractor_01_clutter_054_softball"}, {"name": "clutter_073a_lego_duplo", "uri": "dex2bench_dataset/Objects/073-a_lego_duplo/usd_decomposition_linux/textured.usd", "scale": [0.8527913945253233, 0.8527913945253233, 0.8527913945253233], "body_type": "dynamic", "category": "toy", "asset_code": "073", "asset_id": "clutter_073a_lego_duplo", "asset_split": "unseen", "spawn_position": [-0.6579723021083019, 0.07582183227335826, 0.7882937167753089], "spawn_yaw_deg": 285.65146271649553, "obj_id": "distractor_02_clutter_073a_lego_duplo"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_163_baguette_1": {"position": [-0.49598577197158283, 0.11447500108177111, 0.8146088822875706], "rpy_deg": [90.0, 90.0, 89.72266841526617]}, "obj_104_microwave_2": {"position": [0.0, 0.42, 0.9161070357209442], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_024_bowl_3": {"position": [0.5173957518568615, 0.2854622913119643, 0.7886810825162636], "rpy_deg": [0.0, 0.0, 9.766317389294805]}, "obj_151_milk_box_4": {"position": [-0.5, 0.25, 0.8173154921401826], "rpy_deg": [0.0, 0.0, -5.065818715879282]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "articulation_door_place", "robot_key": "multi_ur5_schunk_hand_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": 2693, "stable_success_step": 2745, "first_stable_success_step": 2745, "steps_to_stable_success": 2746, "policy_steps_to_stable_success": 916, "policy_queries_to_stable_success": 25, "time_to_stable_success_s": 45.76666666666535, "expert_time_s": 35.36666666666667, "expert_time_step": 2122, "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": 0.75, "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": 0.7727603787327243, "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_legacy_gsi": 0.47086865510417303, "mean_kinematic_stability_score": 0.15642697856191298, "mean_lift_score": 0.4246176256372906, "mean_hold_score": 0.35292243262927986, "mean_motion_stability_score": 0.30362805862097364, "mean_duration_score": 0.5781743141539218, "mean_anti_slip_score": 0.8055353241077932}, "robot_motion_metrics": {"joint_velocity_rms": 0.38275927142147936, "joint_acceleration_rms": 16.855159735404566, "joint_jerk_rms": 1716.7400676879424, "joint_effort_rms": 26.823633691763423}, "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": 4, "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}, "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}, "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": 4, "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": -0.006288422271609306, "hard_excess_rad": 0.006288422271609306, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.981749951839447, "operating_lower": 0.0, "operating_upper": 0.981749951839447, "expanded_target": 0.02424665354192257, "shielded_target": 0.02424665354192257}, {"joint": "right_hand_Ring_Finger", "role": "finger", "qpos": -0.006313401740044355, "hard_excess_rad": 0.006313401740044355, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.981749951839447, "operating_lower": 0.0, "operating_upper": 0.981749951839447, "expanded_target": 0.02109547331929207, "shielded_target": 0.02109547331929207}, {"joint": "right_hand_j13", "role": "finger_mimic", "qpos": -0.006974471267312765, "hard_excess_rad": 0.006974471267312765, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3339998722076416, "operating_lower": 0.0, "operating_upper": 1.3339998722076416, "expanded_target": 0.032946351915597916, "shielded_target": 0.032946351915597916, "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, -0.022073933854699135, -1.5684394836425781, 1.5926388502120972, -0.00876058079302311, 0.00359529722481966, -1.5739829540252686, -0.0018922792514786124, 0.006865236442536116, 0.005947067867964506, 0.04791084676980972, 0.0, 0.0397762730717659, 0.0, 0.003231949172914028, 0.02424665354192257, 0.02109547331929207, 0.0049708569422364235, -0.02468741126358509, 0.01909181848168373, 0.0, 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, -0.022073933854699135, -1.5684394836425781, 1.5926388502120972, -0.00876058079302311, 0.00359529722481966, -1.5739829540252686, -0.0018922792514786124, 0.006865236442536116, 0.0, 0.006865236442536116, 0.005947067867964506, 0.04791084676980972, 0.0, 0.0, 0.0397762730717659, 0.0, 0.0, 0.0, 0.0060369279235601425, 0.003231949172914028, 0.02424665354192257, 0.02109547331929207, 0.0049708569422364235, -0.02468741126358509, 0.01909181848168373, 0.0, 0.0, 0.016214095056056976, 0.008616646751761436, 0.003377386834472418, 0.032946351915597916, 0.02866452932357788, 0.005196533631533384, -0.025060437619686127, 0.029212571680545807, 0.030317004770040512, 0.022138306871056557, 0.036468133330345154, 0.034504685550928116, 0.02997519075870514, -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, -0.022073933854699135, -1.5684394836425781, 1.5926388502120972, -0.00876058079302311, 0.00359529722481966, -1.5739829540252686, -0.0018922792514786124, 0.006865236442536116, 0.0, 0.006865236442536116, 0.005947067867964506, 0.04791084676980972, 0.0, 0.0, 0.0397762730717659, 0.0, 0.0, 0.0, 0.0060369279235601425, 0.003231949172914028, 0.02424665354192257, 0.02109547331929207, 0.0049708569422364235, -0.02468741126358509, 0.01909181848168373, 0.0, 0.0, 0.016214095056056976, 0.008616646751761436, 0.003377386834472418, 0.032946351915597916, 0.02866452932357788, 0.005196533631533384, -0.025060437619686127, 0.029212571680545807, 0.030317004770040512, 0.022138306871056557, 0.036468133330345154, 0.034504685550928116, 0.02997519075870514, -0.03576934337615967, 0.030527137219905853, 0.041194744408130646, 0.030081531032919884, 0.03812378644943237, 0.043143220245838165, 0.03145698457956314]}, "joint_limit_active_steps": 899, "joint_limit_hard_episode_events": 19, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 206, "max_joint_limit_excess_rad": 0.747669517993927, "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": 899, "joint_limit_active_step_rate": 0.3273852876911872, "finger_joint_limit_saturation_steps": 206, "finger_joint_limit_saturation_step_rate": 0.07501820830298617, "max_joint_limit_excess_rad": 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_1x_icl/source_runs/task_44_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_44_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..479d1ca408fceaa89097fd086d90cc5d4c6b5964 --- /dev/null +++ b/gpt6_astra_1x_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, 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"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, + 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0.03812378644943237, 0.043143220245838165, 0.03145698457956314]}, "joint_limit_active_steps": 409, "joint_limit_hard_episode_events": 24, "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": 409, "joint_limit_active_step_rate": 0.1284951303801445, "finger_joint_limit_saturation_steps": 232, "finger_joint_limit_saturation_step_rate": 0.07288721332076657, "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": false, "loaded_bowl_in_mw": false, "close_door": false}, "current_stage_completion": {"open_door": true, "baguette_in_bowl": false, "loaded_bowl_in_mw": false, "close_door": false}, "stage_first_completion_step": {"open_door": 266, "baguette_in_bowl": null, "loaded_bowl_in_mw": null, "close_door": null}, "violation_counts": {"drop_to_table_obj_163_baguette_1": 1}, "policy_query_count": 33, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3183, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_44_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_44_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ccc1f648d6510cf3c558479ca9d6b53582d1123c --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_44_episode_06/summary.json @@ -0,0 +1,253 @@ +{ + "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": 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": 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": 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": 0.00031416902293433867 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "articulation_door_place": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.25, + "current_chain_depth_progress_score": 0.25, + "latched_chain_depth_progress_score": 0.25, + "avg_current_chain_depth": 1, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 35.36666666666667, + "expert_time_step": 2122, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00031416902293433867, + "violation_counts": { + "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": 0.1284951303801445, + "finger_joint_limit_saturation_step_rate": 0.07288721332076657, + "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": 105, + "left_hand_Middle_Finger_Distal": 5, + "left_hand_Middle_Finger_Proximal": 122, + "left_hand_Pinky": 24, + "left_hand_Ring_Finger": 105, + "left_hand_Thumb_Flexion": 96, + "left_hand_j13": 5, + "left_hand_j3": 110, + "left_hand_j5": 30, + "right_hand_Index_Finger_Proximal": 1, + "right_hand_Middle_Finger_Proximal": 1, + "right_hand_Thumb_Flexion": 12, + "right_hand_j3": 31 + }, + "joint_limit_hard_counts": { + "left_hand_Finger_Spread": 6, + "left_hand_Index_Finger_Distal": 1, + "left_hand_Index_Finger_Proximal": 2, + "left_hand_Middle_Finger_Distal": 1, + "left_hand_Middle_Finger_Proximal": 5, + "left_hand_Pinky": 1, + "left_hand_Ring_Finger": 3, + "left_hand_Thumb_Flexion": 4, + "left_hand_index_spread": 1, + "left_hand_j13": 1, + "left_hand_j3": 1, + "left_hand_j5": 16, + "left_hand_ring_spread": 7, + "right_hand_Index_Finger_Proximal": 2, + "right_hand_Middle_Finger_Distal": 1, + "right_hand_Middle_Finger_Proximal": 5, + "right_hand_Pinky": 1, + "right_hand_Ring_Finger": 2, + "right_hand_Thumb_Flexion": 5, + "right_hand_j13": 1, + "right_hand_j3": 6 + }, + "joint_limit_hard_episode_events": 24, + "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_j13": 0.04706740379333496, + "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": 1.0476589977770345e-06, + "right_hand_j5": 0.0009411167120561004, + "right_hand_ring_spread": 0.0012932430254295468 + }, + "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": 15.840536525659783, + "joint_effort_rms": 28.82043323963611, + "joint_jerk_rms": 1555.1128189516764, + "joint_velocity_rms": 0.3916766395910812 + }, + "grasp": { + "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_anti_slip_score": 0.49638705623625484, + "mean_duration_score": 0.6010995915802702, + "mean_hold_score": 0.24332390826264716, + "mean_kinematic_stability_score": 0.08085912473883841, + "mean_legacy_gsi": 0.3592233871616834, + "mean_lift_score": 0.294062205466541, + "mean_motion_stability_score": 0.220651651833357 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3183, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_44_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_44_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d12d35e16def7b88c638dd7e54ae070db22c2361 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_44_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/44_microwave_bowl_loading.yaml", "episode_index": 7, "seed": 204400006, "success": false, "steps": 3183, "metric_schema_version": 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"resolved_object_placements": {"obj_163_baguette_1": {"position": [-0.5193126684781578, 0.08097363047739274, 0.735509435384308], "rpy_deg": [90.0, 90.0, 98.44480575661257]}, "obj_104_microwave_2": {"position": [0.0, 0.42, 0.8370075888176817], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_024_bowl_3": {"position": [0.48941224934550465, 0.29468233838206703, 0.709581635613001], "rpy_deg": [0.0, 0.0, 9.3170923473259]}, "obj_151_milk_box_4": {"position": [-0.5123514057545575, 0.25945924915486535, 0.7382160452369201], "rpy_deg": [0.0, 0.0, 9.773816962618302]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "articulation_door_place", "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": false, "first_success_step": null, "stable_success_step": null, "first_stable_success_step": null, 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"mean_kinematic_stability_score": 0.04908589487754917, "mean_lift_score": 0.20059692114357525, "mean_hold_score": 0.11555922086082199, "mean_motion_stability_score": 0.10512278422310728, "mean_duration_score": 0.4358309770656605, "mean_anti_slip_score": 0.8587286626871927}, "robot_motion_metrics": {"joint_velocity_rms": 0.41295993476128157, "joint_acceleration_rms": 16.607778544400663, "joint_jerk_rms": 1634.7096116909051, "joint_effort_rms": 28.663521824886477}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0006283380458686978, "safety_violation_rate_time": 0.0006283380458686978, "safety_violation_rate_event": 0.0006283380458686773, "safety_violation_step_rate": 0.0006283380458686773, "safety_violation_events_per_step": 0.0006283380458686773, "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_hand_Index_Finger_Proximal": 35, "left_hand_Middle_Finger_Proximal": 68, "left_hand_Ring_Finger": 50, "left_hand_Thumb_Flexion": 52, "left_hand_j5": 199, "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": 33}, "joint_limit_hard_counts": {"left_hand_Finger_Spread": 7, "left_hand_Index_Finger_Proximal": 2, "left_hand_Middle_Finger_Proximal": 3, "left_hand_Ring_Finger": 2, "left_hand_Thumb_Flexion": 9, "left_hand_j5": 4, "left_hand_ring_spread": 5, "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": 3, "right_hand_j12": 1, "right_hand_j13": 1, "right_hand_j3": 5}, "finger_joint_limit_saturation_counts": {"left_hand_Middle_Finger_Proximal": 25, "left_hand_Ring_Finger": 26, "left_hand_j5": 160, "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": 0.29308152198791504, "left_hand_Ring_Finger": 0.3068400025367737, "left_hand_Thumb_Flexion": 0.07965917140245438, "left_hand_Thumb_Opposition": 0.0003831949143204838, "left_hand_index_spread": 0.002485969103872776, "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": 1.4144772159108143e-11, "left_hand_j4": 1.0819940863410205e-12, "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_j5": 0.0014980703126639128, "right_hand_ring_spread": 0.0005612110835500062}, "joint_limit_baseline_checks": [{"phase": "post_reset", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}, {"phase": "post_home", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}], "first_joint_limit_hard_event": {"sim_step": 3, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_hand_Pinky", "role": "finger", "qpos": -0.0067388820461928844, "hard_excess_rad": 0.0067388820461928844, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.981749951839447, "operating_lower": 0.0, "operating_upper": 0.981749951839447, "expanded_target": 0.045029498636722565, "shielded_target": 0.045029498636722565}, {"joint": "right_hand_Ring_Finger", "role": "finger", "qpos": -0.005804895889014006, "hard_excess_rad": 0.005804895889014006, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.981749951839447, "operating_lower": 0.0, "operating_upper": 0.981749951839447, "expanded_target": 0.039177305996418, "shielded_target": 0.039177305996418}], "command_context_available": true, "active_joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "L_arm_shoulder_pan_joint", "elbow_joint", "L_arm_shoulder_lift_joint", "wrist_1_joint", "L_arm_elbow_joint", "wrist_2_joint", "L_arm_wrist_1_joint", "wrist_3_joint", "L_arm_wrist_2_joint", "L_arm_wrist_3_joint", "right_hand_Thumb_Opposition", "right_hand_Thumb_Flexion", "right_hand_Index_Finger_Proximal", "right_hand_Finger_Spread", "right_hand_Middle_Finger_Proximal", "left_hand_Thumb_Opposition", "right_hand_Index_Finger_Distal", "right_hand_Pinky", "right_hand_Ring_Finger", "right_hand_Middle_Finger_Distal", "left_hand_Thumb_Flexion", "left_hand_Index_Finger_Proximal", "left_hand_Finger_Spread", "left_hand_Middle_Finger_Proximal", "left_hand_Index_Finger_Distal", "left_hand_Pinky", "left_hand_Ring_Finger", "left_hand_Middle_Finger_Distal"], "raw_active_action": [1.602288007736206, -1.5966390371322632, -1.6175545454025269, 1.634803295135498, 1.5815914869308472, -0.040994446724653244, -1.5671019554138184, 1.6120434999465942, -0.01626965031027794, 0.006676980294287205, -1.5773969888687134, -0.003514232812449336, 0.01274972502142191, 0.01104455441236496, 0.08897728472948074, 0.0, 0.0738702267408371, 0.0, 0.006002191454172134, 0.045029498636722565, 0.039177305996418, 0.00923159159719944, -0.045848049223423004, 0.035456232726573944, 0.0, 0.0301118902862072, 0.05425191670656204, 0.056303005665540695, 0.041113998740911484, 0.06772653013467789], "full_joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "L_arm_shoulder_pan_joint", "elbow_joint", "L_arm_shoulder_lift_joint", "wrist_1_joint", "L_arm_elbow_joint", "wrist_2_joint", "L_arm_wrist_1_joint", "wrist_3_joint", "L_arm_wrist_2_joint", "L_arm_wrist_3_joint", "right_hand_Thumb_Opposition", "right_hand_index_spread", "right_hand_j5", "right_hand_Thumb_Flexion", "right_hand_Index_Finger_Proximal", "right_hand_Finger_Spread", "right_hand_ring_spread", "right_hand_Middle_Finger_Proximal", "left_hand_Thumb_Opposition", "left_hand_index_spread", "left_hand_j5", "right_hand_j3", "right_hand_Index_Finger_Distal", "right_hand_Pinky", "right_hand_Ring_Finger", "right_hand_Middle_Finger_Distal", "left_hand_Thumb_Flexion", "left_hand_Index_Finger_Proximal", "left_hand_Finger_Spread", "left_hand_ring_spread", "left_hand_Middle_Finger_Proximal", "right_hand_j4", "right_hand_j14", "right_hand_j13", "right_hand_j12", "right_hand_j15", "left_hand_j3", "left_hand_Index_Finger_Distal", "left_hand_Pinky", "left_hand_Ring_Finger", "left_hand_Middle_Finger_Distal", "right_hand_j17", "right_hand_j16", "left_hand_j4", "left_hand_j14", "left_hand_j13", "left_hand_j12", "left_hand_j15", "left_hand_j17", "left_hand_j16"], "expanded_full_target": [1.602288007736206, -1.5966390371322632, -1.6175545454025269, 1.634803295135498, 1.5815914869308472, -0.040994446724653244, -1.5671019554138184, 1.6120434999465942, -0.01626965031027794, 0.006676980294287205, -1.5773969888687134, -0.003514232812449336, 0.01274972502142191, 0.0, 0.01274972502142191, 0.01104455441236496, 0.08897728472948074, 0.0, 0.0, 0.0738702267408371, 0.0, 0.0, 0.0, 0.011211437173187733, 0.006002191454172134, 0.045029498636722565, 0.039177305996418, 0.00923159159719944, -0.045848049223423004, 0.035456232726573944, 0.0, 0.0, 0.0301118902862072, 0.016002343967556953, 0.006272289901971817, 0.061186082661151886, 0.053234122693538666, 0.009650706313550472, -0.04654081165790558, 0.05425191670656204, 0.056303005665540695, 0.041113998740911484, 0.06772653013467789, 0.0640801265835762, 0.05566820874810219, -0.0664287805557251, 0.05669325217604637, 0.07650452107191086, 0.05586570128798485, 0.07080131769180298, 0.08012311905622482, 0.05842011421918869], "shielded_full_target": [1.602288007736206, -1.5966390371322632, -1.6175545454025269, 1.634803295135498, 1.5815914869308472, -0.040994446724653244, -1.5671019554138184, 1.6120434999465942, -0.01626965031027794, 0.006676980294287205, -1.5773969888687134, -0.003514232812449336, 0.01274972502142191, 0.0, 0.01274972502142191, 0.01104455441236496, 0.08897728472948074, 0.0, 0.0, 0.0738702267408371, 0.0, 0.0, 0.0, 0.011211437173187733, 0.006002191454172134, 0.045029498636722565, 0.039177305996418, 0.00923159159719944, -0.045848049223423004, 0.035456232726573944, 0.0, 0.0, 0.0301118902862072, 0.016002343967556953, 0.006272289901971817, 0.061186082661151886, 0.053234122693538666, 0.009650706313550472, -0.04654081165790558, 0.05425191670656204, 0.056303005665540695, 0.041113998740911484, 0.06772653013467789, 0.0640801265835762, 0.05566820874810219, -0.0664287805557251, 0.05669325217604637, 0.07650452107191086, 0.05586570128798485, 0.07080131769180298, 0.08012311905622482, 0.05842011421918869]}, "joint_limit_active_steps": 363, "joint_limit_hard_episode_events": 30, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 221, "max_joint_limit_excess_rad": 0.5611324310302734, "max_joint_limit_excess_joint": "right_hand_Middle_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": 363, "joint_limit_active_step_rate": 0.11404335532516494, "finger_joint_limit_saturation_steps": 221, "finger_joint_limit_saturation_step_rate": 0.06943135406848884, "max_joint_limit_excess_rad": 0.5611324310302734, "max_joint_limit_excess_joint": "right_hand_Middle_Finger_Proximal", "stage_completion": {"open_door": true, "baguette_in_bowl": true, "loaded_bowl_in_mw": false, "close_door": false}, "current_stage_completion": {"open_door": true, "baguette_in_bowl": false, "loaded_bowl_in_mw": false, "close_door": false}, "stage_first_completion_step": {"open_door": 292, "baguette_in_bowl": 2399, "loaded_bowl_in_mw": null, "close_door": null}, "violation_counts": {"drop_to_table_obj_163_baguette_1": 1, "drop_to_table_obj_024_bowl_3": 1}, "policy_query_count": 28, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3183, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_44_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_44_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0b46152751fc833910575a5ac61554b5141340f1 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_44_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": 204400000, + "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": 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": 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": 0.0, + "safety_violation_step_rate": 0.0006283380458686773 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "articulation_door_place": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.25, + "current_chain_depth_progress_score": 0.25, + "latched_chain_depth_progress_score": 0.5, + "avg_current_chain_depth": 1, + "avg_latched_chain_depth": 2 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 35.36666666666667, + "expert_time_step": 2122, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0006283380458686773, + "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": 0.11404335532516494, + "finger_joint_limit_saturation_step_rate": 0.06943135406848884, + "max_joint_limit_excess_rad": 0.5611324310302734, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Index_Finger_Proximal": 35, + "left_hand_Middle_Finger_Proximal": 68, + "left_hand_Ring_Finger": 50, + "left_hand_Thumb_Flexion": 52, + "left_hand_j5": 199, + "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": 33 + }, + "joint_limit_hard_counts": { + "left_hand_Finger_Spread": 7, + "left_hand_Index_Finger_Proximal": 2, + "left_hand_Middle_Finger_Proximal": 3, + "left_hand_Ring_Finger": 2, + "left_hand_Thumb_Flexion": 9, + "left_hand_j5": 4, + "left_hand_ring_spread": 5, + "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": 3, + "right_hand_j12": 1, + "right_hand_j13": 1, + "right_hand_j3": 5 + }, + "joint_limit_hard_episode_events": 30, + "finger_joint_limit_saturation_counts": { + "left_hand_Middle_Finger_Proximal": 25, + "left_hand_Ring_Finger": 26, + "left_hand_j5": 160, + "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": 0.29308152198791504, + "left_hand_Ring_Finger": 0.3068400025367737, + "left_hand_Thumb_Flexion": 0.07965917140245438, + "left_hand_Thumb_Opposition": 0.0003831949143204838, + "left_hand_index_spread": 0.002485969103872776, + "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": 1.4144772159108143e-11, + "left_hand_j4": 1.0819940863410205e-12, + "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_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": 16.607778544400663, + "joint_effort_rms": 28.663521824886477, + "joint_jerk_rms": 1634.7096116909051, + "joint_velocity_rms": 0.41295993476128157 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9937468705791239, + "mean_kinematic_grasp_stability": 0.4138818632986464, + "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": 0.8587286626871927, + "mean_duration_score": 0.4358309770656605, + "mean_hold_score": 0.11555922086082199, + "mean_kinematic_stability_score": 0.04908589487754917, + "mean_legacy_gsi": 0.3301025260923025, + "mean_lift_score": 0.20059692114357525, + "mean_motion_stability_score": 0.10512278422310728 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3183, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_44_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_44_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..062e6871201cacc1a4fbc77200e86e3b174ac74e --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_44_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/44_microwave_bowl_loading.yaml", "episode_index": 8, "seed": 204400007, "success": false, "steps": 3183, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204400007, "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": 180.0, 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"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": 0.25, "latched_chain_depth_progress_score": 0.25, "latched_chain_depth": 1, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9887486687119306, "mean_kinematic_grasp_stability": 0.5196304532884595, "per_object_best_kinematic_grasp_stability": {"obj_024_bowl_3": 0.9887486687119306, "obj_163_baguette_1": 0.5850146508862285}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.24859864024637918, "mean_kinematic_stability_score": 0.04097619974093727, "mean_lift_score": 0.13792020106817468, "mean_hold_score": 0.07932767829092056, "mean_motion_stability_score": 0.07891308915964662, "mean_duration_score": 0.2431406429992691, "mean_anti_slip_score": 0.7407058330715259}, "robot_motion_metrics": {"joint_velocity_rms": 0.4616259079354022, "joint_acceleration_rms": 19.73898565115452, "joint_jerk_rms": 1947.5866311166244, "joint_effort_rms": 39.39624127203162}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0015708451146717445, "safety_violation_rate_time": 0.0015708451146717445, "safety_violation_rate_event": 0.0006283380458686773, "safety_violation_step_rate": 0.0015708451146716933, "safety_violation_events_per_step": 0.0006283380458686773, "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_hand_Finger_Spread": 8, "left_hand_Index_Finger_Distal": 51, "left_hand_Index_Finger_Proximal": 201, "left_hand_Middle_Finger_Distal": 136, "left_hand_Middle_Finger_Proximal": 318, "left_hand_Pinky": 25, "left_hand_Ring_Finger": 309, "left_hand_Thumb_Flexion": 98, "left_hand_j12": 65, "left_hand_j13": 127, "left_hand_j3": 42, "left_hand_j5": 42, "left_hand_ring_spread": 6, "right_hand_Index_Finger_Proximal": 6, "right_hand_Middle_Finger_Proximal": 4, "right_hand_Thumb_Flexion": 10, "right_hand_j3": 12}, "joint_limit_hard_counts": {"left_hand_Finger_Spread": 7, "left_hand_Index_Finger_Distal": 1, "left_hand_Index_Finger_Proximal": 5, "left_hand_Middle_Finger_Distal": 3, "left_hand_Middle_Finger_Proximal": 6, "left_hand_Pinky": 3, "left_hand_Ring_Finger": 4, "left_hand_Thumb_Flexion": 4, "left_hand_j12": 2, "left_hand_j13": 3, "left_hand_j3": 2, "left_hand_j5": 10, "left_hand_ring_spread": 15, "right_hand_Index_Finger_Distal": 2, "right_hand_Index_Finger_Proximal": 2, "right_hand_Middle_Finger_Distal": 2, "right_hand_Middle_Finger_Proximal": 2, "right_hand_Thumb_Flexion": 4, "right_hand_j3": 6}, "finger_joint_limit_saturation_counts": {"left_hand_Index_Finger_Distal": 48, "left_hand_Index_Finger_Proximal": 98, "left_hand_Middle_Finger_Distal": 81, "left_hand_Middle_Finger_Proximal": 227, "left_hand_Ring_Finger": 213, "left_hand_j12": 14, "left_hand_j13": 86, "left_hand_j3": 7, "left_hand_j5": 13}, "joint_limit_max_excess_by_joint": {"left_hand_Finger_Spread": 0.037375323474407196, "left_hand_Index_Finger_Distal": 0.8622639179229736, "left_hand_Index_Finger_Proximal": 0.594933271408081, "left_hand_Middle_Finger_Distal": 0.39120006561279297, "left_hand_Middle_Finger_Proximal": 0.4184981882572174, "left_hand_Pinky": 0.0766465961933136, "left_hand_Ring_Finger": 0.5145901441574097, "left_hand_Thumb_Flexion": 0.08007851243019104, "left_hand_Thumb_Opposition": 0.00012773457274306566, "left_hand_index_spread": 0.00424740556627512, "left_hand_j12": 0.1434175968170166, "left_hand_j13": 0.7270541191101074, "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": 0.3064274191856384, "left_hand_j4": 1.0819940863410205e-12, "left_hand_j5": 0.43174028396606445, "left_hand_ring_spread": 0.03434372320771217, "right_hand_Finger_Spread": 0.0010971133597195148, "right_hand_Index_Finger_Distal": 0.006263097282499075, "right_hand_Index_Finger_Proximal": 0.050545454025268555, "right_hand_Middle_Finger_Distal": 0.006413675844669342, "right_hand_Middle_Finger_Proximal": 0.020893394947052002, "right_hand_Pinky": 5.096727928588507e-09, "right_hand_Ring_Finger": 9.460351613199691e-09, "right_hand_Thumb_Flexion": 0.14791564643383026, "right_hand_index_spread": 0.0002042924170382321, "right_hand_j12": 5.490349508363579e-09, "right_hand_j13": 0.0017163327429443598, "right_hand_j14": 0.0006318214000202715, "right_hand_j15": 0.003942220006138086, "right_hand_j16": 8.439960536010815e-11, "right_hand_j17": 3.214399579842819e-11, "right_hand_j3": 0.22473733127117157, "right_hand_j4": 1.0970492212436511e-06, "right_hand_j5": 8.049571564860969e-10, "right_hand_ring_spread": 0.0007083143573254347}, "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": 18, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_hand_Thumb_Flexion", "role": "finger", "qpos": -0.020409058779478073, "hard_excess_rad": 0.020409058779478073, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.9703999161720276, "operating_lower": 0.0, "operating_upper": 0.9703999161720276, "expanded_target": 0.07663478702306747, "shielded_target": 0.07663478702306747}, {"joint": "right_hand_j3", "role": "finger_mimic", "qpos": -0.030097661539912224, "hard_excess_rad": 0.030097661539912224, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.985059916973114, "operating_lower": 0.0, "operating_upper": 0.985059916973114, "expanded_target": 0.07779274135828018, "shielded_target": 0.07779274135828018, "mimic_source_joint": "right_hand_Thumb_Flexion"}], "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": [1.797521710395813, -1.7483139038085938, -1.9051462411880493, 2.0197548866271973, 1.6336308717727661, -0.28677311539649963, -1.5347058773040771, 1.8759390115737915, -0.1221468448638916, 0.036517612636089325, -1.6036262512207031, -0.026240771636366844, 0.10229093581438065, 0.07663478702306747, 0.5857942700386047, 0.0, 0.5098892450332642, 0.0, 0.021237600594758987, 0.3091363310813904, 0.26854372024536133, 0.04690846800804138, -0.2878689169883728, 0.23756787180900574, 0.0, 0.20265334844589233, 0.39166855812072754, 0.39026331901550293, 0.28725704550743103, 0.48308101296424866], "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": [1.797521710395813, -1.7483139038085938, -1.9051462411880493, 2.0197548866271973, 1.6336308717727661, -0.28677311539649963, -1.5347058773040771, 1.8759390115737915, -0.1221468448638916, 0.036517612636089325, -1.6036262512207031, -0.026240771636366844, 0.10229093581438065, 0.0, 0.10229093581438065, 0.07663478702306747, 0.5857942700386047, 0.0, 0.0, 0.5098892450332642, 0.0, 0.0, 0.0, 0.07779274135828018, 0.021237600594758987, 0.3091363310813904, 0.26854372024536133, 0.04690846800804138, -0.2878689169883728, 0.23756787180900574, 0.0, 0.0, 0.20265334844589233, 0.11103537678718567, 0.022193292155861855, 0.42005443572998047, 0.364897221326828, 0.0490381121635437, -0.2922186255455017, 0.39166855812072754, 0.39026331901550293, 0.28725704550743103, 0.48308101296424866, 0.43992263078689575, 0.3815818428993225, -0.41709038615226746, 0.40929365158081055, 0.5302897691726685, 0.3903248608112335, 0.5050128698348999, 0.5553719997406006, 0.4081721603870392], "shielded_full_target": [1.797521710395813, -1.7483139038085938, -1.9051462411880493, 2.0197548866271973, 1.6336308717727661, -0.28677311539649963, -1.5347058773040771, 1.8759390115737915, -0.1221468448638916, 0.036517612636089325, -1.6036262512207031, -0.026240771636366844, 0.10229093581438065, 0.0, 0.10229093581438065, 0.07663478702306747, 0.5857942700386047, 0.0, 0.0, 0.5098892450332642, 0.0, 0.0, 0.0, 0.07779274135828018, 0.021237600594758987, 0.3091363310813904, 0.26854372024536133, 0.04690846800804138, -0.2878689169883728, 0.23756787180900574, 0.0, 0.0, 0.20265334844589233, 0.11103537678718567, 0.022193292155861855, 0.42005443572998047, 0.364897221326828, 0.0490381121635437, -0.2922186255455017, 0.39166855812072754, 0.39026331901550293, 0.28725704550743103, 0.48308101296424866, 0.43992263078689575, 0.3815818428993225, -0.41709038615226746, 0.40929365158081055, 0.5302897691726685, 0.3903248608112335, 0.5050128698348999, 0.5553719997406006, 0.4081721603870392]}, "joint_limit_active_steps": 580, "joint_limit_hard_episode_events": 28, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 324, "max_joint_limit_excess_rad": 0.8622639179229736, "max_joint_limit_excess_joint": "left_hand_Index_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": 580, "joint_limit_active_step_rate": 0.18221803330191644, "finger_joint_limit_saturation_steps": 324, "finger_joint_limit_saturation_step_rate": 0.10179076343072573, "max_joint_limit_excess_rad": 0.8622639179229736, "max_joint_limit_excess_joint": "left_hand_Index_Finger_Distal", "stage_completion": {"open_door": true, "baguette_in_bowl": false, "loaded_bowl_in_mw": false, "close_door": false}, "current_stage_completion": {"open_door": false, "baguette_in_bowl": false, "loaded_bowl_in_mw": false, "close_door": false}, "stage_first_completion_step": {"open_door": 220, "baguette_in_bowl": null, "loaded_bowl_in_mw": null, "close_door": null}, "violation_counts": {"drop_to_table_obj_163_baguette_1": 1, "high_speed_obj_163_baguette_1": 1}, "policy_query_count": 27, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3183, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_44_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_44_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..2e97fe4094d6982bce283537bffc9c767ff0f770 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_44_episode_08/summary.json @@ -0,0 +1,264 @@ +{ + "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": 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": 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": 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": 0.0015708451146716933 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "articulation_door_place": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 0.25, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 35.36666666666667, + "expert_time_step": 2122, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0006283380458686773, + "violation_counts": { + "drop_to_table_obj_163_baguette_1": 1, + "high_speed_obj_163_baguette_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.18221803330191644, + "finger_joint_limit_saturation_step_rate": 0.10179076343072573, + "max_joint_limit_excess_rad": 0.8622639179229736, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Finger_Spread": 8, + "left_hand_Index_Finger_Distal": 51, + "left_hand_Index_Finger_Proximal": 201, + "left_hand_Middle_Finger_Distal": 136, + "left_hand_Middle_Finger_Proximal": 318, + "left_hand_Pinky": 25, + "left_hand_Ring_Finger": 309, + "left_hand_Thumb_Flexion": 98, + "left_hand_j12": 65, + "left_hand_j13": 127, + "left_hand_j3": 42, + "left_hand_j5": 42, + "left_hand_ring_spread": 6, + "right_hand_Index_Finger_Proximal": 6, + "right_hand_Middle_Finger_Proximal": 4, + "right_hand_Thumb_Flexion": 10, + "right_hand_j3": 12 + }, + "joint_limit_hard_counts": { + "left_hand_Finger_Spread": 7, + "left_hand_Index_Finger_Distal": 1, + "left_hand_Index_Finger_Proximal": 5, + "left_hand_Middle_Finger_Distal": 3, + "left_hand_Middle_Finger_Proximal": 6, + "left_hand_Pinky": 3, + "left_hand_Ring_Finger": 4, + "left_hand_Thumb_Flexion": 4, + "left_hand_j12": 2, + "left_hand_j13": 3, + "left_hand_j3": 2, + "left_hand_j5": 10, + "left_hand_ring_spread": 15, + "right_hand_Index_Finger_Distal": 2, + "right_hand_Index_Finger_Proximal": 2, + "right_hand_Middle_Finger_Distal": 2, + "right_hand_Middle_Finger_Proximal": 2, + "right_hand_Thumb_Flexion": 4, + "right_hand_j3": 6 + }, + "joint_limit_hard_episode_events": 28, + "finger_joint_limit_saturation_counts": { + "left_hand_Index_Finger_Distal": 48, + "left_hand_Index_Finger_Proximal": 98, + "left_hand_Middle_Finger_Distal": 81, + "left_hand_Middle_Finger_Proximal": 227, + "left_hand_Ring_Finger": 213, + "left_hand_j12": 14, + "left_hand_j13": 86, + "left_hand_j3": 7, + "left_hand_j5": 13 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.037375323474407196, + "left_hand_Index_Finger_Distal": 0.8622639179229736, + "left_hand_Index_Finger_Proximal": 0.594933271408081, + "left_hand_Middle_Finger_Distal": 0.39120006561279297, + "left_hand_Middle_Finger_Proximal": 0.4184981882572174, + "left_hand_Pinky": 0.0766465961933136, + "left_hand_Ring_Finger": 0.5145901441574097, + "left_hand_Thumb_Flexion": 0.08007851243019104, + "left_hand_Thumb_Opposition": 0.00012773457274306566, + "left_hand_index_spread": 0.00424740556627512, + "left_hand_j12": 0.1434175968170166, + "left_hand_j13": 0.7270541191101074, + "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": 0.3064274191856384, + "left_hand_j4": 1.0819940863410205e-12, + "left_hand_j5": 0.43174028396606445, + "left_hand_ring_spread": 0.03434372320771217, + "right_hand_Finger_Spread": 0.0010971133597195148, + "right_hand_Index_Finger_Distal": 0.006263097282499075, + "right_hand_Index_Finger_Proximal": 0.050545454025268555, + "right_hand_Middle_Finger_Distal": 0.006413675844669342, + "right_hand_Middle_Finger_Proximal": 0.020893394947052002, + "right_hand_Pinky": 5.096727928588507e-09, + "right_hand_Ring_Finger": 9.460351613199691e-09, + "right_hand_Thumb_Flexion": 0.14791564643383026, + "right_hand_index_spread": 0.0002042924170382321, + "right_hand_j12": 5.490349508363579e-09, + "right_hand_j13": 0.0017163327429443598, + "right_hand_j14": 0.0006318214000202715, + "right_hand_j15": 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"joint_limit_hard_episode_events": 13, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 67, "max_joint_limit_excess_rad": 0.4760913848876953, "max_joint_limit_excess_joint": "left_hand_j5", "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": 296, "joint_limit_active_step_rate": 0.10616929698708752, "finger_joint_limit_saturation_steps": 67, "finger_joint_limit_saturation_step_rate": 0.024031563845050216, "max_joint_limit_excess_rad": 0.4760913848876953, "max_joint_limit_excess_joint": "left_hand_j5", "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": 273, "baguette_in_bowl": 1651, "loaded_bowl_in_mw": 2236, "close_door": 2758}, "violation_counts": {}, "policy_query_count": 28, "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_1x_icl/source_runs/task_44_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_44_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..332a1f79b365e0ba9ef045af2f8fea35591ae6a3 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_44_episode_09/summary.json @@ -0,0 +1,229 @@ +{ + "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": 46.46666666666531 + }, + "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": 0.7611190817790753, + "expert_time_s": 35.36666666666667, + "expert_time_step": 2122, + "avg_steps_to_success": 2788, + "avg_policy_steps_to_success": 930, + "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": 0.10616929698708752, + "finger_joint_limit_saturation_step_rate": 0.024031563845050216, + "max_joint_limit_excess_rad": 0.4760913848876953, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Finger_Spread": 1, + "left_hand_Middle_Finger_Proximal": 5, + "left_hand_Pinky": 37, + "left_hand_Ring_Finger": 110, + "left_hand_Thumb_Flexion": 125, + "left_hand_Thumb_Opposition": 1, + "left_hand_j5": 28, + "right_hand_Thumb_Flexion": 2, + "right_hand_j3": 6 + }, + "joint_limit_hard_counts": { + "left_hand_Finger_Spread": 3, + "left_hand_Middle_Finger_Proximal": 1, + "left_hand_Pinky": 1, + "left_hand_Ring_Finger": 2, + "left_hand_Thumb_Flexion": 2, + "left_hand_Thumb_Opposition": 2, + "left_hand_j5": 2, + "left_hand_ring_spread": 2, + "right_hand_Middle_Finger_Proximal": 1, + "right_hand_Pinky": 1, + "right_hand_Ring_Finger": 2, + "right_hand_Thumb_Flexion": 4, + "right_hand_j13": 1, + "right_hand_j3": 5 + }, + "joint_limit_hard_episode_events": 13, + "finger_joint_limit_saturation_counts": { + "left_hand_Pinky": 23, + "left_hand_Ring_Finger": 25, + "left_hand_j5": 20 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.0101128239184618, + "left_hand_Middle_Finger_Proximal": 0.02041892521083355, + "left_hand_Pinky": 0.3301423192024231, + "left_hand_Ring_Finger": 0.27391889691352844, + "left_hand_Thumb_Flexion": 0.03839040547609329, + "left_hand_Thumb_Opposition": 0.010924256406724453, + "left_hand_index_spread": 0.004033616743981838, + "left_hand_j5": 0.4760913848876953, + "left_hand_ring_spread": 0.006625915877521038, + "right_hand_Finger_Spread": 0.0008520419360138476, + "right_hand_Index_Finger_Distal": 0.0034782011061906815, + "right_hand_Index_Finger_Proximal": 0.002985239028930664, + "right_hand_Middle_Finger_Distal": 0.0041752588003873825, + "right_hand_Middle_Finger_Proximal": 0.006345515605062246, + "right_hand_Pinky": 0.005105974152684212, + "right_hand_Ring_Finger": 0.005400842055678368, + "right_hand_Thumb_Flexion": 0.011023958213627338, + "right_hand_index_spread": 5.597878771368414e-05, + "right_hand_j12": 0.003775844117626548, + "right_hand_j13": 0.005666433833539486, + "right_hand_j14": 2.227978802693542e-05, + "right_hand_j15": 1.3477178981702309e-05, + "right_hand_j3": 0.03725426644086838, + "right_hand_j4": 5.08790299136308e-06, + "right_hand_j5": 0.0007646618760190904, + "right_hand_ring_spread": 0.0007479325286112726 + }, + "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": 13.839163323958914, + "joint_effort_rms": 24.100019063874882, + "joint_jerk_rms": 1401.5552367918597, + "joint_velocity_rms": 0.2827438949125577 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9917649240126643, + "mean_kinematic_grasp_stability": 0.8312100571423607, + "per_object_best_kinematic_grasp_stability": { + "obj_024_bowl_3": 0.9917649240126643, + "obj_163_baguette_1": 0.49774153421654954 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7283596365375419, + "mean_duration_score": 0.4138271162123386, + "mean_hold_score": 0.36826578192252546, + "mean_kinematic_stability_score": 0.12417467317065756, + "mean_legacy_gsi": 0.43956176564808397, + "mean_lift_score": 0.42073170731707316, + "mean_motion_stability_score": 0.32293979863948974 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2788, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_44_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_44_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be97e0252a675cb86529920a040a4c44a74158e9 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_44_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/44_microwave_bowl_loading.yaml", "episode_index": 10, "seed": 204400009, "success": true, "steps": 2294, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204400009, "base_seed": 204400000, 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"multi_ur5_schunk_hand_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": 2244, "stable_success_step": 2293, "first_stable_success_step": 2293, "steps_to_stable_success": 2294, "policy_steps_to_stable_success": 765, "policy_queries_to_stable_success": 19, "time_to_stable_success_s": 38.233333333332446, "expert_time_s": 35.36666666666667, "expert_time_step": 2122, "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": 0.75, "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": 0.9250217959895594, "kinematic_grasp_stability_index": 0.8827085951217148, "mean_kinematic_grasp_stability": 0.47941714566120053, "per_object_best_kinematic_grasp_stability": {"obj_024_bowl_3": 0.8827085951217148, "obj_163_baguette_1": 0.3508413945350368}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4340997742224277, "mean_kinematic_stability_score": 0.07241414166155448, "mean_lift_score": 0.3923278116826504, "mean_hold_score": 0.3181887532693982, "mean_motion_stability_score": 0.2932200289173706, "mean_duration_score": 0.6010098808485898, "mean_anti_slip_score": 0.6385498401627115}, "robot_motion_metrics": {"joint_velocity_rms": 0.28984664252802433, "joint_acceleration_rms": 14.339547995911449, "joint_jerk_rms": 1451.2047329745187, "joint_effort_rms": 23.347340989823728}, "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, 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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": 6}, "finger_joint_limit_saturation_counts": {"left_hand_Thumb_Flexion": 20, "left_hand_j3": 123, "right_hand_Thumb_Flexion": 16}, "joint_limit_max_excess_by_joint": {"left_hand_Finger_Spread": 0.007566472981125116, "left_hand_Middle_Finger_Distal": 0.162927508354187, "left_hand_Middle_Finger_Proximal": 0.12850430607795715, "left_hand_Ring_Finger": 0.11002252250909805, "left_hand_Thumb_Flexion": 0.2808196544647217, "left_hand_Thumb_Opposition": 0.0002597713319119066, "left_hand_index_spread": 0.0036559628788381815, "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": 0.268574059009552, "left_hand_j4": 1.0819940863410205e-12, "left_hand_j5": 0.04195421189069748, "left_hand_ring_spread": 0.005281504243612289, "right_hand_Finger_Spread": 0.00027489400235936046, "right_hand_Index_Finger_Distal": 0.004282364156097174, "right_hand_Index_Finger_Proximal": 0.005377650260925293, "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": 0.14935722947120667, "right_hand_index_spread": 6.247704732231796e-05, "right_hand_j12": 0.004645314067602158, "right_hand_j13": 0.006974471267312765, "right_hand_j14": 2.2277785319602117e-05, "right_hand_j15": 1.3478715118253604e-05, "right_hand_j16": 8.439960536010815e-11, "right_hand_j17": 3.214399579842819e-11, "right_hand_j3": 0.008549932390451431, "right_hand_j4": 9.85196834335511e-07, "right_hand_j5": 0.0009411170030944049, "right_hand_ring_spread": 0.001122144516557455}, "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": 4, "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": -0.006288422271609306, "hard_excess_rad": 0.006288422271609306, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.981749951839447, "operating_lower": 0.0, "operating_upper": 0.981749951839447, "expanded_target": 0.02424665354192257, "shielded_target": 0.02424665354192257}, {"joint": "right_hand_Ring_Finger", "role": "finger", "qpos": -0.006313401740044355, "hard_excess_rad": 0.006313401740044355, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.981749951839447, "operating_lower": 0.0, "operating_upper": 0.981749951839447, "expanded_target": 0.02109547331929207, "shielded_target": 0.02109547331929207}, {"joint": "right_hand_j13", "role": "finger_mimic", "qpos": -0.006974471267312765, "hard_excess_rad": 0.006974471267312765, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3339998722076416, "operating_lower": 0.0, "operating_upper": 1.3339998722076416, "expanded_target": 0.032946351915597916, "shielded_target": 0.032946351915597916, "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, -0.022073933854699135, -1.5684394836425781, 1.5926388502120972, -0.00876058079302311, 0.00359529722481966, -1.5739829540252686, -0.0018922792514786124, 0.006865236442536116, 0.005947067867964506, 0.04791084676980972, 0.0, 0.0397762730717659, 0.0, 0.003231949172914028, 0.02424665354192257, 0.02109547331929207, 0.0049708569422364235, -0.02468741126358509, 0.01909181848168373, 0.0, 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, -0.022073933854699135, -1.5684394836425781, 1.5926388502120972, -0.00876058079302311, 0.00359529722481966, -1.5739829540252686, -0.0018922792514786124, 0.006865236442536116, 0.0, 0.006865236442536116, 0.005947067867964506, 0.04791084676980972, 0.0, 0.0, 0.0397762730717659, 0.0, 0.0, 0.0, 0.0060369279235601425, 0.003231949172914028, 0.02424665354192257, 0.02109547331929207, 0.0049708569422364235, -0.02468741126358509, 0.01909181848168373, 0.0, 0.0, 0.016214095056056976, 0.008616646751761436, 0.003377386834472418, 0.032946351915597916, 0.02866452932357788, 0.005196533631533384, -0.025060437619686127, 0.029212571680545807, 0.030317004770040512, 0.022138306871056557, 0.036468133330345154, 0.034504685550928116, 0.02997519075870514, -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, -0.022073933854699135, -1.5684394836425781, 1.5926388502120972, -0.00876058079302311, 0.00359529722481966, -1.5739829540252686, -0.0018922792514786124, 0.006865236442536116, 0.0, 0.006865236442536116, 0.005947067867964506, 0.04791084676980972, 0.0, 0.0, 0.0397762730717659, 0.0, 0.0, 0.0, 0.0060369279235601425, 0.003231949172914028, 0.02424665354192257, 0.02109547331929207, 0.0049708569422364235, -0.02468741126358509, 0.01909181848168373, 0.0, 0.0, 0.016214095056056976, 0.008616646751761436, 0.003377386834472418, 0.032946351915597916, 0.02866452932357788, 0.005196533631533384, -0.025060437619686127, 0.029212571680545807, 0.030317004770040512, 0.022138306871056557, 0.036468133330345154, 0.034504685550928116, 0.02997519075870514, -0.03576934337615967, 0.030527137219905853, 0.041194744408130646, 0.030081531032919884, 0.03812378644943237, 0.043143220245838165, 0.03145698457956314]}, "joint_limit_active_steps": 348, "joint_limit_hard_episode_events": 12, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 159, "max_joint_limit_excess_rad": 0.2808196544647217, "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": 348, "joint_limit_active_step_rate": 0.15170008718395817, "finger_joint_limit_saturation_steps": 159, "finger_joint_limit_saturation_step_rate": 0.06931124673060157, "max_joint_limit_excess_rad": 0.2808196544647217, "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": 227, "baguette_in_bowl": 1364, "loaded_bowl_in_mw": 1962, "close_door": 2244}, "violation_counts": {}, "policy_query_count": 19, "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_1x_icl/source_runs/task_44_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_44_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..42459d4c70077f7ddc14176b60a283c8ed9055fa --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_44_episode_10/summary.json @@ -0,0 +1,237 @@ +{ + "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": 38.233333333332446 + }, + "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": 0.9250217959895594, + "expert_time_s": 35.36666666666667, + "expert_time_step": 2122, + "avg_steps_to_success": 2294, + "avg_policy_steps_to_success": 765, + "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": 0.15170008718395817, + "finger_joint_limit_saturation_step_rate": 0.06931124673060157, + "max_joint_limit_excess_rad": 0.2808196544647217, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Middle_Finger_Distal": 17, + "left_hand_Middle_Finger_Proximal": 61, + "left_hand_Ring_Finger": 43, + "left_hand_Thumb_Flexion": 50, + "left_hand_j3": 174, + "left_hand_j5": 18, + "right_hand_Thumb_Flexion": 45 + }, + "joint_limit_hard_counts": { + "left_hand_Finger_Spread": 1, + "left_hand_Middle_Finger_Distal": 1, + "left_hand_Middle_Finger_Proximal": 1, + "left_hand_Ring_Finger": 2, + "left_hand_Thumb_Flexion": 2, + "left_hand_j3": 2, + "left_hand_j5": 13, + "left_hand_ring_spread": 1, + "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": 6 + }, + "joint_limit_hard_episode_events": 12, + "finger_joint_limit_saturation_counts": { + "left_hand_Thumb_Flexion": 20, + "left_hand_j3": 123, + "right_hand_Thumb_Flexion": 16 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.007566472981125116, + "left_hand_Middle_Finger_Distal": 0.162927508354187, + "left_hand_Middle_Finger_Proximal": 0.12850430607795715, + "left_hand_Ring_Finger": 0.11002252250909805, + "left_hand_Thumb_Flexion": 0.2808196544647217, + "left_hand_Thumb_Opposition": 0.0002597713319119066, + "left_hand_index_spread": 0.0036559628788381815, + "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": 0.268574059009552, + "left_hand_j4": 1.0819940863410205e-12, + "left_hand_j5": 0.04195421189069748, + "left_hand_ring_spread": 0.005281504243612289, + "right_hand_Finger_Spread": 0.00027489400235936046, + "right_hand_Index_Finger_Distal": 0.004282364156097174, + "right_hand_Index_Finger_Proximal": 0.005377650260925293, + "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": 0.14935722947120667, + "right_hand_index_spread": 6.247704732231796e-05, + "right_hand_j12": 0.004645314067602158, + "right_hand_j13": 0.006974471267312765, + "right_hand_j14": 2.2277785319602117e-05, + "right_hand_j15": 1.3478715118253604e-05, + "right_hand_j16": 8.439960536010815e-11, + "right_hand_j17": 3.214399579842819e-11, + "right_hand_j3": 0.008549932390451431, + "right_hand_j4": 9.85196834335511e-07, + "right_hand_j5": 0.0009411170030944049, + "right_hand_ring_spread": 0.001122144516557455 + }, + "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": 14.339547995911449, + "joint_effort_rms": 23.347340989823728, + "joint_jerk_rms": 1451.2047329745187, + "joint_velocity_rms": 0.28984664252802433 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8827085951217148, + "mean_kinematic_grasp_stability": 0.47941714566120053, + "per_object_best_kinematic_grasp_stability": { + "obj_024_bowl_3": 0.8827085951217148, + "obj_163_baguette_1": 0.3508413945350368 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6385498401627115, + "mean_duration_score": 0.6010098808485898, + "mean_hold_score": 0.3181887532693982, + "mean_kinematic_stability_score": 0.07241414166155448, + "mean_legacy_gsi": 0.4340997742224277, + "mean_lift_score": 0.3923278116826504, + "mean_motion_stability_score": 0.2932200289173706 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2294, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_44_episode_11/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_44_episode_11/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc5ec7b818a8ae9566a01527ef0b8df47a3455c8 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_44_episode_11/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/44_microwave_bowl_loading.yaml", "episode_index": 11, "seed": 204400010, "success": false, "steps": 3183, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204400010, "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": 180.0, 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"right_hand_Middle_Finger_Proximal": 0.009379744529724121, "right_hand_Pinky": 0.006288422271609306, "right_hand_Ring_Finger": 0.006666438188403845, "right_hand_Thumb_Flexion": 0.00765157351270318, "right_hand_index_spread": 0.31571322679519653, "right_hand_j12": 0.29430997371673584, "right_hand_j13": 0.006974471267312765, "right_hand_j14": 2.227791082987096e-05, "right_hand_j15": 1.3473876606440172e-05, "right_hand_j16": 8.439960536010815e-11, "right_hand_j17": 3.214399579842819e-11, "right_hand_j3": 0.6654275059700012, "right_hand_j4": 0.003800993785262108, "right_hand_j5": 0.02329612523317337, "right_hand_ring_spread": 0.08119967579841614}, "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": 4, "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": -0.006288422271609306, "hard_excess_rad": 0.006288422271609306, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.981749951839447, "operating_lower": 0.0, "operating_upper": 0.981749951839447, "expanded_target": 0.02424665354192257, "shielded_target": 0.02424665354192257}, {"joint": "right_hand_Ring_Finger", "role": "finger", "qpos": -0.006313401740044355, "hard_excess_rad": 0.006313401740044355, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.981749951839447, "operating_lower": 0.0, "operating_upper": 0.981749951839447, "expanded_target": 0.02109547331929207, "shielded_target": 0.02109547331929207}, {"joint": "right_hand_j13", "role": "finger_mimic", "qpos": -0.006974471267312765, "hard_excess_rad": 0.006974471267312765, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3339998722076416, "operating_lower": 0.0, "operating_upper": 1.3339998722076416, "expanded_target": 0.032946351915597916, "shielded_target": 0.032946351915597916, "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, -0.022073933854699135, -1.5684394836425781, 1.5926388502120972, -0.00876058079302311, 0.00359529722481966, -1.5739829540252686, -0.0018922792514786124, 0.006865236442536116, 0.005947067867964506, 0.04791084676980972, 0.0, 0.0397762730717659, 0.0, 0.003231949172914028, 0.02424665354192257, 0.02109547331929207, 0.0049708569422364235, -0.02468741126358509, 0.01909181848168373, 0.0, 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, -0.022073933854699135, -1.5684394836425781, 1.5926388502120972, -0.00876058079302311, 0.00359529722481966, -1.5739829540252686, -0.0018922792514786124, 0.006865236442536116, 0.0, 0.006865236442536116, 0.005947067867964506, 0.04791084676980972, 0.0, 0.0, 0.0397762730717659, 0.0, 0.0, 0.0, 0.0060369279235601425, 0.003231949172914028, 0.02424665354192257, 0.02109547331929207, 0.0049708569422364235, -0.02468741126358509, 0.01909181848168373, 0.0, 0.0, 0.016214095056056976, 0.008616646751761436, 0.003377386834472418, 0.032946351915597916, 0.02866452932357788, 0.005196533631533384, -0.025060437619686127, 0.029212571680545807, 0.030317004770040512, 0.022138306871056557, 0.036468133330345154, 0.034504685550928116, 0.02997519075870514, -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, -0.022073933854699135, -1.5684394836425781, 1.5926388502120972, -0.00876058079302311, 0.00359529722481966, -1.5739829540252686, -0.0018922792514786124, 0.006865236442536116, 0.0, 0.006865236442536116, 0.005947067867964506, 0.04791084676980972, 0.0, 0.0, 0.0397762730717659, 0.0, 0.0, 0.0, 0.0060369279235601425, 0.003231949172914028, 0.02424665354192257, 0.02109547331929207, 0.0049708569422364235, -0.02468741126358509, 0.01909181848168373, 0.0, 0.0, 0.016214095056056976, 0.008616646751761436, 0.003377386834472418, 0.032946351915597916, 0.02866452932357788, 0.005196533631533384, -0.025060437619686127, 0.029212571680545807, 0.030317004770040512, 0.022138306871056557, 0.036468133330345154, 0.034504685550928116, 0.02997519075870514, -0.03576934337615967, 0.030527137219905853, 0.041194744408130646, 0.030081531032919884, 0.03812378644943237, 0.043143220245838165, 0.03145698457956314]}, "joint_limit_active_steps": 803, "joint_limit_hard_episode_events": 36, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 352, "max_joint_limit_excess_rad": 3.174018144607544, "max_joint_limit_excess_joint": "left_hand_j5", "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": 803, "joint_limit_active_step_rate": 0.25227772541627397, "finger_joint_limit_saturation_steps": 352, "finger_joint_limit_saturation_step_rate": 0.11058749607288722, "max_joint_limit_excess_rad": 3.174018144607544, "max_joint_limit_excess_joint": "left_hand_j5", "stage_completion": {"open_door": true, "baguette_in_bowl": true, "loaded_bowl_in_mw": false, "close_door": false}, "current_stage_completion": {"open_door": true, "baguette_in_bowl": false, "loaded_bowl_in_mw": false, "close_door": false}, "stage_first_completion_step": {"open_door": 230, "baguette_in_bowl": 2123, "loaded_bowl_in_mw": null, "close_door": null}, "violation_counts": {"drop_to_table_obj_163_baguette_1": 1}, "policy_query_count": 26, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3183, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_44_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_44_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0e41ad8c51e2ddfb801c2bbfdbb040f56fa040f5 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_44_episode_11/summary.json @@ -0,0 +1,266 @@ +{ + "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": 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": 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": 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": 0.0, + "safety_violation_step_rate": 0.00031416902293433867 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "articulation_door_place": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.25, + "current_chain_depth_progress_score": 0.25, + "latched_chain_depth_progress_score": 0.5, + "avg_current_chain_depth": 1, + "avg_latched_chain_depth": 2 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 35.36666666666667, + "expert_time_step": 2122, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00031416902293433867, + "violation_counts": { + "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": 0.25227772541627397, + "finger_joint_limit_saturation_step_rate": 0.11058749607288722, + "max_joint_limit_excess_rad": 3.174018144607544, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Finger_Spread": 10, + "left_hand_Index_Finger_Proximal": 99, + "left_hand_Middle_Finger_Distal": 79, + "left_hand_Middle_Finger_Proximal": 164, + "left_hand_Ring_Finger": 166, + "left_hand_Thumb_Flexion": 483, + "left_hand_j12": 21, + "left_hand_j5": 163, + "left_hand_ring_spread": 9, + "right_hand_Index_Finger_Distal": 30, + "right_hand_Middle_Finger_Distal": 23, + "right_hand_index_spread": 9, + "right_hand_j12": 13, + "right_hand_j3": 23, + "right_hand_j5": 1, + "right_hand_ring_spread": 10 + }, + "joint_limit_hard_counts": { + "left_hand_Finger_Spread": 8, + "left_hand_Index_Finger_Proximal": 4, + "left_hand_Middle_Finger_Distal": 1, + "left_hand_Middle_Finger_Proximal": 7, + "left_hand_Ring_Finger": 2, + "left_hand_Thumb_Flexion": 6, + "left_hand_index_spread": 1, + "left_hand_j12": 1, + "left_hand_j3": 3, + "left_hand_j5": 13, + "left_hand_ring_spread": 7, + "right_hand_Index_Finger_Distal": 8, + "right_hand_Index_Finger_Proximal": 2, + "right_hand_Middle_Finger_Distal": 3, + "right_hand_Middle_Finger_Proximal": 4, + "right_hand_Pinky": 1, + "right_hand_Ring_Finger": 2, + "right_hand_Thumb_Flexion": 6, + "right_hand_index_spread": 1, + "right_hand_j12": 1, + "right_hand_j13": 1, + "right_hand_j3": 8, + "right_hand_j5": 1, + "right_hand_ring_spread": 1 + }, + "joint_limit_hard_episode_events": 36, + "finger_joint_limit_saturation_counts": { + "left_hand_Index_Finger_Proximal": 39, + "left_hand_Middle_Finger_Distal": 60, + "left_hand_Middle_Finger_Proximal": 113, + "left_hand_Ring_Finger": 107, + "left_hand_Thumb_Flexion": 87, + "left_hand_j5": 137, + "right_hand_Index_Finger_Distal": 14, + "right_hand_Middle_Finger_Distal": 17, + "right_hand_index_spread": 2, + "right_hand_j12": 4, + "right_hand_j3": 16 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.031202545389533043, + "left_hand_Index_Finger_Proximal": 0.2269366979598999, + "left_hand_Middle_Finger_Distal": 0.2472689151763916, + "left_hand_Middle_Finger_Proximal": 0.8806970715522766, + "left_hand_Ring_Finger": 0.3811092972755432, + "left_hand_Thumb_Flexion": 0.2038888782262802, + "left_hand_Thumb_Opposition": 0.0018231692956760526, + "left_hand_index_spread": 0.005121827591210604, + "left_hand_j12": 0.046237945556640625, + "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": 0.007174280006438494, + "left_hand_j4": 1.0819940863410205e-12, + "left_hand_j5": 3.174018144607544, + "left_hand_ring_spread": 0.12098025530576706, + "right_hand_Finger_Spread": 0.0024728020653128624, + "right_hand_Index_Finger_Distal": 0.5602082014083862, + "right_hand_Index_Finger_Proximal": 0.009886026382446289, + "right_hand_Middle_Finger_Distal": 0.5714244842529297, + "right_hand_Middle_Finger_Proximal": 0.009379744529724121, + "right_hand_Pinky": 0.006288422271609306, + "right_hand_Ring_Finger": 0.006666438188403845, + "right_hand_Thumb_Flexion": 0.00765157351270318, + "right_hand_index_spread": 0.31571322679519653, + "right_hand_j12": 0.29430997371673584, + "right_hand_j13": 0.006974471267312765, + "right_hand_j14": 2.227791082987096e-05, + "right_hand_j15": 1.3473876606440172e-05, + "right_hand_j16": 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-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": 328, "joint_limit_hard_episode_events": 17, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 134, "max_joint_limit_excess_rad": 0.6430006623268127, "max_joint_limit_excess_joint": "left_hand_j5", "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": 328, "joint_limit_active_step_rate": 0.14430268367795865, "finger_joint_limit_saturation_steps": 134, "finger_joint_limit_saturation_step_rate": 0.05895292564892213, "max_joint_limit_excess_rad": 0.6430006623268127, "max_joint_limit_excess_joint": "left_hand_j5", "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": 222, "baguette_in_bowl": 1301, "loaded_bowl_in_mw": 1908, "close_door": 2221}, "violation_counts": {}, "policy_query_count": 18, "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_1x_icl/source_runs/task_44_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_44_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..df51cd1487f1371d6c4451389aeb6ce546cfe3bc --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_44_episode_12/summary.json @@ -0,0 +1,242 @@ +{ + "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": 37.883333333332466 + }, + "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": 0.9335679718434002, + "expert_time_s": 35.36666666666667, + "expert_time_step": 2122, + "avg_steps_to_success": 2273, + "avg_policy_steps_to_success": 758, + "avg_policy_queries_to_success": 18 + }, + "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": 0.14430268367795865, + "finger_joint_limit_saturation_step_rate": 0.05895292564892213, + "max_joint_limit_excess_rad": 0.6430006623268127, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Index_Finger_Proximal": 32, + "left_hand_Middle_Finger_Distal": 59, + "left_hand_Middle_Finger_Proximal": 60, + "left_hand_Pinky": 30, + "left_hand_Ring_Finger": 67, + "left_hand_Thumb_Flexion": 46, + "left_hand_j13": 22, + "left_hand_j3": 123, + "left_hand_j5": 60, + "left_hand_ring_spread": 2 + }, + "joint_limit_hard_counts": { + "left_hand_Finger_Spread": 1, + "left_hand_Index_Finger_Proximal": 1, + "left_hand_Middle_Finger_Distal": 1, + "left_hand_Middle_Finger_Proximal": 1, + "left_hand_Pinky": 3, + "left_hand_Ring_Finger": 2, + "left_hand_Thumb_Flexion": 2, + "left_hand_j13": 1, + "left_hand_j3": 1, + "left_hand_j5": 11, + "left_hand_ring_spread": 2, + "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": 2, + "right_hand_j13": 1, + "right_hand_j3": 3 + }, + "joint_limit_hard_episode_events": 17, + "finger_joint_limit_saturation_counts": { + "left_hand_Middle_Finger_Distal": 42, + "left_hand_Middle_Finger_Proximal": 4, + "left_hand_Ring_Finger": 45, + "left_hand_j13": 5, + "left_hand_j3": 60, + "left_hand_j5": 18 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.006376577541232109, + "left_hand_Index_Finger_Proximal": 0.06634626537561417, + "left_hand_Middle_Finger_Distal": 0.30481624603271484, + "left_hand_Middle_Finger_Proximal": 0.13234931230545044, + "left_hand_Pinky": 0.1986164003610611, + "left_hand_Ring_Finger": 0.28388285636901855, + "left_hand_Thumb_Flexion": 0.027412304654717445, + "left_hand_Thumb_Opposition": 6.737995136063546e-05, + "left_hand_index_spread": 0.0018860283307731152, + "left_hand_j13": 0.2291145920753479, + "left_hand_j3": 0.21394385397434235, + "left_hand_j5": 0.6430006623268127, + "left_hand_ring_spread": 0.013571053743362427, + "right_hand_Finger_Spread": 0.0002748947008512914, + "right_hand_Index_Finger_Distal": 0.00428237346932292, + "right_hand_Index_Finger_Proximal": 0.0053552985191345215, + "right_hand_Middle_Finger_Distal": 0.005123946815729141, + "right_hand_Middle_Finger_Proximal": 0.007788211107254028, + "right_hand_Pinky": 0.006288421805948019, + "right_hand_Ring_Finger": 0.006666450295597315, + "right_hand_Thumb_Flexion": 0.006948117166757584, + "right_hand_index_spread": 6.247030250960961e-05, + "right_hand_j12": 0.004645318258553743, + "right_hand_j13": 0.006974472664296627, + "right_hand_j14": 2.2279678887571208e-05, + "right_hand_j15": 1.3494723134499509e-05, + "right_hand_j3": 0.008425221778452396, + "right_hand_j4": 1.0310436664440203e-06, + "right_hand_j5": 0.0009411167120561004, + "right_hand_ring_spread": 0.0011220823507755995 + }, + "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": 14.886195963953698, + "joint_effort_rms": 24.323806227207335, + "joint_jerk_rms": 1493.1838663462495, + "joint_velocity_rms": 0.29720397395824416 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9955630176499972, + "mean_kinematic_grasp_stability": 0.7810283518037359, + "per_object_best_kinematic_grasp_stability": { + "obj_024_bowl_3": 0.9955630176499972, + "obj_163_baguette_1": 0.5097006102988729 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7536295644522655, + "mean_duration_score": 0.36409297550960557, + "mean_hold_score": 0.3328970523537174, + "mean_kinematic_stability_score": 0.10273976119195645, + "mean_legacy_gsi": 0.408131998005927, + "mean_lift_score": 0.37703475582930046, + "mean_motion_stability_score": 0.28344924934091026 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2273, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_44_episode_13/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_44_episode_13/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a85a742c101ba25fa5e2e86fa4985208903c1d9 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_44_episode_13/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/44_microwave_bowl_loading.yaml", "episode_index": 13, "seed": 204400012, "success": false, "steps": 3183, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204400012, "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": 0.0, "base_yaw_deg": 0.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan207", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan207_physics/scene.usda", "scene_offset": [0.0, 0.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_wood_wood0720_jpg", "asset_uri": "dex2bench_dataset/textures/wood/wood0720.jpg", "asset_category": "wood", "asset_id": "wood/wood0720.jpg", 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{"joint": "right_hand_j13", "role": "finger_mimic", "qpos": -0.008325958624482155, "hard_excess_rad": 0.008325958624482155, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3339998722076416, "operating_lower": 0.0, "operating_upper": 1.3339998722076416, "expanded_target": 0.03893660008907318, "shielded_target": 0.03893660008907318, "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": [1.59054696559906, -1.5869520902633667, -1.6002620458602905, 1.6112384796142578, 1.5773764848709106, -0.026087375357747078, -1.5681557655334473, 1.5967549085617065, -0.01035341341048479, 0.004248987417668104, -1.5747071504592896, -0.0022363299503922462, 0.008113461546599865, 0.007028352934867144, 0.05662190914154053, 0.0, 0.04700832441449165, 0.0, 0.0038195764645934105, 0.02865513600409031, 0.024931013584136963, 0.005874649155884981, -0.029176032170653343, 0.022563057020306587, 0.0, 0.01916211098432541, 0.03452394902706146, 0.03582918643951416, 0.026163453236222267, 0.043098703026771545], "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": [1.59054696559906, -1.5869520902633667, -1.6002620458602905, 1.6112384796142578, 1.5773764848709106, -0.026087375357747078, -1.5681557655334473, 1.5967549085617065, -0.01035341341048479, 0.004248987417668104, -1.5747071504592896, -0.0022363299503922462, 0.008113461546599865, 0.0, 0.008113461546599865, 0.007028352934867144, 0.05662190914154053, 0.0, 0.0, 0.04700832441449165, 0.0, 0.0, 0.0, 0.007134551182389259, 0.0038195764645934105, 0.02865513600409031, 0.024931013584136963, 0.005874649155884981, -0.029176032170653343, 0.022563057020306587, 0.0, 0.0, 0.01916211098432541, 0.010183310136198997, 0.003991457633674145, 0.03893660008907318, 0.03387626260519028, 0.006141358055174351, -0.029616881161928177, 0.03452394902706146, 0.03582918643951416, 0.026163453236222267, 0.043098703026771545, 0.0407782644033432, 0.03542522341012955, 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"left_hand_Ring_Finger", "stage_completion": {"open_door": true, "baguette_in_bowl": false, "loaded_bowl_in_mw": false, "close_door": false}, "current_stage_completion": {"open_door": true, "baguette_in_bowl": false, "loaded_bowl_in_mw": false, "close_door": false}, "stage_first_completion_step": {"open_door": 262, "baguette_in_bowl": null, "loaded_bowl_in_mw": null, "close_door": null}, "violation_counts": {"drop_to_table_obj_163_baguette_1": 1}, "policy_query_count": 17, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3183, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_44_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_44_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4bd5e5ccf683d91c395eedab43edbc6761d6289d --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_44_episode_13/summary.json @@ -0,0 +1,234 @@ +{ + "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": 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": 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": 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": 0.00031416902293433867 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "articulation_door_place": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.25, + "current_chain_depth_progress_score": 0.25, + "latched_chain_depth_progress_score": 0.25, + "avg_current_chain_depth": 1, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 35.36666666666667, + "expert_time_step": 2122, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00031416902293433867, + "violation_counts": { + "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": 0.022934338674206724, + "finger_joint_limit_saturation_step_rate": 0.0053408733898837575, + "max_joint_limit_excess_rad": 0.14274294674396515, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Middle_Finger_Proximal": 39, + "left_hand_Ring_Finger": 69, + "right_hand_Middle_Finger_Proximal": 1, + "right_hand_Thumb_Flexion": 1, + "right_hand_j3": 3 + }, + "joint_limit_hard_counts": { + "left_hand_Middle_Finger_Proximal": 1, + "left_hand_Ring_Finger": 2, + "left_hand_j5": 2, + "left_hand_ring_spread": 2, + "right_hand_Index_Finger_Distal": 2, + "right_hand_Index_Finger_Proximal": 3, + "right_hand_Middle_Finger_Distal": 3, + "right_hand_Middle_Finger_Proximal": 4, + "right_hand_Pinky": 1, + "right_hand_Ring_Finger": 2, + "right_hand_Thumb_Flexion": 3, + "right_hand_j12": 2, + "right_hand_j13": 1, + "right_hand_j15": 1, + "right_hand_j3": 4 + }, + "joint_limit_hard_episode_events": 18, + "finger_joint_limit_saturation_counts": { + "left_hand_Middle_Finger_Proximal": 16, + "left_hand_Ring_Finger": 16 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.0035307554062455893, + "left_hand_Index_Finger_Proximal": 0.0008352398872375488, + "left_hand_Middle_Finger_Proximal": 0.14086520671844482, + "left_hand_Ring_Finger": 0.14274294674396515, + "left_hand_Thumb_Opposition": 8.436273492407054e-05, + "left_hand_index_spread": 0.002197116147726774, + "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": 1.4144772159108143e-11, + "left_hand_j4": 1.0819940863410205e-12, + "left_hand_j5": 0.006624820176512003, + "left_hand_ring_spread": 0.006535493303090334, + "right_hand_Finger_Spread": 0.00022202639956958592, + "right_hand_Index_Finger_Distal": 0.008604619652032852, + "right_hand_Index_Finger_Proximal": 0.006999611854553223, + "right_hand_Middle_Finger_Distal": 0.0062627727165818214, + "right_hand_Middle_Finger_Proximal": 0.010901093482971191, + "right_hand_Pinky": 0.00740383705124259, + "right_hand_Ring_Finger": 0.007909548468887806, + "right_hand_Thumb_Flexion": 0.010474570095539093, + "right_hand_index_spread": 4.680853453464806e-05, + "right_hand_j12": 0.005486492998898029, + "right_hand_j13": 0.008325958624482155, + "right_hand_j14": 2.2278873075265437e-05, + "right_hand_j15": 0.006125228479504585, + "right_hand_j16": 8.439960536010815e-11, + "right_hand_j17": 3.214399579842819e-11, + "right_hand_j3": 0.02957148104906082, + "right_hand_j4": 1.129238739849825e-06, + "right_hand_j5": 0.0011122362921014428, + "right_hand_ring_spread": 0.0005177274579182267 + }, + "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": 11.044953604825228, + "joint_effort_rms": 23.4596073820483, + "joint_jerk_rms": 1098.962997190717, + "joint_velocity_rms": 0.26200784921228404 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.999539188874661, + "mean_kinematic_grasp_stability": 0.5697929115963881, + "per_object_best_kinematic_grasp_stability": { + "obj_024_bowl_3": 0.999539188874661, + "obj_163_baguette_1": 0.7476681912596758 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6743114462247398, + "mean_duration_score": 0.36148287778825006, + "mean_hold_score": 0.03943606660383289, + "mean_kinematic_stability_score": 0.028731310810939457, + "mean_legacy_gsi": 0.23126479835218225, + "mean_lift_score": 0.05670750863964813, + "mean_motion_stability_score": 0.037660877195963324 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3183, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_44_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_44_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..800a1be992a886abf5040b63549ce5e4cf4ff1a0 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_44_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/44_microwave_bowl_loading.yaml", "episode_index": 14, "seed": 204400013, "success": false, "steps": 3183, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204400013, "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": 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", 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true, "position_jitter_cm": 2.0, "position_jitter_m": 0.02, "yaw_jitter_deg": 10.0}, "table_height": {"enabled": true, "height_offset_m": -0.0323991855696924, "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": [0.0002753447480079996, -0.0035837735260698103, 0.004001220490741585], "target_offset_m": [-0.003887923711026117, -0.00169630931949032, 0.0001902111605207972], "distance_offset_m": -0.027174130138080177, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.7113804306038718, -0.3690387100602508, -0.682398327439693], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.0008531148281309643, 0.0008965901231109989, 0.004688144949814693], "target_offset_m": [0.00392647787343038, -0.0037511173912599884, -0.004746422113214073], "distance_offset_m": 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"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": [0.004363703104630687, 0.0017736910287882322, -0.0020372738496622213], "rpy_offset_deg": [0.9389327391172198, 0.4177846293370162, 0.024525955324895765], "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": [-0.0021923916745913443, 0.0005021939414565193, 0.0034389030357447345], "rpy_offset_deg": [0.614052032706637, 0.8912000561670572, 0.08773397921862025], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 3, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_035_power_drill", "uri": "dex2bench_dataset/Objects/035_power_drill/usd_decomposition_linux/textured.usd", "scale": [1.0955800546531391, 1.0955800546531391, 1.0955800546531391], "body_type": "dynamic", "category": "tool", "asset_code": "035", "asset_id": "clutter_035_power_drill", "asset_split": "unseen", "spawn_position": [0.8543032352625901, 0.0701459529391757, 0.7210770898849995], "spawn_yaw_deg": 355.75697559372696, "obj_id": "distractor_00_clutter_035_power_drill"}, {"name": "clutter_072b_toy_airplane", "uri": "dex2bench_dataset/Objects/072-b_toy_airplane/google_16k/usd_decomposition_linux/textured.usd", "scale": [1.0901390167080396, 1.0901390167080396, 1.0901390167080396], "body_type": "dynamic", "category": "toy", "asset_code": "072", "asset_id": "clutter_072b_toy_airplane", "asset_split": "unseen", "spawn_position": [-0.8893088976088687, 0.1338379998368166, 0.7180303292055242], "spawn_yaw_deg": 276.3256473939924, "obj_id": "distractor_01_clutter_072b_toy_airplane"}, {"name": "clutter_028_skillet_lid", "uri": "dex2bench_dataset/Objects/028_skillet_lid/usd_decomposition_linux/textured.usd", "scale": [1.1090498903724861, 1.1090498903724861, 1.1090498903724861], "body_type": "dynamic", "category": "kitchen", "asset_code": "028", "asset_id": "clutter_028_skillet_lid", "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_163_baguette_1": {"position": [-0.5044072005232764, 0.08997095327372241, 0.744323614230644], "rpy_deg": [90.0, 90.0, 96.09806626812244]}, "obj_104_microwave_2": {"position": [0.0, 0.42, 0.8458217676640176], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_024_bowl_3": {"position": [0.49697094361378813, 0.2890091747253897, 0.718395814459337], "rpy_deg": [0.0, 0.0, 8.802905697003894]}, "obj_151_milk_box_4": {"position": [-0.4895975883508981, 0.2669335837588048, 0.747030224083256], "rpy_deg": [0.0, 0.0, -3.81206405023629]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "articulation_door_place", "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": 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": 35.36666666666667, "expert_time_step": 2122, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.5, "normalized_progress_score": 0.5, "chain_depth_progress_score": 0.5, "current_stage_completion_rate": 0.25, "current_normalized_progress_score": 0.25, "current_chain_depth_progress_score": 0.25, "current_chain_depth": 1, "latched_stage_completion_rate": 0.5, "latched_normalized_progress_score": 0.5, "latched_chain_depth_progress_score": 0.5, "latched_chain_depth": 2, "task_efficiency": null, "kinematic_grasp_stability_index": 0.8184347366693748, "mean_kinematic_grasp_stability": 0.3153153917927548, "per_object_best_kinematic_grasp_stability": {"obj_024_bowl_3": 0.8184347366693748, "obj_163_baguette_1": 0.7406535037752144}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.38475255061780517, "mean_kinematic_stability_score": 0.03219525678059859, "mean_lift_score": 0.3733898837574615, "mean_hold_score": 0.22596606974552902, "mean_motion_stability_score": 0.2131375928012633, "mean_duration_score": 0.6159545502146822, "mean_anti_slip_score": 0.616766153523937}, "robot_motion_metrics": {"joint_velocity_rms": 0.3080126180828471, "joint_acceleration_rms": 14.8948911461271, "joint_jerk_rms": 1481.9375927568276, "joint_effort_rms": 24.766935958050357}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0006283380458686978, "safety_violation_rate_time": 0.0006283380458686978, "safety_violation_rate_event": 0.0006283380458686773, "safety_violation_step_rate": 0.0006283380458686773, "safety_violation_events_per_step": 0.0006283380458686773, "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_hand_Middle_Finger_Proximal": 24, "left_hand_Ring_Finger": 51, "left_hand_j3": 69, "right_hand_Index_Finger_Distal": 1, "right_hand_Middle_Finger_Proximal": 17, "right_hand_Thumb_Flexion": 130, "right_hand_j13": 1, "right_hand_j3": 152}, "joint_limit_hard_counts": {"left_hand_Middle_Finger_Proximal": 1, "left_hand_Ring_Finger": 2, "left_hand_j3": 1, "left_hand_ring_spread": 2, "right_hand_Index_Finger_Distal": 1, "right_hand_Index_Finger_Proximal": 5, "right_hand_Middle_Finger_Distal": 2, "right_hand_Middle_Finger_Proximal": 5, "right_hand_Pinky": 1, "right_hand_Ring_Finger": 2, "right_hand_Thumb_Flexion": 16, "right_hand_j12": 2, "right_hand_j13": 1, "right_hand_j3": 17}, "finger_joint_limit_saturation_counts": {"left_hand_Middle_Finger_Proximal": 3, "left_hand_Ring_Finger": 1, "left_hand_j3": 33, "right_hand_Thumb_Flexion": 40, "right_hand_j3": 63}, "joint_limit_max_excess_by_joint": {"left_hand_Finger_Spread": 0.0026479754596948624, "left_hand_Index_Finger_Proximal": 0.00023603439331054688, "left_hand_Middle_Finger_Proximal": 0.13057217001914978, "left_hand_Ring_Finger": 0.12897266447544098, "left_hand_Thumb_Flexion": 0.004864220041781664, "left_hand_Thumb_Opposition": 8.759377669775859e-05, "left_hand_index_spread": 0.0017348681576550007, "left_hand_j3": 0.16222696006298065, "left_hand_j5": 0.004111601039767265, "left_hand_ring_spread": 0.0064985500648617744, "right_hand_Finger_Spread": 0.0004475636233109981, "right_hand_Index_Finger_Distal": 0.011187770403921604, "right_hand_Index_Finger_Proximal": 0.009847819805145264, "right_hand_Middle_Finger_Distal": 0.006005693227052689, "right_hand_Middle_Finger_Proximal": 0.09620559215545654, "right_hand_Pinky": 0.007700887508690357, "right_hand_Ring_Finger": 0.008549616672098637, "right_hand_Thumb_Flexion": 0.4125230014324188, "right_hand_index_spread": 6.406418833648786e-05, "right_hand_j12": 0.006021545734256506, "right_hand_j13": 0.010385004803538322, "right_hand_j14": 2.2279678887571208e-05, "right_hand_j15": 0.00011503825953695923, "right_hand_j3": 0.3973856568336487, "right_hand_j4": 2.2622739948019444e-07, "right_hand_j5": 0.0012234561145305634, "right_hand_ring_spread": 0.0011222008615732193}, "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_Middle_Finger_Proximal", "role": "finger", "qpos": -0.005518239922821522, "hard_excess_rad": 0.005518239922821522, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.7984899282455444, "operating_lower": 0.0, "operating_upper": 0.7984899282455444, "expanded_target": 0.051709163933992386, "shielded_target": 0.051709163933992386}, {"joint": "right_hand_Pinky", "role": "finger", "qpos": -0.007700887508690357, "hard_excess_rad": 0.007700887508690357, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.981749951839447, "operating_lower": 0.0, "operating_upper": 0.981749951839447, "expanded_target": 0.031520646065473557, "shielded_target": 0.031520646065473557}, {"joint": "right_hand_Ring_Finger", "role": "finger", "qpos": -0.008264429867267609, "hard_excess_rad": 0.008264429867267609, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.981749951839447, "operating_lower": 0.0, "operating_upper": 0.981749951839447, "expanded_target": 0.027424106374382973, "shielded_target": 0.027424106374382973}, {"joint": "right_hand_j12", "role": "finger_mimic", "qpos": -0.006021545734256506, "hard_excess_rad": 0.006021545734256506, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3339998722076416, "operating_lower": 0.0, "operating_upper": 1.3339998722076416, "expanded_target": 0.03726387396454811, "shielded_target": 0.03726387396454811, "mimic_source_joint": "right_hand_Ring_Finger"}, {"joint": "right_hand_j13", "role": "finger_mimic", "qpos": -0.010385004803538322, "hard_excess_rad": 0.010385004803538322, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3339998722076416, "operating_lower": 0.0, "operating_upper": 1.3339998722076416, "expanded_target": 0.04283025488257408, "shielded_target": 0.04283025488257408, "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": [1.5926016569137573, -1.5886473655700684, -1.603288173675537, 1.615362286567688, 1.5781140327453613, -0.028696119785308838, -1.5679713487625122, 1.5994304418563843, -0.011388754472136497, 0.0046738870441913605, -1.5751779079437256, -0.0024599628522992134, 0.008924807421863079, 0.0077311876229941845, 0.06228409707546234, 1.193700693846722e-09, 0.051709163933992386, 2.1409957140505753e-12, 0.004201531410217285, 0.031520646065473557, 0.027424106374382973, 0.006462114863097668, -0.03209363669157028, 0.02481936290860176, -7.615440916763916e-11, 0.02107832208275795, 0.03797634318470955, 0.03941210359334946, 0.02877979911863804, 0.0474085733294487], "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": [1.5926016569137573, -1.5886473655700684, -1.603288173675537, 1.615362286567688, 1.5781140327453613, -0.028696119785308838, -1.5679713487625122, 1.5994304418563843, -0.011388754472136497, 0.0046738870441913605, -1.5751779079437256, -0.0024599628522992134, 0.008924807421863079, 5.96850346923361e-10, 0.008924807421863079, 0.0077311876229941845, 0.06228409707546234, 1.193700693846722e-09, 5.96850346923361e-10, 0.051709163933992386, 2.1409957140505753e-12, -3.807720458381958e-11, 2.1409957140505753e-12, 0.00784800574183464, 0.004201531410217285, 0.031520646065473557, 0.027424106374382973, 0.006462114863097668, -0.03209363669157028, 0.02481936290860176, -7.615440916763916e-11, -3.807720458381958e-11, 0.02107832208275795, 0.011201640591025352, 0.004390600137412548, 0.04283025488257408, 0.03726387396454811, 0.006755494978278875, -0.03257857263088226, 0.03797634318470955, 0.03941210359334946, 0.02877979911863804, 0.0474085733294487, 0.04485608637332916, 0.038967736065387726, -0.04650015011429787, 0.03968527913093567, 0.05355316773056984, 0.03910599276423454, 0.049560923129320145, 0.056086182594299316, 0.04089407995343208], "shielded_full_target": [1.5926016569137573, -1.5886473655700684, -1.603288173675537, 1.615362286567688, 1.5781140327453613, -0.028696119785308838, -1.5679713487625122, 1.5994304418563843, -0.011388754472136497, 0.0046738870441913605, -1.5751779079437256, -0.0024599628522992134, 0.008924807421863079, 5.96850346923361e-10, 0.008924807421863079, 0.0077311876229941845, 0.06228409707546234, 1.193700693846722e-09, 5.96850346923361e-10, 0.051709163933992386, 2.1409957140505753e-12, -3.807720458381958e-11, 2.1409957140505753e-12, 0.00784800574183464, 0.004201531410217285, 0.031520646065473557, 0.027424106374382973, 0.006462114863097668, -0.03209363669157028, 0.02481936290860176, -7.615440916763916e-11, -3.807720458381958e-11, 0.02107832208275795, 0.011201640591025352, 0.004390600137412548, 0.04283025488257408, 0.03726387396454811, 0.006755494978278875, -0.03257857263088226, 0.03797634318470955, 0.03941210359334946, 0.02877979911863804, 0.0474085733294487, 0.04485608637332916, 0.038967736065387726, -0.04650015011429787, 0.03968527913093567, 0.05355316773056984, 0.03910599276423454, 0.049560923129320145, 0.056086182594299316, 0.04089407995343208]}, "joint_limit_active_steps": 368, "joint_limit_hard_episode_events": 27, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 139, "max_joint_limit_excess_rad": 0.4125230014324188, "max_joint_limit_excess_joint": "right_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": 368, "joint_limit_active_step_rate": 0.11561420043983663, "finger_joint_limit_saturation_steps": 139, "finger_joint_limit_saturation_step_rate": 0.043669494187873074, "max_joint_limit_excess_rad": 0.4125230014324188, "max_joint_limit_excess_joint": "right_hand_Thumb_Flexion", "stage_completion": {"open_door": true, "baguette_in_bowl": true, "loaded_bowl_in_mw": false, "close_door": false}, "current_stage_completion": {"open_door": true, "baguette_in_bowl": false, "loaded_bowl_in_mw": false, "close_door": false}, "stage_first_completion_step": {"open_door": 253, "baguette_in_bowl": 1539, "loaded_bowl_in_mw": null, "close_door": null}, "violation_counts": {"drop_to_table_obj_163_baguette_1": 1, "drop_to_table_obj_024_bowl_3": 1}, "policy_query_count": 29, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3183, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_44_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_44_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8088d39bc634ff998cb1aded883693b2352ce1da --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_44_episode_14/summary.json @@ -0,0 +1,234 @@ +{ + "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": 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": 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": 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": 0.0, + "safety_violation_step_rate": 0.0006283380458686773 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "articulation_door_place": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.25, + "current_chain_depth_progress_score": 0.25, + "latched_chain_depth_progress_score": 0.5, + "avg_current_chain_depth": 1, + "avg_latched_chain_depth": 2 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 35.36666666666667, + "expert_time_step": 2122, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0006283380458686773, + "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": 0.11561420043983663, + "finger_joint_limit_saturation_step_rate": 0.043669494187873074, + "max_joint_limit_excess_rad": 0.4125230014324188, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Middle_Finger_Proximal": 24, + "left_hand_Ring_Finger": 51, + "left_hand_j3": 69, + "right_hand_Index_Finger_Distal": 1, + "right_hand_Middle_Finger_Proximal": 17, + "right_hand_Thumb_Flexion": 130, + "right_hand_j13": 1, + "right_hand_j3": 152 + }, + "joint_limit_hard_counts": { + "left_hand_Middle_Finger_Proximal": 1, + "left_hand_Ring_Finger": 2, + "left_hand_j3": 1, + "left_hand_ring_spread": 2, + "right_hand_Index_Finger_Distal": 1, + "right_hand_Index_Finger_Proximal": 5, + "right_hand_Middle_Finger_Distal": 2, + "right_hand_Middle_Finger_Proximal": 5, + "right_hand_Pinky": 1, + "right_hand_Ring_Finger": 2, + "right_hand_Thumb_Flexion": 16, + "right_hand_j12": 2, + "right_hand_j13": 1, + "right_hand_j3": 17 + }, + "joint_limit_hard_episode_events": 27, + "finger_joint_limit_saturation_counts": { + "left_hand_Middle_Finger_Proximal": 3, + "left_hand_Ring_Finger": 1, + "left_hand_j3": 33, + "right_hand_Thumb_Flexion": 40, + "right_hand_j3": 63 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.0026479754596948624, + "left_hand_Index_Finger_Proximal": 0.00023603439331054688, + "left_hand_Middle_Finger_Proximal": 0.13057217001914978, + "left_hand_Ring_Finger": 0.12897266447544098, + "left_hand_Thumb_Flexion": 0.004864220041781664, + "left_hand_Thumb_Opposition": 8.759377669775859e-05, + "left_hand_index_spread": 0.0017348681576550007, + "left_hand_j3": 0.16222696006298065, + "left_hand_j5": 0.004111601039767265, + "left_hand_ring_spread": 0.0064985500648617744, + "right_hand_Finger_Spread": 0.0004475636233109981, + "right_hand_Index_Finger_Distal": 0.011187770403921604, + "right_hand_Index_Finger_Proximal": 0.009847819805145264, + "right_hand_Middle_Finger_Distal": 0.006005693227052689, + "right_hand_Middle_Finger_Proximal": 0.09620559215545654, + "right_hand_Pinky": 0.007700887508690357, + 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"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_1x_icl/source_runs/task_51_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_51_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..15b19fe966fecc7c4292dce88b79020ceffa5984 --- /dev/null +++ b/gpt6_astra_1x_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_1x_icl/source_runs/task_51_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_51_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab9decfc6c421521b2eb87a846cbf9cbcc93c52c --- /dev/null +++ b/gpt6_astra_1x_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, 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[-0.09880441911112124, 0.3026484303606723, 1.0098292681695824], "rpy_deg": [0.0, 0.0, 102.20263709897274]}, "obj_021_bleach_cleanser_2": {"position": [0.2126307587046112, 0.14735875391138523, 0.7966343091770711], "rpy_deg": [0.0, 0.0, -8.459311091354726]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "articulation_multi", "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": 34.1, "expert_time_step": 2046, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.3333333333333333, 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"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": 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}, "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": 67, "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": -0.5466395020484924, "hard_excess_rad": 0.04063957929611206, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.3219433128833771, "shielded_target": -0.3219433128833771}], "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": [-1.84673273563385, -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, -1.6053998470306396, -1.3070141413606962e-08, 1.6590508966629613e-09, 4.444943968451298e-08, 7.120088696410676e-08, -0.3219433128833771, -0.0006571400444954634, 0.5807332992553711, -0.3060118854045868, 3.709943741103672e-10, -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], "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": [-1.84673273563385, -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, -0.3219433128833771, -0.0006571400444954634, 0.5807332992553711, -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], "shielded_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, -0.3219433128833771, -0.0006571400444954634, 0.5807332992553711, -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_1x_icl/source_runs/task_51_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_51_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ed848080e70f4a99e99975ec1e858ce07821d7b5 --- /dev/null +++ b/gpt6_astra_1x_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_1x_icl/source_runs/task_51_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_51_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e8c00bc0509afbef65f10e3d35bb5e8b01d23f0 --- /dev/null +++ b/gpt6_astra_1x_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": false, "steps": 3069, "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": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 180.0, "base_yaw_deg": 180.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan20", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan20_physics/scene.usda", "scene_offset": [0.08, 1.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_carpet_carpet1969_jpg", "asset_uri": "dex2bench_dataset/textures/carpet/carpet1969.jpg", "asset_category": "carpet", "asset_id": "carpet/carpet1969.jpg", "asset_split": 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[0.8953548500965081, 0.8953548500965081, 0.8953548500965081], "body_type": "dynamic", "category": "toy", "asset_code": "073", "asset_id": "clutter_073a_lego_duplo", "asset_split": "unseen", "spawn_position": [-0.7083395566958381, 0.26030011866284747, 0.7101000958723349], "spawn_yaw_deg": 40.595843590696695, "obj_id": "distractor_01_clutter_073a_lego_duplo"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_121_toilet_1": {"position": [-0.09609441734552257, 0.3083240585431931, 0.9232738752516833], "rpy_deg": [0.0, 0.0, 97.75029957643602]}, "obj_021_bleach_cleanser_2": {"position": [0.22005162638949535, 0.15592697694654672, 0.7100789162591719], "rpy_deg": [0.0, 0.0, 9.541016056969863]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "articulation_multi", "robot_key": "multi_xarm7_with_leap", "perturbation_axis": "inv+cov", "stable_success": false, "ever_instant_success": true, "at_end_success": true, "at_end_success_observed": true, "at_end_success_budget": true, "first_success_step": 3065, "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": 34.1, "expert_time_step": 2046, "success_hold_s": 0.06666666666666667, "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": 0.6666666666666666, "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": null, "kinematic_grasp_stability_index": 0.9977506636937821, "mean_kinematic_grasp_stability": 0.4500088543157407, "per_object_best_kinematic_grasp_stability": {"obj_021_bleach_cleanser_2": 0.9977506636937821}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.6289527486447417, "mean_kinematic_stability_score": 0.3101234040005838, "mean_lift_score": 0.6891495601173021, "mean_hold_score": 0.5870153144346708, "mean_motion_stability_score": 0.5901034138070189, "mean_duration_score": 0.6277289019224503, "mean_anti_slip_score": 0.7214076246334751}, "robot_motion_metrics": {"joint_velocity_rms": 0.7545470667534041, "joint_acceleration_rms": 21.129698646666633, "joint_jerk_rms": 2131.856936009585, "joint_effort_rms": 62.12571423978928}, "tool_selection_accuracy": 1.0, "tool_switch_success_rate": 0.0, "tool_switch_total": 5, "tool_switch_successful": 0, "safety_violation_rate": 0.0006516780710329303, "safety_violation_rate_time": 0.0006516780710329303, "safety_violation_rate_event": 0.0006516780710329097, "safety_violation_step_rate": 0.0006516780710329097, "safety_violation_events_per_step": 0.0006516780710329097, "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": 15, "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": 39, "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": 0.056370153144346694, "finger_joint_limit_saturation_steps": 62, "finger_joint_limit_saturation_step_rate": 0.020202020202020204, "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": 39, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3069, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_51_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_51_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..cf9326447d72c2c639e08774089ea0229a47efcc --- /dev/null +++ b/gpt6_astra_1x_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": 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": 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": 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": 1.0, + "safety_violation_step_rate": 0.0006516780710329097 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + 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-0.3517330586910248, -0.14158710837364197, 1.2920901775360107, 0.00795035157352686, -0.0646907314658165, -0.2642826735973358, -0.014973497949540615, -0.01744353398680687, -0.05347539857029915]}, "joint_limit_active_steps": 743, "joint_limit_hard_episode_events": 33, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 207, "max_joint_limit_excess_rad": 1.1437792778015137, "max_joint_limit_excess_joint": "multi_leap_r_9", "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": 743, "joint_limit_active_step_rate": 0.38798955613577024, "finger_joint_limit_saturation_steps": 207, "finger_joint_limit_saturation_step_rate": 0.10809399477806789, "max_joint_limit_excess_rad": 1.1437792778015137, "max_joint_limit_excess_joint": "multi_leap_r_9", "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": 299, "pour_cleaner": 1009, "close_lid": 1885}, "violation_counts": {"high_speed_obj_021_bleach_cleanser_2": 1}, "policy_query_count": 22, "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_1x_icl/source_runs/task_51_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_51_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..aa057b9881e272e376c01677ddb3bc313f8980ae --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_51_episode_08/summary.json @@ -0,0 +1,214 @@ +{ + "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": 31.916666666666135 + }, + "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": 0.0005221932114882506 + }, + "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": 1.0684073107049787, + "expert_time_s": 34.1, + "expert_time_step": 2046, + "avg_steps_to_success": 1915, + "avg_policy_steps_to_success": 639, + "avg_policy_queries_to_success": 22 + }, + "safety": { + "safety_violation_events_per_step": 0.0005221932114882506, + "violation_counts": { + "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": 0.38798955613577024, + "finger_joint_limit_saturation_step_rate": 0.10809399477806789, + "max_joint_limit_excess_rad": 1.1437792778015137, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_1": 17, + "leap_l_10": 475, + "leap_l_12": 40, + "leap_l_14": 24, + "leap_l_15": 1, + "leap_l_2": 59, + "multi_leap_r_2": 6, + "multi_leap_r_9": 189 + }, + "joint_limit_hard_counts": { + "leap_l_1": 1, + "leap_l_10": 21, + "leap_l_12": 2, + "leap_l_13": 1, + "leap_l_14": 1, + "leap_l_15": 1, + "leap_l_2": 14, + "leap_l_3": 1, + "leap_l_6": 1, + "multi_leap_r_2": 1, + "multi_leap_r_9": 2 + }, + "joint_limit_hard_episode_events": 33, + "finger_joint_limit_saturation_counts": { + "leap_l_10": 7, + "leap_l_12": 30, + "leap_l_14": 19, + "leap_l_2": 7, + "multi_leap_r_9": 152 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_1": 0.17441058158874512, + "leap_l_10": 0.317018985748291, + "leap_l_11": 0.004445761442184448, + "leap_l_12": 0.7742586135864258, + "leap_l_13": 0.006036996841430664, + "leap_l_14": 0.5133529901504517, + "leap_l_15": 0.032002806663513184, + "leap_l_2": 0.34779852628707886, + "leap_l_3": 0.0061879754066467285, + "leap_l_6": 0.005561947822570801, + "multi_leap_r_2": 0.07765775918960571, + "multi_leap_r_9": 1.1437792778015137 + }, + "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": 50.35662909815692, + "joint_effort_rms": 78.2449011966603, + "joint_jerk_rms": 5216.454746664885, + "joint_velocity_rms": 0.9915783330807286 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.6950026371633007, + "mean_kinematic_grasp_stability": 0.4051178071578336, + "per_object_best_kinematic_grasp_stability": { + "obj_021_bleach_cleanser_2": 0.6950026371633007 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8739773716275309, + "mean_duration_score": 0.38598781549173194, + "mean_hold_score": 0.35663185378589973, + "mean_kinematic_stability_score": 0.21006892036957114, + "mean_legacy_gsi": 0.47671723760846785, + "mean_lift_score": 0.5185378590078329, + "mean_motion_stability_score": 0.3605446302879005 + } + }, + "tool": { + "tool_selection_accuracy": 1.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 2, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1915, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_51_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_51_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6fc116054938f5323759c6a4d6181212ed56f864 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_51_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/51_toilet_lid_cleaner_pour.yaml", "episode_index": 9, "seed": 205100008, "success": false, "steps": 3069, "metric_schema_version": "core-v1.8-policy-step-query-split", 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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": 0.3333333333333333, "latched_normalized_progress_score": 0.3333333333333333, "latched_chain_depth_progress_score": 0.3333333333333333, "latched_chain_depth": 1, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9991579882034176, "mean_kinematic_grasp_stability": 0.6511657642697712, "per_object_best_kinematic_grasp_stability": {"obj_021_bleach_cleanser_2": 0.9991579882034176}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.409534984568007, "mean_kinematic_stability_score": 0.167830602651479, "mean_lift_score": 0.34278266536331053, "mean_hold_score": 0.29095796676441776, "mean_motion_stability_score": 0.2758524860689044, "mean_duration_score": 0.33708048224177256, "mean_anti_slip_score": 0.8672748995329617}, "robot_motion_metrics": {"joint_velocity_rms": 0.9200328501691899, "joint_acceleration_rms": 23.632813107290495, "joint_jerk_rms": 2318.1425579501056, "joint_effort_rms": 88.05327205270052}, "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": {"leap_l_1": 31, "leap_l_10": 53, "leap_l_12": 3, "leap_l_2": 246, "multi_leap_r_11": 43, "multi_leap_r_5": 1341, "multi_leap_r_6": 114, "multi_leap_r_9": 1496}, "joint_limit_hard_counts": {"leap_l_1": 1, "leap_l_10": 22, "leap_l_12": 7, "leap_l_13": 2, "leap_l_15": 1, "leap_l_2": 25, "multi_leap_r_11": 1, "multi_leap_r_5": 1, "multi_leap_r_6": 1, "multi_leap_r_9": 4}, "finger_joint_limit_saturation_counts": {"leap_l_1": 8, "leap_l_2": 145, "multi_leap_r_11": 29, "multi_leap_r_5": 1279, "multi_leap_r_6": 108, "multi_leap_r_9": 1482}, "joint_limit_max_excess_by_joint": {"leap_l_1": 0.2268235683441162, "leap_l_10": 0.23113465309143066, "leap_l_11": 0.0045382678508758545, "leap_l_12": 0.026159048080444336, "leap_l_13": 0.008328676223754883, "leap_l_15": 0.007959485054016113, "leap_l_2": 1.447740077972412, "leap_l_3": 0.0009528994560241699, "multi_leap_r_11": 0.3777793049812317, "multi_leap_r_5": 1.4568877220153809, "multi_leap_r_6": 1.092919945716858, "multi_leap_r_9": 1.5552098751068115}, "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": 25, "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": -0.5444333553314209, "hard_excess_rad": 0.03843343257904053, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.4541574716567993, "shielded_target": -0.4541574716567993}], "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": [-1.691540241241455, -1.461869239807129, 1.5700000524520874, 0.021889228373765945, -1.5700000524520874, -2.0607404708862305, 1.0337180417208103e-10, 1.2487026453018188, -1.5700000524520874, 0.6431191563606262, 1.5700000524520874, -1.1719778776168823, -3.378299584522182e-10, -1.5700000524520874, 0.4049665629863739, -1.3745602369308472, -0.15111663937568665, 0.3044891357421875, -2.442999839782715, -1.3070141413606962e-08, 1.6590508966629613e-09, 4.444943968451298e-08, 7.120088696410676e-08, -0.4541574716567993, -0.0010000000474974513, -0.13339222967624664, -0.3716600835323334, 3.709943741103672e-10, -0.3581860661506653, -1.340000033378601, -0.07398238033056259, -0.35694172978401184, -2.9792726508048872e-08, -1.3938196152807336e-09, 3.5788826124871775e-08, 8.848283528095635e-08, -9.724623190043857e-11, 3.4901670442621935e-10, -9.28516378367883e-12, 1.2323198017583081e-11], "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": [-1.691540241241455, -1.461869239807129, 1.5700000524520874, 0.021889228373765945, -1.5700000524520874, -2.0607404708862305, 1.0337180417208103e-10, 1.2487026453018188, -1.5700000524520874, 0.6431191563606262, 1.5700000524520874, -1.1719778776168823, -3.378299584522182e-10, -1.5700000524520874, 0.4049665629863739, -1.3745602369308472, -0.15111663937568665, 0.3044891357421875, 0.0, -2.442999839782715, 0.0, 0.0, -1.3070141413606962e-08, 1.6590508966629613e-09, 4.444943968451298e-08, 7.120088696410676e-08, -0.4541574716567993, -0.0010000000474974513, -0.13339222967624664, -0.3716600835323334, 0.0, 3.709943741103672e-10, 0.0, 0.0, -0.3581860661506653, -1.340000033378601, -0.07398238033056259, -0.35694172978401184, -2.9792726508048872e-08, -1.3938196152807336e-09, 3.5788826124871775e-08, 8.848283528095635e-08, -9.724623190043857e-11, 3.4901670442621935e-10, -9.28516378367883e-12, 1.2323198017583081e-11], "shielded_full_target": [-1.691540241241455, -1.461869239807129, 1.5700000524520874, 0.021889228373765945, -1.5700000524520874, -2.0607404708862305, 1.0337180417208103e-10, 1.2487026453018188, -1.5700000524520874, 0.6431191563606262, 1.5700000524520874, -1.1719778776168823, -3.378299584522182e-10, -1.5700000524520874, 0.4049665629863739, -1.3745602369308472, -0.15111663937568665, 0.3044891357421875, 0.0, -2.442999839782715, 0.0, 0.0, -1.3070141413606962e-08, 1.6590508966629613e-09, 4.444943968451298e-08, 7.120088696410676e-08, -0.4541574716567993, -0.0010000000474974513, -0.13339222967624664, -0.3716600835323334, 0.0, 3.709943741103672e-10, 0.0, 0.0, -0.3581860661506653, -1.340000033378601, -0.07398238033056259, -0.35694172978401184, -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": 1522, "joint_limit_hard_episode_events": 17, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 1482, "max_joint_limit_excess_rad": 1.5552098751068115, "max_joint_limit_excess_joint": "multi_leap_r_9", "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": 1522, "joint_limit_active_step_rate": 0.49592701205604434, "finger_joint_limit_saturation_steps": 1482, "finger_joint_limit_saturation_step_rate": 0.48289345063538613, "max_joint_limit_excess_rad": 1.5552098751068115, "max_joint_limit_excess_joint": "multi_leap_r_9", "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": 1828, "pour_cleaner": null, "close_lid": null}, "violation_counts": {}, "policy_query_count": 29, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3069, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_51_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_51_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..5ad21d650f028269db5a2a9c1e280c2facf83f1f --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_51_episode_09/summary.json @@ -0,0 +1,212 @@ +{ + "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": 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": 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": 0.49592701205604434, + "finger_joint_limit_saturation_step_rate": 0.48289345063538613, + "max_joint_limit_excess_rad": 1.5552098751068115, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_1": 31, + "leap_l_10": 53, + "leap_l_12": 3, + "leap_l_2": 246, + "multi_leap_r_11": 43, + "multi_leap_r_5": 1341, + "multi_leap_r_6": 114, + "multi_leap_r_9": 1496 + }, + "joint_limit_hard_counts": { + "leap_l_1": 1, + "leap_l_10": 22, + "leap_l_12": 7, + "leap_l_13": 2, + "leap_l_15": 1, + "leap_l_2": 25, + "multi_leap_r_11": 1, + "multi_leap_r_5": 1, + "multi_leap_r_6": 1, + "multi_leap_r_9": 4 + }, + "joint_limit_hard_episode_events": 17, + "finger_joint_limit_saturation_counts": { + "leap_l_1": 8, + "leap_l_2": 145, + "multi_leap_r_11": 29, + "multi_leap_r_5": 1279, + "multi_leap_r_6": 108, + "multi_leap_r_9": 1482 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_1": 0.2268235683441162, + "leap_l_10": 0.23113465309143066, + "leap_l_11": 0.0045382678508758545, + "leap_l_12": 0.026159048080444336, + "leap_l_13": 0.008328676223754883, + "leap_l_15": 0.007959485054016113, + "leap_l_2": 1.447740077972412, + "leap_l_3": 0.0009528994560241699, + "multi_leap_r_11": 0.3777793049812317, + "multi_leap_r_5": 1.4568877220153809, + "multi_leap_r_6": 1.092919945716858, + "multi_leap_r_9": 1.5552098751068115 + }, + "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": 23.632813107290495, + "joint_effort_rms": 88.05327205270052, + "joint_jerk_rms": 2318.1425579501056, + "joint_velocity_rms": 0.9200328501691899 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9991579882034176, + "mean_kinematic_grasp_stability": 0.6511657642697712, + "per_object_best_kinematic_grasp_stability": { + "obj_021_bleach_cleanser_2": 0.9991579882034176 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8672748995329617, + "mean_duration_score": 0.33708048224177256, + "mean_hold_score": 0.29095796676441776, + "mean_kinematic_stability_score": 0.167830602651479, + "mean_legacy_gsi": 0.409534984568007, + "mean_lift_score": 0.34278266536331053, + "mean_motion_stability_score": 0.2758524860689044 + } + }, + "tool": { + "tool_selection_accuracy": 1.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 3, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3069, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_51_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_51_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6b75fe57608623e7e6fd7a4705dfb53a95b7ff3 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_51_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/51_toilet_lid_cleaner_pour.yaml", "episode_index": 10, "seed": 205100009, "success": true, "steps": 2966, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 205100009, "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": "FloorPlan1", "asset_split": "unseen", 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0000000000000000000000000000000000000000..822667b7424833b8233bfa19a90d4c6b7c3b0ee7 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_51_episode_10/summary.json @@ -0,0 +1,204 @@ +{ + "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": 49.43333333333181 + }, + "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": 0.6666666666666666, + "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": 0.6898179366149909, + "expert_time_s": 34.1, + "expert_time_step": 2046, + "avg_steps_to_success": 2966, + "avg_policy_steps_to_success": 989, + "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": 1.0, + "joint_limit_active_step_rate": 0.10182063385030343, + "finger_joint_limit_saturation_step_rate": 0.03978422117329737, + "max_joint_limit_excess_rad": 0.7866658568382263, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_10": 28, + "leap_l_11": 10, + "leap_l_12": 24, + "leap_l_2": 60, + "leap_l_5": 28, + "leap_l_9": 72, + "multi_leap_r_9": 104 + }, + "joint_limit_hard_counts": { + "leap_l_10": 7, + "leap_l_11": 5, + "leap_l_12": 11, + "leap_l_13": 1, + "leap_l_2": 24, + "leap_l_5": 1, + "leap_l_9": 1, + "multi_leap_r_9": 2 + }, + "joint_limit_hard_episode_events": 38, + "finger_joint_limit_saturation_counts": { + "leap_l_2": 14, + "leap_l_9": 23, + "multi_leap_r_9": 81 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_10": 0.07678472995758057, + "leap_l_11": 0.11354196071624756, + "leap_l_12": 0.09247946739196777, + "leap_l_13": 0.006876945495605469, + "leap_l_15": 0.003296494483947754, + "leap_l_2": 0.4347880482673645, + "leap_l_3": 0.00040140748023986816, + "leap_l_5": 0.10505503416061401, + "leap_l_9": 0.2436368465423584, + "multi_leap_r_9": 0.7866658568382263 + }, + "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": 23.978940902299907, + "joint_effort_rms": 61.81153462716346, + "joint_jerk_rms": 2416.4212366498446, + "joint_velocity_rms": 0.6613583943357826 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9996526333333186, + "mean_kinematic_grasp_stability": 0.5850984675084052, + "per_object_best_kinematic_grasp_stability": { + "obj_021_bleach_cleanser_2": 0.9996526333333186 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8933468195100128, + "mean_duration_score": 0.45869858395144975, + "mean_hold_score": 0.41593054619015435, + "mean_kinematic_stability_score": 0.2714415007726115, + "mean_legacy_gsi": 0.5122629023587262, + "mean_lift_score": 0.46392447741065407, + "mean_motion_stability_score": 0.3870802097520578 + } + }, + "tool": { + "tool_selection_accuracy": 1.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 5, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2966, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_51_episode_11/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_51_episode_11/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..382fcba7994ce9d28dbb2124eddeea189012397d --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_51_episode_11/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/51_toilet_lid_cleaner_pour.yaml", "episode_index": 11, "seed": 205100010, "success": true, "steps": 2359, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 205100010, 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"finger_joint_limit_saturation_counts": {"leap_l_13": 32, "leap_l_2": 117}, "joint_limit_max_excess_by_joint": {"leap_l_1": 0.11099481582641602, "leap_l_10": 0.07061231136322021, "leap_l_11": 0.007111608982086182, "leap_l_12": 0.033599138259887695, "leap_l_13": 0.3696873188018799, "leap_l_15": 0.003969669342041016, "leap_l_2": 1.4947503805160522, "leap_l_3": 0.002874046564102173, "multi_leap_r_9": 0.14026302099227905}, "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": 112, "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": 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[-1.9700593948364258, -2.0537803173065186, 1.443192481994629, 0.08695622533559799, -1.5680638551712036, -2.619464635848999, -0.08832026273012161, 1.2026082277297974, -2.3314666748046875, 0.509280800819397, 1.5302987098693848, -1.3077080249786377, 1.3202433586120605, -1.0543310642242432, 1.1883922815322876, -1.9702738523483276, 0.22258131206035614, 1.5346968173980713, -2.3217999935150146, 0.6670199036598206, 1.4830050468444824, 0.35924798250198364, 0.08604879677295685, -0.46541810035705566, -0.0009499996085651219, 0.8395383954048157, -0.4423867166042328, 0.01108546368777752, -0.3471517860889435, -1.2739499807357788, 0.7192475199699402, -0.3464723825454712, -0.17364543676376343, 1.2888182401657104, 0.023554110899567604, -0.007848240435123444, -0.3290950357913971, 0.0023546006996184587, 0.00223491876386106, -0.003829024964943528], "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": [-1.9700593948364258, -2.0537803173065186, 1.443192481994629, 0.08695622533559799, -1.5680638551712036, -2.619464635848999, -0.08832026273012161, 1.2026082277297974, -2.3314666748046875, 0.509280800819397, 1.5302987098693848, -1.3077080249786377, 1.3202433586120605, -1.0543310642242432, 1.1883922815322876, -1.9702738523483276, 0.22258131206035614, 1.5346968173980713, 0.0, -2.3217999935150146, 0.0, 0.0, 0.6670199036598206, 1.4830050468444824, 0.35924798250198364, 0.08604879677295685, -0.46541810035705566, -0.0009499996085651219, 0.8395383954048157, -0.4423867166042328, 0.0, 0.01108546368777752, 0.0, 0.0, -0.3471517860889435, -1.2739499807357788, 0.7192475199699402, -0.3464723825454712, -0.17364543676376343, 1.2888182401657104, 0.023554110899567604, -0.007848240435123444, -0.3290950357913971, 0.0023546006996184587, 0.00223491876386106, -0.003829024964943528], "shielded_full_target": [-1.9700593948364258, -2.0537803173065186, 1.443192481994629, 0.08695622533559799, -1.5680638551712036, -2.619464635848999, -0.08832026273012161, 1.2026082277297974, -2.3314666748046875, 0.509280800819397, 1.5302987098693848, -1.3077080249786377, 1.3202433586120605, -1.0543310642242432, 1.1883922815322876, -1.9702738523483276, 0.22258131206035614, 1.5346968173980713, 0.0, -2.3217999935150146, 0.0, 0.0, 0.6670199036598206, 1.4830050468444824, 0.35924798250198364, 0.08604879677295685, -0.46541810035705566, -0.0009499996085651219, 0.8395383954048157, -0.4423867166042328, 0.0, 0.01108546368777752, 0.0, 0.0, -0.3471517860889435, -1.2739499807357788, 0.7192475199699402, -0.3464723825454712, -0.17364543676376343, 1.2888182401657104, 0.023554110899567604, -0.007848240435123444, -0.3290950357913971, 0.0023546006996184587, 0.00223491876386106, -0.003829024964943528]}, "joint_limit_active_steps": 278, "joint_limit_hard_episode_events": 22, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 149, "max_joint_limit_excess_rad": 1.4947503805160522, "max_joint_limit_excess_joint": "leap_l_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": 278, "joint_limit_active_step_rate": 0.11784654514624841, "finger_joint_limit_saturation_steps": 149, "finger_joint_limit_saturation_step_rate": 0.06316235693090293, "max_joint_limit_excess_rad": 1.4947503805160522, "max_joint_limit_excess_joint": "leap_l_2", "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": 292, "pour_cleaner": 1202, "close_lid": 2329}, "violation_counts": {}, "policy_query_count": 27, "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_1x_icl/source_runs/task_51_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_51_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..114ae19e52a67817d6ae7017af6ce678c4f3876a --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_51_episode_11/summary.json @@ -0,0 +1,200 @@ +{ + "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": 39.31666666666572 + }, + "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": 0.6666666666666666, + "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": 0.867316659601547, + "expert_time_s": 34.1, + "expert_time_step": 2046, + "avg_steps_to_success": 2359, + "avg_policy_steps_to_success": 787, + "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": 1.0, + "joint_limit_active_step_rate": 0.11784654514624841, + "finger_joint_limit_saturation_step_rate": 0.06316235693090293, + "max_joint_limit_excess_rad": 1.4947503805160522, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_1": 13, + "leap_l_10": 21, + "leap_l_12": 5, + "leap_l_13": 46, + "leap_l_2": 172, + "multi_leap_r_9": 31 + }, + "joint_limit_hard_counts": { + "leap_l_1": 1, + "leap_l_10": 10, + "leap_l_11": 1, + "leap_l_12": 7, + "leap_l_13": 1, + "leap_l_2": 11, + "multi_leap_r_9": 2 + }, + "joint_limit_hard_episode_events": 22, + "finger_joint_limit_saturation_counts": { + "leap_l_13": 32, + "leap_l_2": 117 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_1": 0.11099481582641602, + "leap_l_10": 0.07061231136322021, + "leap_l_11": 0.007111608982086182, + "leap_l_12": 0.033599138259887695, + "leap_l_13": 0.3696873188018799, + "leap_l_15": 0.003969669342041016, + "leap_l_2": 1.4947503805160522, + "leap_l_3": 0.002874046564102173, + "multi_leap_r_9": 0.14026302099227905 + }, + "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": 28.03390108374933, + "joint_effort_rms": 64.38608516483566, + "joint_jerk_rms": 2830.106703288831, + "joint_velocity_rms": 0.7046509786360852 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9370567284053802, + "mean_kinematic_grasp_stability": 0.5333232058230081, + "per_object_best_kinematic_grasp_stability": { + "obj_021_bleach_cleanser_2": 0.9370567284053802 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7857849371202843, + "mean_duration_score": 0.6911827045358203, + "mean_hold_score": 0.6642221280203479, + "mean_kinematic_stability_score": 0.37235409919054446, + "mean_legacy_gsi": 0.6625982550113264, + "mean_lift_score": 0.6981771937261552, + "mean_motion_stability_score": 0.5560326530989257 + } + }, + "tool": { + "tool_selection_accuracy": 1.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 2, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2359, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_51_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_51_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..172991df18f3ec47b973ee9ee3a073769601f03c --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_51_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/51_toilet_lid_cleaner_pour.yaml", "episode_index": 12, "seed": 205100011, "success": false, "steps": 3069, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 205100011, "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": 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"current_chain_depth": 2, "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": 0.9143221386070334, "mean_kinematic_grasp_stability": 0.33070576733808665, "per_object_best_kinematic_grasp_stability": {"obj_021_bleach_cleanser_2": 0.9143221386070334}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.3445705628480914, "mean_kinematic_stability_score": 0.013685119730184752, "mean_lift_score": 0.32388400130335615, "mean_hold_score": 0.24843597262952102, "mean_motion_stability_score": 0.20903110275256565, "mean_duration_score": 0.6982296079070273, "mean_anti_slip_score": 0.3333333333333333}, "robot_motion_metrics": {"joint_velocity_rms": 0.7017636208991658, "joint_acceleration_rms": 22.17387697344878, "joint_jerk_rms": 2246.444030017872, "joint_effort_rms": 70.024574472399}, 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"joint_limit_max_excess_by_joint": {"joint7": 0.5528488159179688, "leap_l_10": 2.1122384071350098, "leap_l_11": 0.007629692554473877, "leap_l_12": 0.2807180881500244, "leap_l_13": 0.009695768356323242, "leap_l_15": 0.0008553266525268555, "leap_l_2": 0.6257500648498535, "leap_l_3": 0.000462263822555542, "multi_leap_r_9": 1.2847084999084473}, "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": 95, "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": -0.5123361945152283, "hard_excess_rad": 0.0063362717628479, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.4011209309101105, "shielded_target": -0.4011209309101105}], "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": [-1.619726538658142, -1.9382760524749756, 1.5700000524520874, -0.29442065954208374, -1.5700000524520874, -2.242668867111206, 1.0337180417208103e-10, 1.1915135383605957, -1.5700000524520874, 0.26559415459632874, 1.5700000524520874, -1.5008575916290283, -3.378299584522182e-10, -1.5700000524520874, 1.063549280166626, -1.6704877614974976, 0.20332174003124237, 1.3682938814163208, -1.954399824142456, -1.3070141413606962e-08, 1.6590508966629613e-09, 4.444943968451298e-08, 7.120088696410676e-08, -0.4011209309101105, -0.0007999983499757946, 0.7584916949272156, -0.3947656750679016, 3.709943741103672e-10, -0.29280000925064087, -1.0720000267028809, 0.6452111005783081, -0.29280000925064087, -2.9792726508048872e-08, -1.3938196152807336e-09, 3.5788826124871775e-08, 8.848283528095635e-08, -9.724623190043857e-11, 3.4901670442621935e-10, -9.28516378367883e-12, 1.2323198017583081e-11], "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": [-1.619726538658142, -1.9382760524749756, 1.5700000524520874, -0.29442065954208374, -1.5700000524520874, -2.242668867111206, 1.0337180417208103e-10, 1.1915135383605957, -1.5700000524520874, 0.26559415459632874, 1.5700000524520874, -1.5008575916290283, -3.378299584522182e-10, -1.5700000524520874, 1.063549280166626, -1.6704877614974976, 0.20332174003124237, 1.3682938814163208, 0.0, -1.954399824142456, 0.0, 0.0, -1.3070141413606962e-08, 1.6590508966629613e-09, 4.444943968451298e-08, 7.120088696410676e-08, -0.4011209309101105, -0.0007999983499757946, 0.7584916949272156, -0.3947656750679016, 0.0, 3.709943741103672e-10, 0.0, 0.0, -0.29280000925064087, -1.0720000267028809, 0.6452111005783081, -0.29280000925064087, -2.9792726508048872e-08, -1.3938196152807336e-09, 3.5788826124871775e-08, 8.848283528095635e-08, -9.724623190043857e-11, 3.4901670442621935e-10, -9.28516378367883e-12, 1.2323198017583081e-11], "shielded_full_target": [-1.619726538658142, -1.9382760524749756, 1.5700000524520874, -0.29442065954208374, -1.5700000524520874, -2.242668867111206, 1.0337180417208103e-10, 1.1915135383605957, -1.5700000524520874, 0.26559415459632874, 1.5700000524520874, -1.5008575916290283, -3.378299584522182e-10, -1.5700000524520874, 1.063549280166626, -1.6704877614974976, 0.20332174003124237, 1.3682938814163208, 0.0, -1.954399824142456, 0.0, 0.0, -1.3070141413606962e-08, 1.6590508966629613e-09, 4.444943968451298e-08, 7.120088696410676e-08, -0.4011209309101105, -0.0007999983499757946, 0.7584916949272156, -0.3947656750679016, 0.0, 3.709943741103672e-10, 0.0, 0.0, -0.29280000925064087, -1.0720000267028809, 0.6452111005783081, -0.29280000925064087, -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": 430, "joint_limit_hard_episode_events": 23, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 310, "max_joint_limit_excess_rad": 2.1122384071350098, "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": 430, "joint_limit_active_step_rate": 0.1401107852720756, "finger_joint_limit_saturation_steps": 310, "finger_joint_limit_saturation_step_rate": 0.10101010101010101, "max_joint_limit_excess_rad": 2.1122384071350098, "max_joint_limit_excess_joint": "leap_l_10", "stage_completion": {"open_lid": true, "pour_cleaner": true, "close_lid": false}, "current_stage_completion": {"open_lid": false, "pour_cleaner": true, "close_lid": false}, "stage_first_completion_step": {"open_lid": 378, "pour_cleaner": 1062, "close_lid": null}, "violation_counts": {}, "policy_query_count": 31, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3069, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_51_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_51_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b2130232e7adbac437bb01c16e606a009b0fcbc4 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_51_episode_12/summary.json @@ -0,0 +1,201 @@ +{ + "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": 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": 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": 0.0, + "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": 0.3333333333333333, + "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": 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": 0.1401107852720756, + "finger_joint_limit_saturation_step_rate": 0.10101010101010101, + "max_joint_limit_excess_rad": 2.1122384071350098, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "joint7": 126, + "leap_l_10": 242, + "leap_l_12": 22, + "leap_l_2": 88, + 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"finger_joint_limit_saturation_step_rate": 0.03707270101107366, "max_joint_limit_excess_rad": 0.9591153860092163, "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": 303, "pour_cleaner": 1042, "close_lid": 2047}, "violation_counts": {}, "policy_query_count": 25, "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_1x_icl/source_runs/task_51_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_51_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..bdb152a988110993208585d892b1c128abea3683 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_51_episode_13/summary.json @@ -0,0 +1,197 @@ +{ + "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": 34.616666666665985 + }, + "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": 0.6666666666666666, + "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": 0.985074626865691, + "expert_time_s": 34.1, + "expert_time_step": 2046, + "avg_steps_to_success": 2077, + "avg_policy_steps_to_success": 693, + "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": 0.10014443909484834, + "finger_joint_limit_saturation_step_rate": 0.03707270101107366, + "max_joint_limit_excess_rad": 0.9591153860092163, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_10": 97, + "leap_l_2": 48, + "multi_leap_r_10": 11, + "multi_leap_r_9": 72 + }, + "joint_limit_hard_counts": { + "leap_l_10": 16, + "leap_l_11": 4, + "leap_l_12": 4, + "leap_l_2": 20, + "multi_leap_r_10": 1, + "multi_leap_r_9": 2 + }, + "joint_limit_hard_episode_events": 33, + "finger_joint_limit_saturation_counts": { + "leap_l_10": 46, + "multi_leap_r_9": 31 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_10": 0.9591153860092163, + "leap_l_11": 0.006669431924819946, + "leap_l_12": 0.006315708160400391, + "leap_l_13": 0.005105257034301758, + "leap_l_15": 0.0004938840866088867, + "leap_l_2": 0.15376651287078857, + "leap_l_3": 0.0015269219875335693, + "multi_leap_r_10": 0.15311342477798462, + "multi_leap_r_9": 0.6466280817985535 + }, + "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": 35.172882201970026, + "joint_effort_rms": 56.479394071993, + "joint_jerk_rms": 3611.2352534871156, + "joint_velocity_rms": 0.7942774880906638 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9331430958623327, + "mean_kinematic_grasp_stability": 0.3506211425020445, + "per_object_best_kinematic_grasp_stability": { + "obj_021_bleach_cleanser_2": 0.9331430958623327 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8876584817846508, + "mean_duration_score": 0.4579521746108169, + "mean_hold_score": 0.1226528647087146, + "mean_kinematic_stability_score": 0.0811982520671562, + "mean_legacy_gsi": 0.3509390633476049, + "mean_lift_score": 0.2315840154068368, + "mean_motion_stability_score": 0.12462636672765029 + } + }, + "tool": { + "tool_selection_accuracy": 1.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 3, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2077, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_51_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_51_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..29a0e1a2d71be698900b018954a69da081f4b14f --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_51_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/51_toilet_lid_cleaner_pour.yaml", "episode_index": 14, "seed": 205100013, "success": true, "steps": 2456, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 205100013, "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, 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{"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_121_toilet_1": {"position": [-0.08882617717320054, 0.30368214584447656, 0.9932502501753109], "rpy_deg": [0.0, 0.0, 106.09488917079136]}, "obj_021_bleach_cleanser_2": {"position": [0.21725956166600835, 0.14570731067925163, 0.7800552911827995], "rpy_deg": [0.0, 0.0, -6.359892876283362]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "articulation_multi", "robot_key": "multi_xarm7_with_leap", "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": 2426, "stable_success_step": 2455, "first_stable_success_step": 2455, "steps_to_stable_success": 2456, "policy_steps_to_stable_success": 819, "policy_queries_to_stable_success": 26, "time_to_stable_success_s": 40.93333333333229, "expert_time_s": 34.1, "expert_time_step": 2046, "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": 0.6666666666666666, "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": 0.8330618892508356, "kinematic_grasp_stability_index": 0.8728809951265016, "mean_kinematic_grasp_stability": 0.6517394351918953, "per_object_best_kinematic_grasp_stability": {"obj_021_bleach_cleanser_2": 0.8728809951265016}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.5453157791160759, "mean_kinematic_stability_score": 0.08199816183806825, "mean_lift_score": 0.6392508143322475, "mean_hold_score": 0.612805374592834, "mean_motion_stability_score": 0.4768288488202976, "mean_duration_score": 0.6870928338762216, "mean_anti_slip_score": 0.4301031487513576}, "robot_motion_metrics": {"joint_velocity_rms": 0.5783242308494513, "joint_acceleration_rms": 18.05433346808431, "joint_jerk_rms": 1854.5325967559397, "joint_effort_rms": 52.16835474247537}, "tool_selection_accuracy": 1.0, "tool_switch_success_rate": 0.0, "tool_switch_total": 2, "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": 3, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"joint7": 48, "leap_l_1": 58, "leap_l_10": 101, "leap_l_11": 4, "leap_l_2": 51}, "joint_limit_hard_counts": {"joint7": 1, "leap_l_1": 1, "leap_l_10": 13, "leap_l_11": 2, "leap_l_2": 14}, "finger_joint_limit_saturation_counts": {"leap_l_1": 37, "leap_l_10": 58, "leap_l_2": 15}, "joint_limit_max_excess_by_joint": {"joint7": 0.23345327377319336, "leap_l_1": 0.3120039701461792, "leap_l_10": 0.4967005252838135, "leap_l_11": 0.030701488256454468, "leap_l_12": 0.0030946731567382812, "leap_l_13": 0.001346588134765625, "leap_l_15": 0.0004965066909790039, "leap_l_2": 0.49004077911376953, "leap_l_3": 0.00020614266395568848, "multi_leap_r_9": 0.0029820501804351807}, "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": 67, "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": -0.5329945087432861, "hard_excess_rad": 0.02699458599090576, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.3294921815395355, "shielded_target": -0.3294921815395355}], "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": [-1.8792401552200317, -1.8250598907470703, 1.5700000524520874, 0.06019417941570282, -1.5700000524520874, -2.2259480953216553, 1.0337180417208103e-10, 1.623583436012268, -1.5700000524520874, 0.3470093309879303, 1.5700000524520874, -1.7154467105865479, -3.378299584522182e-10, -1.5700000524520874, 0.8736297488212585, -1.3721864223480225, 0.16701430082321167, 1.1239556074142456, -1.6053998470306396, -1.3070141413606962e-08, 1.6590508966629613e-09, 4.444943968451298e-08, 7.120088696410676e-08, -0.3294921815395355, -0.0006571400444954634, 0.6230467557907104, -0.3242718279361725, 3.709943741103672e-10, -0.24051427841186523, -0.8805714249610901, 0.5299948453903198, -0.24051427841186523, -2.9792726508048872e-08, -1.3938196152807336e-09, 3.5788826124871775e-08, 8.848283528095635e-08, -9.724623190043857e-11, 3.4901670442621935e-10, -9.28516378367883e-12, 1.2323198017583081e-11], "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": [-1.8792401552200317, -1.8250598907470703, 1.5700000524520874, 0.06019417941570282, -1.5700000524520874, -2.2259480953216553, 1.0337180417208103e-10, 1.623583436012268, -1.5700000524520874, 0.3470093309879303, 1.5700000524520874, -1.7154467105865479, -3.378299584522182e-10, -1.5700000524520874, 0.8736297488212585, -1.3721864223480225, 0.16701430082321167, 1.1239556074142456, 0.0, -1.6053998470306396, 0.0, 0.0, -1.3070141413606962e-08, 1.6590508966629613e-09, 4.444943968451298e-08, 7.120088696410676e-08, -0.3294921815395355, -0.0006571400444954634, 0.6230467557907104, -0.3242718279361725, 0.0, 3.709943741103672e-10, 0.0, 0.0, -0.24051427841186523, -0.8805714249610901, 0.5299948453903198, -0.24051427841186523, -2.9792726508048872e-08, -1.3938196152807336e-09, 3.5788826124871775e-08, 8.848283528095635e-08, -9.724623190043857e-11, 3.4901670442621935e-10, -9.28516378367883e-12, 1.2323198017583081e-11], "shielded_full_target": [-1.8792401552200317, -1.8250598907470703, 1.5700000524520874, 0.06019417941570282, -1.5700000524520874, -2.2259480953216553, 1.0337180417208103e-10, 1.623583436012268, -1.5700000524520874, 0.3470093309879303, 1.5700000524520874, -1.7154467105865479, -3.378299584522182e-10, -1.5700000524520874, 0.8736297488212585, -1.3721864223480225, 0.16701430082321167, 1.1239556074142456, 0.0, -1.6053998470306396, 0.0, 0.0, -1.3070141413606962e-08, 1.6590508966629613e-09, 4.444943968451298e-08, 7.120088696410676e-08, -0.3294921815395355, -0.0006571400444954634, 0.6230467557907104, -0.3242718279361725, 0.0, 3.709943741103672e-10, 0.0, 0.0, -0.24051427841186523, -0.8805714249610901, 0.5299948453903198, -0.24051427841186523, -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": 243, "joint_limit_hard_episode_events": 20, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 110, "max_joint_limit_excess_rad": 0.4967005252838135, "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": 243, "joint_limit_active_step_rate": 0.0989413680781759, "finger_joint_limit_saturation_steps": 110, "finger_joint_limit_saturation_step_rate": 0.04478827361563518, "max_joint_limit_excess_rad": 0.4967005252838135, "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": 230, "pour_cleaner": 1264, "close_lid": 2426}, "violation_counts": {}, "policy_query_count": 26, "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_1x_icl/source_runs/task_51_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_51_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..6f26ded3a857285836ceb3b7e9caf4b212455a45 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_51_episode_14/summary.json @@ -0,0 +1,199 @@ +{ + "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": 40.93333333333229 + }, + "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": 0.6666666666666666, + "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": 0.8330618892508356, + "expert_time_s": 34.1, + "expert_time_step": 2046, + "avg_steps_to_success": 2456, + "avg_policy_steps_to_success": 819, + "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": 0.0989413680781759, + "finger_joint_limit_saturation_step_rate": 0.04478827361563518, + "max_joint_limit_excess_rad": 0.4967005252838135, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "joint7": 48, + "leap_l_1": 58, + "leap_l_10": 101, + "leap_l_11": 4, + "leap_l_2": 51 + }, + "joint_limit_hard_counts": { + "joint7": 1, + "leap_l_1": 1, + "leap_l_10": 13, + "leap_l_11": 2, + "leap_l_2": 14 + }, + "joint_limit_hard_episode_events": 20, + "finger_joint_limit_saturation_counts": { + "leap_l_1": 37, + "leap_l_10": 58, + "leap_l_2": 15 + }, + "joint_limit_max_excess_by_joint": { + "joint7": 0.23345327377319336, + "leap_l_1": 0.3120039701461792, + "leap_l_10": 0.4967005252838135, + "leap_l_11": 0.030701488256454468, + "leap_l_12": 0.0030946731567382812, + "leap_l_13": 0.001346588134765625, + "leap_l_15": 0.0004965066909790039, + "leap_l_2": 0.49004077911376953, + "leap_l_3": 0.00020614266395568848, + "multi_leap_r_9": 0.0029820501804351807 + }, + "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": 18.05433346808431, + "joint_effort_rms": 52.16835474247537, + "joint_jerk_rms": 1854.5325967559397, + "joint_velocity_rms": 0.5783242308494513 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8728809951265016, + "mean_kinematic_grasp_stability": 0.6517394351918953, + "per_object_best_kinematic_grasp_stability": { + "obj_021_bleach_cleanser_2": 0.8728809951265016 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.4301031487513576, + "mean_duration_score": 0.6870928338762216, + "mean_hold_score": 0.612805374592834, + "mean_kinematic_stability_score": 0.08199816183806825, + "mean_legacy_gsi": 0.5453157791160759, + "mean_lift_score": 0.6392508143322475, + "mean_motion_stability_score": 0.4768288488202976 + } + }, + "tool": { + "tool_selection_accuracy": 1.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 2, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2456, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_60_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_60_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb4f85884622a11fc066b6a473291c73dbee7c9a --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_60_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/60_breadbasket_fast_food_loading.yaml", "episode_index": 5, "seed": 206000004, "success": false, "steps": 2985, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206000004, "base_seed": 206000000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 270.0, "base_yaw_deg": -90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan315", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan315_physics/scene.usda", "scene_offset": [1.7814, -0.84301, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_flooring_flooring0166_jpg", "asset_uri": "dex2bench_dataset/textures/flooring/flooring0166.jpg", "asset_category": "flooring", "asset_id": "flooring/flooring0166.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, 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{"obj_183_breadbasket_1": {"position": [0.45330839567471376, 0.22777014831006737, 0.770228758903471], "rpy_deg": [90.0, 0.0, 6.308705176712579]}, "obj_127_french_fries_2": {"position": [-0.38809703721798494, 0.2816685205692348, 0.8002659694914516], "rpy_deg": [0.0, 0.0, -4.554756464340183]}, "obj_128_hamburg_3": {"position": [-0.32, 0.18, 0.7702287500837905], "rpy_deg": [90.0, 0.0, 1.2458123792021354]}, "obj_182_bread_4": {"position": [0.009761272738213794, 0.2185804941849465, 0.8236118975345785], "rpy_deg": [0.0, 0.0, 21.691498693200348]}, "obj_163_baguette_5": {"position": [0.24, 0.1, 0.7702287574408879], "rpy_deg": [90.0, 0.0, 84.56387185431949]}}, "_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": 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": 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": 0.6927233678177582, "mean_kinematic_grasp_stability": 0.36206395534356056, "per_object_best_kinematic_grasp_stability": {"obj_127_french_fries_2": 0.0, "obj_128_hamburg_3": 0.20336174727363227, "obj_163_baguette_5": 0.6876925955208559, "obj_182_bread_4": 0.6927233678177582}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.35688880279597385, "mean_kinematic_stability_score": 0.04921522609066992, "mean_lift_score": 0.3222780569514238, "mean_hold_score": 0.2437353433835888, "mean_motion_stability_score": 0.22671794280795085, "mean_duration_score": 0.41472082635399515, "mean_anti_slip_score": 0.6507537688442099}, "robot_motion_metrics": {"joint_velocity_rms": 0.8093109613780921, "joint_acceleration_rms": 30.012040699486978, "joint_jerk_rms": 3021.325882446479, "joint_effort_rms": 39.826833182074566}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0010050251256281718, "safety_violation_rate_time": 0.0010050251256281718, "safety_violation_rate_event": 0.0010050251256281408, "safety_violation_step_rate": 0.0010050251256281408, "safety_violation_events_per_step": 0.0010050251256281408, "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": {"left_index_pitch_joint": 2, "left_middle_pitch_joint": 2, "left_ring_mcp_joint": 1, "left_thumb_mcp_joint": 21, "right_index_pip_joint": 36, "right_index_pitch_joint": 82, "right_middle_pip_joint": 36, "right_middle_pitch_joint": 28, "right_pinky_mcp_joint": 283, "right_pinky_pip_joint": 5, "right_ring_pip_joint": 75, "right_thumb_mcp_joint": 15}, "joint_limit_hard_counts": {"left_index_pip_joint": 1, "left_index_pitch_joint": 1, "left_middle_pitch_joint": 1, "left_ring_mcp_joint": 1, "left_thumb_mcp_joint": 2, "right_index_pip_joint": 2, "right_index_pitch_joint": 2, "right_middle_pip_joint": 1, "right_middle_pitch_joint": 1, "right_pinky_mcp_joint": 3, "right_pinky_pip_joint": 1, "right_ring_pip_joint": 19, "right_thumb_mcp_joint": 2}, "finger_joint_limit_saturation_counts": {"left_thumb_mcp_joint": 1, "right_index_pitch_joint": 57, "right_middle_pip_joint": 13, "right_middle_pitch_joint": 4, "right_pinky_mcp_joint": 186, "right_ring_pip_joint": 52}, "joint_limit_max_excess_by_joint": {"left_index_dip_joint": 9.693134295218897e-09, "left_index_pip_joint": 0.006467044819146395, "left_index_pitch_joint": 0.017790306359529495, "left_middle_dip_joint": 5.723105914512416e-06, "left_middle_pip_joint": 0.00017434127221349627, "left_middle_pitch_joint": 0.01650257222354412, "left_pinky_mcp_joint": 0.0001311414671363309, "left_ring_dip_joint": 1.4265217942011077e-05, "left_ring_mcp_joint": 0.011595302261412144, "left_ring_pip_joint": 0.0001689788041403517, "left_thumb_dip_joint": 5.629873997547996e-11, "left_thumb_mcp_joint": 0.1754264086484909, "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": 0.3055189251899719, "right_pinky_dip_joint": 7.610395550727844e-05, "right_pinky_mcp_joint": 0.6813534498214722, "right_pinky_pip_joint": 0.022725814953446388, "right_ring_dip_joint": 0.0024717790074646473, "right_ring_mcp_joint": 0.004691161215305328, "right_ring_pip_joint": 0.6300420165061951, "right_thumb_dip_joint": 9.981979383155704e-05, "right_thumb_mcp_joint": 0.0854424238204956, "right_thumb_pip_joint": 5.423774928203784e-05, "right_thumb_yaw_joint": 4.155653732595965e-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": 137, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_pinky_mcp_joint", "role": "finger", "qpos": -0.007813476026058197, "hard_excess_rad": 0.007813476026058197, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4573498964309692, "operating_lower": 0.0, "operating_upper": 1.4573498964309692, "expanded_target": 0.04172443225979805, "shielded_target": 0.04172443225979805}], "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": [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, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 0.00580621650442481, 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": [2.046189069747925, -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], "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": 456, "joint_limit_hard_episode_events": 15, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 290, "max_joint_limit_excess_rad": 0.8209004998207092, "max_joint_limit_excess_joint": "right_index_pitch_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": 456, "joint_limit_active_step_rate": 0.1527638190954774, "finger_joint_limit_saturation_steps": 290, "finger_joint_limit_saturation_step_rate": 0.09715242881072027, "max_joint_limit_excess_rad": 0.8209004998207092, "max_joint_limit_excess_joint": "right_index_pitch_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_to_table_obj_128_hamburg_3": 1}, "policy_query_count": 23, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2985, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_60_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_60_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..3a2df4f85f85cbe99775e377e479edda03bb4203 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_60_episode_05/summary.json @@ -0,0 +1,243 @@ +{ + "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": 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": 2985, + "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": 0.0010050251256281408 + }, + "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": 0.0010050251256281408, + "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": 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"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, 0.42670300602912903, 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], "shielded_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, 0.42670300602912903, 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": 1084, "joint_limit_hard_episode_events": 29, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 771, "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": 1084, "joint_limit_active_step_rate": 0.36314907872696817, "finger_joint_limit_saturation_steps": 771, "finger_joint_limit_saturation_step_rate": 0.25829145728643216, "max_joint_limit_excess_rad": 1.4329684972763062, "max_joint_limit_excess_joint": "right_pinky_mcp_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_163_baguette_5": 1, "drop_to_table_obj_128_hamburg_3": 1}, "policy_query_count": 37, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2985, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_60_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_60_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..f2c01cceb36d9f97ece9e6d9e9f72cb08ea8561e --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_60_episode_06/summary.json @@ -0,0 +1,245 @@ +{ + "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": 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": 2985, + "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": 0.0006700167504187605 + }, + "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": 0.0006700167504187605, + "violation_counts": { + "drop_to_table_obj_128_hamburg_3": 1, + "drop_to_table_obj_163_baguette_5": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.36314907872696817, + "finger_joint_limit_saturation_step_rate": 0.25829145728643216, + "max_joint_limit_excess_rad": 1.4329684972763062, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_thumb_mcp_joint": 28, + "right_index_pip_joint": 62, + "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": 418, + "right_thumb_dip_joint": 79, + "right_thumb_mcp_joint": 61 + }, + "joint_limit_hard_counts": { + "left_thumb_mcp_joint": 1, + "right_index_pip_joint": 25, + "right_index_pitch_joint": 11, + "right_middle_pip_joint": 15, + "right_middle_pitch_joint": 10, + "right_pinky_mcp_joint": 12, + "right_pinky_pip_joint": 6, + "right_ring_mcp_joint": 12, + "right_ring_pip_joint": 29, + "right_thumb_dip_joint": 1, + "right_thumb_mcp_joint": 7, + "right_thumb_yaw_joint": 1 + }, + "joint_limit_hard_episode_events": 29, + "finger_joint_limit_saturation_counts": { + "left_thumb_mcp_joint": 10, + "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": 144, + "right_thumb_dip_joint": 71, + "right_thumb_mcp_joint": 7 + }, + "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": 0.00035053558531217277, + "left_middle_pitch_joint": 0.0004740409494843334, + "left_pinky_mcp_joint": 0.00040588935371488333, + "left_ring_dip_joint": 1.679127490206156e-05, + "left_ring_mcp_joint": 0.00037791344220750034, + "left_ring_pip_joint": 0.00031853641849011183, + "left_thumb_dip_joint": 5.632125668619814e-11, + "left_thumb_mcp_joint": 0.23702387511730194, + "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": 0.17646914720535278, + "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": 35.56218879076428, + "joint_effort_rms": 46.72162843652419, + "joint_jerk_rms": 3607.1556751727453, + "joint_velocity_rms": 0.9127262560428989 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8642052400637857, + "mean_kinematic_grasp_stability": 0.3543539175904572, + "per_object_best_kinematic_grasp_stability": { + "obj_127_french_fries_2": 0.0, + "obj_128_hamburg_3": 0.7743275716293039, + "obj_163_baguette_5": 0.8642052400637857, + "obj_182_bread_4": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8069514237855954, + "mean_duration_score": 0.2298911222780578, + "mean_hold_score": 0.15067839195980084, + "mean_kinematic_stability_score": 0.02169453214058829, + "mean_legacy_gsi": 0.29933595818164127, + "mean_lift_score": 0.2314070351758794, + "mean_motion_stability_score": 0.14495999362226475 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2985, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_60_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_60_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..416431a7c0b0cbe520e97df713363d2123d3a76a --- /dev/null +++ b/gpt6_astra_1x_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": 2985, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "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", 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"max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2985, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_60_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_60_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..718170384ee0c4dcbb670b3518dfdc89488f3483 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_60_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": 206000000, + "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": 2985, + "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": { + "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": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.14137353433835845, + "finger_joint_limit_saturation_step_rate": 0.12093802345058627, + "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": 6, + "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": 2, + "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": 8, + "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 + }, + "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": 32.18168523425524, + "joint_effort_rms": 35.05964146814438, + "joint_jerk_rms": 3185.1495979779206, + "joint_velocity_rms": 0.7480022735232812 + }, + "grasp": { + "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_anti_slip_score": 0.6513121161362262, + "mean_duration_score": 0.4111390284757119, + "mean_hold_score": 0.33332914572864697, + "mean_kinematic_stability_score": 0.04272557741187987, + "mean_legacy_gsi": 0.40819250236685056, + "mean_lift_score": 0.4150753768844221, + "mean_motion_stability_score": 0.3142138252445516 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2985, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_60_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_60_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..98dc606bbf59da74f6afb70604de3104ab659afa --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_60_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/60_breadbasket_fast_food_loading.yaml", "episode_index": 8, "seed": 206000007, "success": false, "steps": 2985, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206000007, "base_seed": 206000000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", 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"task_efficiency": null, "kinematic_grasp_stability_index": 0.9825749384890757, "mean_kinematic_grasp_stability": 0.2811622436698154, "per_object_best_kinematic_grasp_stability": {"obj_127_french_fries_2": 0.0, "obj_128_hamburg_3": 0.9825749384890757, "obj_163_baguette_5": 0.8912815168980901, "obj_182_bread_4": 0.7981203535265526}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.33896779320992665, "mean_kinematic_stability_score": 0.01577711082569316, "mean_lift_score": 0.3208542713567839, "mean_hold_score": 0.22144472361809575, "mean_motion_stability_score": 0.21246530237967368, "mean_duration_score": 0.32776381909547736, "mean_anti_slip_score": 0.696119486320482}, "robot_motion_metrics": {"joint_velocity_rms": 0.7122139189080807, "joint_acceleration_rms": 27.27321219577066, "joint_jerk_rms": 2721.700760128364, "joint_effort_rms": 44.81121566150875}, "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": {"left_pinky_mcp_joint": 2, "left_pinky_pip_joint": 11, "left_thumb_mcp_joint": 4, "right_index_pitch_joint": 3, "right_middle_pip_joint": 15, "right_middle_pitch_joint": 22, "right_pinky_mcp_joint": 320, "right_pinky_pip_joint": 65, "right_ring_mcp_joint": 275, "right_ring_pip_joint": 78, "right_thumb_mcp_joint": 22}, "joint_limit_hard_counts": {"left_pinky_mcp_joint": 1, "left_pinky_pip_joint": 1, "left_thumb_mcp_joint": 1, "right_index_pip_joint": 5, "right_index_pitch_joint": 1, "right_middle_pip_joint": 5, "right_middle_pitch_joint": 2, "right_pinky_mcp_joint": 7, "right_pinky_pip_joint": 6, "right_ring_mcp_joint": 4, "right_ring_pip_joint": 12, "right_thumb_mcp_joint": 2}, "finger_joint_limit_saturation_counts": {"left_pinky_pip_joint": 5, "right_middle_pitch_joint": 4, "right_pinky_mcp_joint": 264, "right_pinky_pip_joint": 44, "right_ring_mcp_joint": 241, "right_ring_pip_joint": 12}, "joint_limit_max_excess_by_joint": {"left_index_dip_joint": 3.22565640864525e-09, "left_index_pip_joint": 0.0002839910448528826, "left_index_pitch_joint": 0.0005180542939342558, "left_middle_dip_joint": 9.423627489013597e-06, "left_middle_mcp_joint": 3.4868717193603516e-06, "left_middle_pip_joint": 0.0004052964795846492, "left_middle_pitch_joint": 0.0005465639987960458, "left_pinky_mcp_joint": 0.05661813169717789, "left_pinky_pip_joint": 0.43403732776641846, "left_ring_dip_joint": 9.728311852086335e-05, "left_ring_mcp_joint": 0.00043239418300800025, "left_ring_pip_joint": 0.0003619808121584356, "left_thumb_dip_joint": 0.0003824085579253733, "left_thumb_mcp_joint": 0.07772845029830933, "right_index_dip_joint": 3.4874759876402095e-05, "right_index_pip_joint": 0.009265853092074394, "right_index_pitch_joint": 0.01733960583806038, "right_middle_dip_joint": 8.215081470552832e-05, "right_middle_mcp_joint": 0.00013247132301330566, "right_middle_pip_joint": 0.018158063292503357, "right_middle_pitch_joint": 0.25088924169540405, "right_pinky_dip_joint": 7.311942317755893e-05, "right_pinky_mcp_joint": 1.222884178161621, "right_pinky_pip_joint": 0.33221131563186646, "right_ring_dip_joint": 0.00035995084908790886, "right_ring_mcp_joint": 1.2569973468780518, "right_ring_pip_joint": 0.25775665044784546, "right_thumb_dip_joint": 5.09608507854864e-05, "right_thumb_mcp_joint": 0.15009331703186035}, "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": 143, "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": -0.0063666002824902534, "hard_excess_rad": 0.0063666002824902534, "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": [1.9404196739196777, -1.4360065460205078, -1.5700000524520874, 1.7648006677627563, 1.5700000524520874, 0.265689492225647, -1.5700000524520874, 2.0115866661071777, -1.0511607140273327e-09, 0.36486509442329407, -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": [1.9404196739196777, -1.4360065460205078, -1.5700000524520874, 1.7648006677627563, 1.5700000524520874, 0.265689492225647, -1.5700000524520874, 2.0115866661071777, -1.0511607140273327e-09, 0.36486509442329407, -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, 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], "shielded_full_target": [1.9404196739196777, -1.4360065460205078, -1.5700000524520874, 1.7648006677627563, 1.5700000524520874, 0.265689492225647, -1.5700000524520874, 2.0115866661071777, -1.0511607140273327e-09, 0.36486509442329407, -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, 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": 383, "joint_limit_hard_episode_events": 22, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 273, "max_joint_limit_excess_rad": 1.2569973468780518, "max_joint_limit_excess_joint": "right_ring_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": 383, "joint_limit_active_step_rate": 0.12830820770519263, "finger_joint_limit_saturation_steps": 273, "finger_joint_limit_saturation_step_rate": 0.0914572864321608, "max_joint_limit_excess_rad": 1.2569973468780518, "max_joint_limit_excess_joint": "right_ring_mcp_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": {}, "policy_query_count": 22, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2985, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_60_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_60_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..314cc8a8be5abedf1a493f127a6a6d7305fdf469 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_60_episode_08/summary.json @@ -0,0 +1,237 @@ +{ + "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": 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": 2985, + "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": { + "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": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.12830820770519263, + "finger_joint_limit_saturation_step_rate": 0.0914572864321608, + "max_joint_limit_excess_rad": 1.2569973468780518, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_pinky_mcp_joint": 2, + "left_pinky_pip_joint": 11, + "left_thumb_mcp_joint": 4, + "right_index_pitch_joint": 3, + "right_middle_pip_joint": 15, + "right_middle_pitch_joint": 22, + "right_pinky_mcp_joint": 320, + "right_pinky_pip_joint": 65, + "right_ring_mcp_joint": 275, + "right_ring_pip_joint": 78, + "right_thumb_mcp_joint": 22 + }, + "joint_limit_hard_counts": { + "left_pinky_mcp_joint": 1, + "left_pinky_pip_joint": 1, + "left_thumb_mcp_joint": 1, + "right_index_pip_joint": 5, + "right_index_pitch_joint": 1, + "right_middle_pip_joint": 5, + "right_middle_pitch_joint": 2, + "right_pinky_mcp_joint": 7, + "right_pinky_pip_joint": 6, + "right_ring_mcp_joint": 4, + "right_ring_pip_joint": 12, + "right_thumb_mcp_joint": 2 + }, + "joint_limit_hard_episode_events": 22, + "finger_joint_limit_saturation_counts": { + "left_pinky_pip_joint": 5, + 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"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", 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3.308728725032184e-12, 6.289870707609779e-11, 0.005233012139797211, 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": 383, "joint_limit_hard_episode_events": 10, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 270, "max_joint_limit_excess_rad": 2.373507499694824, "max_joint_limit_excess_joint": "right_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": 383, "joint_limit_active_step_rate": 0.12830820770519263, "finger_joint_limit_saturation_steps": 270, "finger_joint_limit_saturation_step_rate": 0.09045226130653267, "max_joint_limit_excess_rad": 2.373507499694824, "max_joint_limit_excess_joint": "right_pinky_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, "high_speed_distractor_01_clutter_006_mustard_bottle": 1, "drop_to_table_obj_163_baguette_5": 1, "drop_obj_163_baguette_5": 1, "high_speed_obj_163_baguette_5": 1, "high_speed_obj_183_breadbasket_1": 1}, "policy_query_count": 28, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2985, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_60_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_60_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ca71fb3ea4e565272b98927de25d632087f8def3 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_60_episode_09/summary.json @@ -0,0 +1,250 @@ +{ + "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": 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": 2985, + "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": 0.10217755443886097 + }, + "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": 0.0020100502512562816, + "violation_counts": { + "drop_obj_163_baguette_5": 1, + "drop_to_table_obj_163_baguette_5": 1, + "drop_to_table_obj_182_bread_4": 1, + "high_speed_distractor_01_clutter_006_mustard_bottle": 1, + "high_speed_obj_163_baguette_5": 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": 0.12830820770519263, + "finger_joint_limit_saturation_step_rate": 0.09045226130653267, + "max_joint_limit_excess_rad": 2.373507499694824, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_pinky_mcp_joint": 41, + "left_ring_pip_joint": 28, + "left_thumb_mcp_joint": 11, + "right_index_pitch_joint": 41, + "right_middle_pip_joint": 8, + "right_middle_pitch_joint": 7, + "right_pinky_mcp_joint": 224, + "right_pinky_pip_joint": 89, + "right_ring_mcp_joint": 101, + "right_ring_pip_joint": 57, + "right_thumb_mcp_joint": 110 + }, + "joint_limit_hard_counts": { + "left_pinky_mcp_joint": 1, + "left_ring_pip_joint": 2, + "left_thumb_mcp_joint": 2, + "right_index_pip_joint": 2, + "right_index_pitch_joint": 1, + "right_middle_pip_joint": 4, + "right_middle_pitch_joint": 2, + "right_pinky_mcp_joint": 3, + "right_pinky_pip_joint": 5, + "right_ring_mcp_joint": 3, + "right_ring_pip_joint": 6, + "right_thumb_mcp_joint": 2 + }, + "joint_limit_hard_episode_events": 10, + "finger_joint_limit_saturation_counts": { + "left_pinky_mcp_joint": 24, + "left_ring_pip_joint": 12, + "right_index_pitch_joint": 7, + "right_pinky_mcp_joint": 182, + "right_pinky_pip_joint": 80, + "right_ring_mcp_joint": 61, + "right_ring_pip_joint": 10, + "right_thumb_mcp_joint": 58 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 2.6218298643243543e-09, + "left_index_pip_joint": 9.411155770067126e-05, + "left_index_pitch_joint": 0.00016973722085822374, + "left_middle_dip_joint": 5.175659225642448e-06, + "left_middle_pip_joint": 0.00013171700993552804, + "left_middle_pitch_joint": 0.00018342607654631138, + "left_pinky_dip_joint": 8.059148348671386e-10, + "left_pinky_mcp_joint": 0.24404044449329376, + "left_pinky_pip_joint": 8.39389322209172e-05, + "left_ring_dip_joint": 0.0001310763182118535, + "left_ring_mcp_joint": 0.00013508950360119343, + "left_ring_pip_joint": 0.4441393315792084, + "left_thumb_dip_joint": 1.4088352706664864e-09, + "left_thumb_mcp_joint": 0.0746360644698143, + "left_thumb_pip_joint": 2.38053999623844e-07, + "left_thumb_yaw_joint": 1.2712450825347332e-07, + "right_index_dip_joint": 1.344099291600287e-05, + "right_index_pip_joint": 0.00515010068193078, + "right_index_pitch_joint": 0.1183353140950203, + "right_middle_dip_joint": 0.0001312507811235264, + "right_middle_mcp_joint": 9.420514106750488e-05, + "right_middle_pip_joint": 0.015561831183731556, + "right_middle_pitch_joint": 0.036026645451784134, + "right_pinky_dip_joint": 1.6946076357271522e-05, + "right_pinky_mcp_joint": 2.348736047744751, + "right_pinky_pip_joint": 2.373507499694824, + "right_ring_dip_joint": 0.001776522141881287, + "right_ring_mcp_joint": 0.5258574485778809, + "right_ring_pip_joint": 0.7549147605895996, + "right_thumb_dip_joint": 0.00043986455420963466, + "right_thumb_mcp_joint": 0.3644998073577881, + "right_thumb_pip_joint": 2.7874044462805614e-05, + "right_thumb_yaw_joint": 2.048228088824544e-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": 50.08974009720116, + "joint_effort_rms": 42.984861640928365, + "joint_jerk_rms": 5155.136273358436, + "joint_velocity_rms": 0.8743265877446377 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9967380553086433, + "mean_kinematic_grasp_stability": 0.32831994140793974, + "per_object_best_kinematic_grasp_stability": { + "obj_127_french_fries_2": 0.0, + "obj_128_hamburg_3": 0.9692246329835988, + "obj_163_baguette_5": 0.9967380553086433, + "obj_182_bread_4": 0.9207295580302152 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7154662199888071, + "mean_duration_score": 0.3895309882747069, + "mean_hold_score": 0.21880653266332034, + "mean_kinematic_stability_score": 0.0700085905213245, + "mean_legacy_gsi": 0.3513843140151602, + "mean_lift_score": 0.2930485762144054, + "mean_motion_stability_score": 0.2063691742241658 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2985, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_60_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_60_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de5eff6ca7d09f40af43dc976ee7cd6554b29c14 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_60_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/60_breadbasket_fast_food_loading.yaml", "episode_index": 10, "seed": 206000009, "success": false, "steps": 2985, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206000009, "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": "FloorPlan1", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan1_physics/scene.usda", "scene_offset": [0.0, 0.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": 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"place_2": null, "place_3": null, "place_4": null}, "violation_counts": {"drop_to_table_obj_182_bread_4": 1}, "policy_query_count": 28, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2985, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_60_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_60_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..df9d8b368b17e9eee64f35dbad4c3b7e4c2674eb --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_60_episode_10/summary.json @@ -0,0 +1,236 @@ +{ + "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": 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": 2985, + "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": 0.00033500837520938025 + }, + "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": 0.00033500837520938025, + "violation_counts": { + "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": 0.2013400335008375, + "finger_joint_limit_saturation_step_rate": 0.15510887772194304, + "max_joint_limit_excess_rad": 1.4774082899093628, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_thumb_mcp_joint": 22, + "right_index_pip_joint": 7, + "right_index_pitch_joint": 151, + "right_middle_pip_joint": 15, + "right_pinky_mcp_joint": 389, + "right_pinky_pip_joint": 50, + "right_ring_dip_joint": 11, + "right_ring_mcp_joint": 31, + "right_ring_pip_joint": 74, + "right_thumb_mcp_joint": 1 + }, + "joint_limit_hard_counts": { + "left_thumb_mcp_joint": 2, + "right_index_pip_joint": 4, + "right_index_pitch_joint": 4, + "right_middle_pip_joint": 3, + "right_pinky_mcp_joint": 8, + "right_pinky_pip_joint": 2, + "right_ring_dip_joint": 1, + "right_ring_mcp_joint": 1, + "right_ring_pip_joint": 15, + "right_thumb_mcp_joint": 1 + }, + "joint_limit_hard_episode_events": 18, + "finger_joint_limit_saturation_counts": { + "left_thumb_mcp_joint": 8, + "right_index_pitch_joint": 123, + "right_pinky_mcp_joint": 329, + "right_ring_mcp_joint": 9, + "right_ring_pip_joint": 3 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 1.0528260485642704e-09, + "left_index_pip_joint": 9.618028707336634e-05, + "left_index_pitch_joint": 0.0001840132608776912, + "left_middle_dip_joint": 3.6417700357560534e-06, + "left_middle_pip_joint": 0.00014035921776667237, + "left_middle_pitch_joint": 0.00018864475714508444, + "left_pinky_mcp_joint": 0.00010623806883813813, + "left_pinky_pip_joint": 2.667554326762911e-06, + "left_ring_dip_joint": 8.51113236421952e-06, + "left_ring_mcp_joint": 0.00011021052341675386, + "left_ring_pip_joint": 0.0001451100397389382, + "left_thumb_dip_joint": 9.606210369383916e-05, + "left_thumb_mcp_joint": 0.2585655152797699, + "left_thumb_pip_joint": 1.0700961865950376e-05, + "left_thumb_yaw_joint": 4.900294243270764e-06, + "right_index_dip_joint": 1.2520518794190139e-05, + "right_index_pip_joint": 0.09677305072546005, + "right_index_pitch_joint": 0.3380679190158844, + "right_middle_dip_joint": 9.744236740516499e-05, + "right_middle_mcp_joint": 0.0002562999725341797, + "right_middle_pip_joint": 0.23771636188030243, + "right_middle_pitch_joint": 0.00025844425545074046, + "right_pinky_dip_joint": 2.446910548314918e-05, + "right_pinky_mcp_joint": 1.4774082899093628, + "right_pinky_pip_joint": 0.04167242348194122, + "right_ring_dip_joint": 0.12460929900407791, + "right_ring_mcp_joint": 0.29136770963668823, + "right_ring_pip_joint": 0.2730174958705902, + "right_thumb_dip_joint": 0.0001378104352625087, + "right_thumb_mcp_joint": 0.010939061641693115 + }, + "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": 61.90783297274899, + "joint_effort_rms": 42.558639457433216, + "joint_jerk_rms": 6395.784170505521, + "joint_velocity_rms": 1.0154589596006254 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8834835356484361, + "mean_kinematic_grasp_stability": 0.4345446091234846, + "per_object_best_kinematic_grasp_stability": { + "obj_127_french_fries_2": 0.0, + "obj_128_hamburg_3": 0.029724719366461087, + "obj_163_baguette_5": 0.8834835356484361, + "obj_182_bread_4": 0.8478334983729867 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8307370184255409, + "mean_duration_score": 0.3309045226130653, + "mean_hold_score": 0.19708123953099227, + "mean_kinematic_stability_score": 0.08872862286792758, + "mean_legacy_gsi": 0.34924111239474775, + "mean_lift_score": 0.2675879396984925, + "mean_motion_stability_score": 0.18211052183971696 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2985, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_60_episode_11/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_60_episode_11/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ae23d8d918474ea67558df3a21e3c0a3caf0a1e --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_60_episode_11/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": 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"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": 0.7941134011478652, "mean_kinematic_grasp_stability": 0.5075161385547748, "per_object_best_kinematic_grasp_stability": {"obj_127_french_fries_2": 0.0, "obj_128_hamburg_3": 0.0, "obj_163_baguette_5": 0.7941134011478652, "obj_182_bread_4": 0.6612910571098684}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.26972626330926824, "mean_kinematic_stability_score": 0.005015653630608327, "mean_lift_score": 0.13944723618090452, "mean_hold_score": 0.12598408710217823, "mean_motion_stability_score": 0.11831399759364304, "mean_duration_score": 0.2503433835845871, "mean_anti_slip_score": 0.7259910664433274}, "robot_motion_metrics": {"joint_velocity_rms": 0.8323298113021768, "joint_acceleration_rms": 44.505855693717415, "joint_jerk_rms": 4508.481746999728, "joint_effort_rms": 40.09958858164287}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.004020100502512687, "safety_violation_rate_time": 0.004020100502512687, "safety_violation_rate_event": 0.0010050251256281408, "safety_violation_step_rate": 0.004020100502512563, "safety_violation_events_per_step": 0.0010050251256281408, "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": {"right_index_pip_joint": 8, "right_index_pitch_joint": 213, "right_middle_dip_joint": 18, "right_middle_pip_joint": 110, "right_middle_pitch_joint": 196, "right_pinky_mcp_joint": 324, "right_pinky_pip_joint": 73, "right_ring_dip_joint": 58, "right_ring_mcp_joint": 244, "right_ring_pip_joint": 163, "right_thumb_dip_joint": 34, "right_thumb_mcp_joint": 108, "right_thumb_pip_joint": 29}, "joint_limit_hard_counts": {"right_index_pip_joint": 13, "right_index_pitch_joint": 3, "right_middle_dip_joint": 5, "right_middle_pip_joint": 17, "right_middle_pitch_joint": 5, "right_pinky_mcp_joint": 6, "right_pinky_pip_joint": 6, "right_ring_dip_joint": 2, "right_ring_mcp_joint": 3, "right_ring_pip_joint": 17, "right_thumb_dip_joint": 1, "right_thumb_mcp_joint": 2, "right_thumb_pip_joint": 1}, "finger_joint_limit_saturation_counts": {"right_index_pitch_joint": 149, "right_middle_pip_joint": 36, "right_middle_pitch_joint": 133, "right_pinky_mcp_joint": 248, "right_pinky_pip_joint": 42, "right_ring_dip_joint": 35, "right_ring_mcp_joint": 203, "right_ring_pip_joint": 79, "right_thumb_dip_joint": 32, "right_thumb_mcp_joint": 80, "right_thumb_pip_joint": 13}, "joint_limit_max_excess_by_joint": {"left_index_pip_joint": 2.238352515490649e-12, "left_thumb_dip_joint": 4.7576817485683875e-11, "right_index_dip_joint": 1.5121441720111761e-05, "right_index_pip_joint": 0.015200120396912098, "right_index_pitch_joint": 1.3602131605148315, "right_middle_dip_joint": 0.056355707347393036, "right_middle_mcp_joint": 0.00042569637298583984, "right_middle_pip_joint": 0.6449757814407349, "right_middle_pitch_joint": 1.2197375297546387, "right_pinky_dip_joint": 0.00019404414342716336, "right_pinky_mcp_joint": 1.2076163291931152, "right_pinky_pip_joint": 1.8965848684310913, "right_ring_dip_joint": 0.9622511863708496, "right_ring_mcp_joint": 1.2581971883773804, "right_ring_pip_joint": 1.627465009689331, "right_thumb_dip_joint": 0.7321256995201111, "right_thumb_mcp_joint": 0.26849061250686646, "right_thumb_pip_joint": 0.2850130796432495}, "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": 125, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_pinky_mcp_joint", "role": "finger", "qpos": -0.006168758030980825, "hard_excess_rad": 0.006168758030980825, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4573498964309692, "operating_lower": 0.0, "operating_upper": 1.4573498964309692, "expanded_target": 0.04172443225979805, "shielded_target": 0.04172443225979805}], "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": [2.043012857437134, -1.3483294248580933, -1.5700000524520874, 1.8184932470321655, 1.5700000524520874, 0.08074357360601425, -1.5700000524520874, 2.235116481781006, -1.0511607140273327e-09, 0.46275973320007324, -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, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 0.00580621650442481, 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": [2.043012857437134, -1.3483294248580933, -1.5700000524520874, 1.8184932470321655, 1.5700000524520874, 0.08074357360601425, -1.5700000524520874, 2.235116481781006, -1.0511607140273327e-09, 0.46275973320007324, -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], "shielded_full_target": [2.043012857437134, -1.3483294248580933, -1.5700000524520874, 1.8184932470321655, 1.5700000524520874, 0.08074357360601425, -1.5700000524520874, 2.235116481781006, -1.0511607140273327e-09, 0.46275973320007324, -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": 633, "joint_limit_hard_episode_events": 24, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 438, "max_joint_limit_excess_rad": 1.8965848684310913, "max_joint_limit_excess_joint": "right_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": 633, "joint_limit_active_step_rate": 0.21206030150753769, "finger_joint_limit_saturation_steps": 438, "finger_joint_limit_saturation_step_rate": 0.14673366834170853, "max_joint_limit_excess_rad": 1.8965848684310913, "max_joint_limit_excess_joint": "right_pinky_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, "high_speed_distractor_01_clutter_019_pitcher_base": 1}, "policy_query_count": 24, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2985, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_60_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_60_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..3c96e90a506c47a2c7040ce6b885cd87f3af638a --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_60_episode_11/summary.json @@ -0,0 +1,238 @@ +{ + "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": 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": 2985, + "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": 0.004020100502512563 + }, + "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": 0.0010050251256281408, + "violation_counts": { + "drop_to_table_obj_163_baguette_5": 1, + "drop_to_table_obj_182_bread_4": 1, + "high_speed_distractor_01_clutter_019_pitcher_base": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.21206030150753769, + "finger_joint_limit_saturation_step_rate": 0.14673366834170853, + "max_joint_limit_excess_rad": 1.8965848684310913, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_index_pip_joint": 8, + "right_index_pitch_joint": 213, + "right_middle_dip_joint": 18, + "right_middle_pip_joint": 110, + "right_middle_pitch_joint": 196, + "right_pinky_mcp_joint": 324, + "right_pinky_pip_joint": 73, + "right_ring_dip_joint": 58, + "right_ring_mcp_joint": 244, + "right_ring_pip_joint": 163, + "right_thumb_dip_joint": 34, + "right_thumb_mcp_joint": 108, + "right_thumb_pip_joint": 29 + }, + "joint_limit_hard_counts": { + "right_index_pip_joint": 13, + "right_index_pitch_joint": 3, + "right_middle_dip_joint": 5, + "right_middle_pip_joint": 17, + "right_middle_pitch_joint": 5, + "right_pinky_mcp_joint": 6, + "right_pinky_pip_joint": 6, + "right_ring_dip_joint": 2, + "right_ring_mcp_joint": 3, + "right_ring_pip_joint": 17, + "right_thumb_dip_joint": 1, + "right_thumb_mcp_joint": 2, + "right_thumb_pip_joint": 1 + }, + "joint_limit_hard_episode_events": 24, + "finger_joint_limit_saturation_counts": { + "right_index_pitch_joint": 149, + "right_middle_pip_joint": 36, + "right_middle_pitch_joint": 133, + "right_pinky_mcp_joint": 248, + "right_pinky_pip_joint": 42, + "right_ring_dip_joint": 35, + "right_ring_mcp_joint": 203, + "right_ring_pip_joint": 79, + "right_thumb_dip_joint": 32, + "right_thumb_mcp_joint": 80, + "right_thumb_pip_joint": 13 + }, + "joint_limit_max_excess_by_joint": { + "left_index_pip_joint": 2.238352515490649e-12, + "left_thumb_dip_joint": 4.7576817485683875e-11, + 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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": 44.505855693717415, + "joint_effort_rms": 40.09958858164287, + "joint_jerk_rms": 4508.481746999728, + "joint_velocity_rms": 0.8323298113021768 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.7941134011478652, + "mean_kinematic_grasp_stability": 0.5075161385547748, + "per_object_best_kinematic_grasp_stability": { + "obj_127_french_fries_2": 0.0, + "obj_128_hamburg_3": 0.0, + "obj_163_baguette_5": 0.7941134011478652, + "obj_182_bread_4": 0.6612910571098684 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7259910664433274, + "mean_duration_score": 0.2503433835845871, + "mean_hold_score": 0.12598408710217823, + 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0.005515905562788248, 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": 318, "joint_limit_hard_episode_events": 22, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 154, "max_joint_limit_excess_rad": 0.9582237601280212, "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": 318, "joint_limit_active_step_rate": 0.10653266331658291, "finger_joint_limit_saturation_steps": 154, "finger_joint_limit_saturation_step_rate": 0.05159128978224456, "max_joint_limit_excess_rad": 0.9582237601280212, "max_joint_limit_excess_joint": "right_pinky_mcp_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_163_baguette_5": 1, "drop_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}, "policy_query_count": 27, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2985, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_60_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_60_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..7edc52e16430ff01a669c7cd96373b7d7096a707 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_60_episode_12/summary.json @@ -0,0 +1,223 @@ +{ + "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": 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": 2985, + "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": 0.22077051926298158 + }, + "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": 0.0023450586264656616, + "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": 0.10653266331658291, + "finger_joint_limit_saturation_step_rate": 0.05159128978224456, + "max_joint_limit_excess_rad": 0.9582237601280212, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_index_pitch_joint": 111, + "right_middle_pitch_joint": 3, + "right_pinky_mcp_joint": 166, + "right_pinky_pip_joint": 3, + "right_ring_mcp_joint": 157, + "right_ring_pip_joint": 89 + }, + "joint_limit_hard_counts": { + "right_index_pip_joint": 1, + "right_index_pitch_joint": 4, + "right_middle_pip_joint": 3, + "right_middle_pitch_joint": 10, + "right_pinky_mcp_joint": 2, + "right_pinky_pip_joint": 5, + "right_ring_mcp_joint": 6, + "right_ring_pip_joint": 29 + }, + "joint_limit_hard_episode_events": 22, + "finger_joint_limit_saturation_counts": { + "right_index_pitch_joint": 54, + "right_pinky_mcp_joint": 100, + "right_ring_mcp_joint": 95, + "right_ring_pip_joint": 12 + }, + "joint_limit_max_excess_by_joint": { + "left_thumb_dip_joint": 5.1128677680534196e-11, + "right_index_dip_joint": 3.97101575799752e-06, + "right_index_pip_joint": 0.005988810211420059, + "right_index_pitch_joint": 0.13034136593341827, + "right_middle_dip_joint": 0.00011243639164604247, + "right_middle_mcp_joint": 7.084012031555176e-05, + "right_middle_pip_joint": 0.008284153416752815, + "right_middle_pitch_joint": 0.013353235088288784, + "right_pinky_dip_joint": 0.00013074514572508633, + "right_pinky_mcp_joint": 0.9582237601280212, + "right_pinky_pip_joint": 0.011941511183977127, + "right_ring_dip_joint": 0.0005163939786143601, + "right_ring_mcp_joint": 0.7764309644699097, + "right_ring_pip_joint": 0.15801481902599335, + "right_thumb_dip_joint": 3.112607009825297e-05, + "right_thumb_mcp_joint": 0.00016577099449932575, + "right_thumb_pip_joint": 5.81223735807157e-10, + "right_thumb_yaw_joint": 2.1481524892230652e-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": 20.649451986778683, + "joint_effort_rms": 30.01741531453295, + "joint_jerk_rms": 2105.1889616717126, + "joint_velocity_rms": 0.6306009394835072 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9993037703262022, + "mean_kinematic_grasp_stability": 0.6290494147280836, + "per_object_best_kinematic_grasp_stability": { + "obj_127_french_fries_2": 0.0, + "obj_128_hamburg_3": 0.0, + "obj_163_baguette_5": 0.9993037703262022, + "obj_182_bread_4": 0.810904637272794 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7211613623673959, + "mean_duration_score": 0.3891596873255165, + "mean_hold_score": 0.20832495812395627, + "mean_kinematic_stability_score": 0.07586525604760806, + "mean_legacy_gsi": 0.3430773525674665, + "mean_lift_score": 0.28241206030150756, + "mean_motion_stability_score": 0.18861013835980564 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2985, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_60_episode_13/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_60_episode_13/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e325661dc7e890ad1b1dc9cd7960bd09dbab9d9 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_60_episode_13/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/60_breadbasket_fast_food_loading.yaml", "episode_index": 13, "seed": 206000012, "success": false, "steps": 2985, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206000012, "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_carpet_carpet1095_jpg", "asset_uri": "dex2bench_dataset/textures/carpet/carpet1095.jpg", "asset_category": "carpet", "asset_id": "carpet/carpet1095.jpg", "asset_split": 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{"obj_183_breadbasket_1": {"position": [0.44805633924609445, 0.22802152795588926, 0.7465212621081582], "rpy_deg": [90.0, 0.0, -4.243622990050757]}, "obj_127_french_fries_2": {"position": [-0.3844002266124572, 0.28241532497709687, 0.7765584726961388], "rpy_deg": [0.0, 0.0, 7.223059886195262]}, "obj_128_hamburg_3": {"position": [-0.32, 0.18, 0.7465212532884777], "rpy_deg": [90.0, 0.0, -1.7367063030890932]}, "obj_182_bread_4": {"position": [0.03706953998365275, 0.1957780002219261, 0.7999044007392657], "rpy_deg": [0.0, 0.0, 22.41882853662595]}, "obj_163_baguette_5": {"position": [0.24, 0.1, 0.7465212606455751], "rpy_deg": [90.0, 0.0, 79.31686801992066]}}, "_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": 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": 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": 0.9944211878044209, "mean_kinematic_grasp_stability": 0.7221451089390365, "per_object_best_kinematic_grasp_stability": {"obj_127_french_fries_2": 0.0050722037123194785, "obj_128_hamburg_3": 0.3631152891161307, "obj_163_baguette_5": 0.9944211878044209, "obj_182_bread_4": 0.975298916112097}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.39382615899033935, "mean_kinematic_stability_score": 0.14176785053208557, "mean_lift_score": 0.3376046901172529, "mean_hold_score": 0.253923785594645, "mean_motion_stability_score": 0.24158125701815614, "mean_duration_score": 0.3954829704075957, "mean_anti_slip_score": 0.8077051926298158}, "robot_motion_metrics": {"joint_velocity_rms": 1.2810916270667976, "joint_acceleration_rms": 84.23467221043501, "joint_jerk_rms": 8349.4287159071, "joint_effort_rms": 43.53161976489073}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0003350083752093906, "safety_violation_rate_time": 0.0003350083752093906, "safety_violation_rate_event": 0.00033500837520938025, "safety_violation_step_rate": 0.00033500837520938025, "safety_violation_events_per_step": 0.00033500837520938025, "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": {"left_index_dip_joint": 12, "left_index_mcp_joint": 32, "left_index_pip_joint": 21, "left_index_pitch_joint": 1, "left_middle_dip_joint": 8, "left_middle_mcp_joint": 9, "left_middle_pip_joint": 28, "left_pinky_mcp_joint": 17, "left_pinky_pip_joint": 3, "left_ring_dip_joint": 3, "left_ring_pip_joint": 28, "left_thumb_mcp_joint": 69, "left_thumb_pip_joint": 5, "right_index_pip_joint": 69, "right_index_pitch_joint": 3, "right_middle_dip_joint": 22, "right_middle_pip_joint": 162, "right_middle_pitch_joint": 64, "right_pinky_dip_joint": 4, "right_pinky_mcp_joint": 234, "right_pinky_pip_joint": 113, "right_ring_dip_joint": 69, "right_ring_mcp_joint": 162, "right_ring_pip_joint": 167, "right_thumb_mcp_joint": 328}, "joint_limit_hard_counts": {"left_index_dip_joint": 1, "left_index_mcp_joint": 1, "left_index_pip_joint": 2, "left_index_pitch_joint": 1, "left_middle_dip_joint": 2, "left_middle_mcp_joint": 1, "left_middle_pip_joint": 1, "left_pinky_mcp_joint": 1, "left_pinky_pip_joint": 1, "left_ring_dip_joint": 2, "left_ring_pip_joint": 1, "left_thumb_mcp_joint": 1, "left_thumb_pip_joint": 1, "right_index_pip_joint": 1, "right_index_pitch_joint": 1, "right_middle_dip_joint": 2, "right_middle_pip_joint": 3, "right_middle_pitch_joint": 1, "right_pinky_dip_joint": 3, "right_pinky_mcp_joint": 7, "right_pinky_pip_joint": 6, "right_ring_dip_joint": 2, "right_ring_mcp_joint": 4, "right_ring_pip_joint": 4, "right_thumb_mcp_joint": 5, "right_thumb_yaw_joint": 1}, "finger_joint_limit_saturation_counts": {"left_index_dip_joint": 3, "left_index_mcp_joint": 27, "left_index_pip_joint": 15, "left_middle_pip_joint": 24, "left_pinky_mcp_joint": 4, "left_ring_pip_joint": 25, "left_thumb_mcp_joint": 49, "right_index_pip_joint": 65, "right_middle_dip_joint": 16, "right_middle_pip_joint": 146, "right_middle_pitch_joint": 56, "right_pinky_mcp_joint": 157, "right_pinky_pip_joint": 94, "right_ring_dip_joint": 61, "right_ring_mcp_joint": 136, "right_ring_pip_joint": 141, "right_thumb_mcp_joint": 220}, "joint_limit_max_excess_by_joint": {"left_index_dip_joint": 0.3007436990737915, "left_index_mcp_joint": 1.2541817426681519, "left_index_pip_joint": 0.5510872006416321, "left_index_pitch_joint": 0.03593921661376953, "left_middle_dip_joint": 0.061401475220918655, "left_middle_mcp_joint": 0.1364496946334839, "left_middle_pip_joint": 0.9280629754066467, "left_middle_pitch_joint": 0.00047693937085568905, "left_pinky_mcp_joint": 0.290834903717041, "left_pinky_pip_joint": 0.04661354795098305, "left_ring_dip_joint": 0.04406795650720596, "left_ring_mcp_joint": 0.0003703817492350936, "left_ring_pip_joint": 0.9072043895721436, "left_thumb_dip_joint": 0.00033304019598290324, "left_thumb_mcp_joint": 0.21013370156288147, "left_thumb_pip_joint": 0.18143272399902344, "right_index_dip_joint": 3.979641041951254e-05, "right_index_pip_joint": 1.683140516281128, "right_index_pitch_joint": 0.03236370161175728, "right_middle_dip_joint": 0.4589855670928955, "right_middle_mcp_joint": 7.417798042297363e-05, "right_middle_pip_joint": 3.084315538406372, "right_middle_pitch_joint": 0.3571784794330597, "right_pinky_dip_joint": 0.08165574073791504, "right_pinky_mcp_joint": 2.188486099243164, "right_pinky_pip_joint": 1.811301827430725, "right_ring_dip_joint": 1.5018227100372314, "right_ring_mcp_joint": 2.1126577854156494, "right_ring_pip_joint": 2.5233230590820312, "right_thumb_dip_joint": 0.0011694871354848146, "right_thumb_mcp_joint": 0.2683654725551605, "right_thumb_pip_joint": 0.0007943015662021935, "right_thumb_yaw_joint": 0.005606721621006727}, "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": 96, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_pinky_mcp_joint", "role": "finger", "qpos": -0.006691096816211939, "hard_excess_rad": 0.006691096816211939, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4573498964309692, "operating_lower": 0.0, "operating_upper": 1.4573498964309692, "expanded_target": 0.03974740207195282, "shielded_target": 0.03974740207195282}, {"joint": "right_pinky_pip_joint", "role": "finger", "qpos": -0.005672872997820377, "hard_excess_rad": 0.005672872997820377, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3960000276565552, "operating_lower": 0.0, "operating_upper": 1.3960000276565552, "expanded_target": 0.0008475140202790499, "shielded_target": 0.0008475140202790499}], "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": [2.0360920429229736, -1.4328227043151855, -1.5700000524520874, 1.9285777807235718, 1.5700000524520874, -0.13406230509281158, -1.5700000524520874, 2.089963436126709, -1.0511607140273327e-09, 0.21747997403144836, -1.5700000524520874, -6.433157478946683e-11, 2.0828184663090887e-11, 0.0010542606469243765, 0.03974740207195282, 7.480261202119642e-12, 0.5288465619087219, 0.018679259344935417, 0.006017682608217001, 0.0008475140202790499, 1.852669580248989e-11, 0.4385885000228882, 1.3796604136917523e-10, 2.3521734560105756e-10, 5.876441694363521e-11, 7.992681516633127e-11, 1.5900515626388056e-10, 1.4138723828868716e-12, 2.6877616451925768e-11, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 0.005531100556254387, 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": [2.0360920429229736, -1.4328227043151855, -1.5700000524520874, 1.9285777807235718, 1.5700000524520874, -0.13406230509281158, -1.5700000524520874, 2.089963436126709, -1.0511607140273327e-09, 0.21747997403144836, -1.5700000524520874, -6.433157478946683e-11, 2.0828184663090887e-11, 0.0010542606469243765, 0.03974740207195282, 7.480261202119642e-12, 0.5288465619087219, 0.018679259344935417, 0.006017682608217001, 0.0008475140202790499, 1.852669580248989e-11, 0.4385885000228882, 1.3796604136917523e-10, 2.3521734560105756e-10, 5.876441694363521e-11, 7.992681516633127e-11, 1.5900515626388056e-10, 1.4138723828868716e-12, 2.6877616451925768e-11, 0.0009519277373328805, 2.0809184236858513e-11, 0.4760001003742218, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 1.5880614965407824e-12, 3.018893815487367e-11, 0.005531100556254387, 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": [2.0360920429229736, -1.4328227043151855, -1.5700000524520874, 1.9285777807235718, 1.5700000524520874, -0.13406230509281158, -1.5700000524520874, 2.089963436126709, -1.0511607140273327e-09, 0.21747997403144836, -1.5700000524520874, -6.433157478946683e-11, 2.0828184663090887e-11, 0.0010542606469243765, 0.03974740207195282, 7.480261202119642e-12, 0.5288465619087219, 0.018679259344935417, 0.006017682608217001, 0.0008475140202790499, 1.852669580248989e-11, 0.4385885000228882, 1.3796604136917523e-10, 2.3521734560105756e-10, 5.876441694363521e-11, 7.992681516633127e-11, 1.5900515626388056e-10, 1.4138723828868716e-12, 2.6877616451925768e-11, 0.0009519277373328805, 2.0809184236858513e-11, 0.4760001003742218, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 1.5880614965407824e-12, 3.018893815487367e-11, 0.005531100556254387, 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": 676, "joint_limit_hard_episode_events": 15, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 467, "max_joint_limit_excess_rad": 3.084315538406372, "max_joint_limit_excess_joint": "right_middle_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": 676, "joint_limit_active_step_rate": 0.22646566164154103, "finger_joint_limit_saturation_steps": 467, "finger_joint_limit_saturation_step_rate": 0.15644891122278057, "max_joint_limit_excess_rad": 3.084315538406372, "max_joint_limit_excess_joint": "right_middle_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}, "policy_query_count": 27, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2985, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_60_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_60_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..d47355e77e005827b3e0c2bda3747ca19f135613 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_60_episode_13/summary.json @@ -0,0 +1,282 @@ +{ + "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": 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": 2985, + "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": 0.00033500837520938025 + }, + "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": 0.00033500837520938025, + "violation_counts": { + "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": 0.22646566164154103, + "finger_joint_limit_saturation_step_rate": 0.15644891122278057, + "max_joint_limit_excess_rad": 3.084315538406372, + "robot_constraint_diagnostics": { + 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1.4573498964309692, "expanded_target": 0.040420543402433395, "shielded_target": 0.040420543402433395}, {"joint": "right_pinky_pip_joint", "role": "finger", "qpos": -0.0073838308453559875, "hard_excess_rad": 0.0073838308453559875, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3960000276565552, "operating_lower": 0.0, "operating_upper": 1.3960000276565552, "expanded_target": 0.0008618670399300754, "shielded_target": 0.0008618670399300754}, {"joint": "right_ring_mcp_joint", "role": "finger", "qpos": -0.006770033854991198, "hard_excess_rad": 0.006770033854991198, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4573498964309692, "operating_lower": 0.0, "operating_upper": 1.4573498964309692, "expanded_target": 4.933376190202621e-12, "shielded_target": 4.933376190202621e-12}, {"joint": "right_ring_pip_joint", "role": "finger", "qpos": -0.006513209082186222, "hard_excess_rad": 0.006513209082186222, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3960000276565552, "operating_lower": 0.0, "operating_upper": 1.3960000276565552, "expanded_target": 1.2218712153178046e-11, "shielded_target": 1.2218712153178046e-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": [1.9335545301437378, -1.4541077613830566, -1.5700000524520874, 1.8049434423446655, 1.5700000524520874, 0.15406806766986847, -1.5700000524520874, 1.9913393259048462, -1.0511607140273327e-09, 0.34196436405181885, -1.5700000524520874, -6.433157478946683e-11, 1.3736588255763849e-11, 0.0010721150320023298, 0.040420543402433395, 4.933376190202621e-12, 0.5378028154373169, 0.018995599821209908, 0.006119594909250736, 0.0008618670399300754, 1.2218712153178046e-11, 0.44601619243621826, 1.3796604136917523e-10, 2.3521734560105756e-10, 5.876441694363521e-11, 7.992681516633127e-11, 1.5900515626388056e-10, 9.324759931220172e-13, 1.7726304799015047e-11, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 0.005624772049486637, 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": [1.9335545301437378, -1.4541077613830566, -1.5700000524520874, 1.8049434423446655, 1.5700000524520874, 0.15406806766986847, -1.5700000524520874, 1.9913393259048462, -1.0511607140273327e-09, 0.34196436405181885, -1.5700000524520874, -6.433157478946683e-11, 1.3736588255763849e-11, 0.0010721150320023298, 0.040420543402433395, 4.933376190202621e-12, 0.5378028154373169, 0.018995599821209908, 0.006119594909250736, 0.0008618670399300754, 1.2218712153178046e-11, 0.44601619243621826, 1.3796604136917523e-10, 2.3521734560105756e-10, 5.876441694363521e-11, 7.992681516633127e-11, 1.5900515626388056e-10, 9.324759931220172e-13, 1.7726304799015047e-11, 0.0009680490475147963, 1.372405748073513e-11, 0.4840613603591919, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 1.047357079536626e-12, 1.991018634683872e-11, 0.005624772049486637, 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": [1.9335545301437378, -1.4541077613830566, -1.5700000524520874, 1.8049434423446655, 1.5700000524520874, 0.15406806766986847, -1.5700000524520874, 1.9913393259048462, -1.0511607140273327e-09, 0.34196436405181885, -1.5700000524520874, -6.433157478946683e-11, 1.3736588255763849e-11, 0.0010721150320023298, 0.040420543402433395, 4.933376190202621e-12, 0.5378028154373169, 0.018995599821209908, 0.006119594909250736, 0.0008618670399300754, 1.2218712153178046e-11, 0.44601619243621826, 1.3796604136917523e-10, 2.3521734560105756e-10, 5.876441694363521e-11, 7.992681516633127e-11, 1.5900515626388056e-10, 9.324759931220172e-13, 1.7726304799015047e-11, 0.0009680490475147963, 1.372405748073513e-11, 0.4840613603591919, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 1.047357079536626e-12, 1.991018634683872e-11, 0.005624772049486637, 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": 324, "joint_limit_hard_episode_events": 7, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 171, "max_joint_limit_excess_rad": 1.0306810140609741, "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": 324, "joint_limit_active_step_rate": 0.10854271356783919, "finger_joint_limit_saturation_steps": 171, "finger_joint_limit_saturation_step_rate": 0.05728643216080402, "max_joint_limit_excess_rad": 1.0306810140609741, "max_joint_limit_excess_joint": "right_pinky_mcp_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}, "policy_query_count": 29, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2985, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_60_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_60_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ec681c4aed08dbb76f317ea54be662480d19ec0f --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_60_episode_14/summary.json @@ -0,0 +1,245 @@ +{ + "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": 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": 2985, + "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": 0.00033500837520938025 + }, + "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": 0.00033500837520938025, + "violation_counts": { + "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": 0.10854271356783919, + "finger_joint_limit_saturation_step_rate": 0.05728643216080402, + "max_joint_limit_excess_rad": 1.0306810140609741, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_pip_joint": 3, + "left_index_pitch_joint": 23, + "left_middle_pip_joint": 13, + "left_pinky_mcp_joint": 2, + "left_pinky_pip_joint": 16, + "left_ring_pip_joint": 6, + "left_thumb_mcp_joint": 18, + "right_index_pip_joint": 12, + "right_index_pitch_joint": 153, + "right_middle_pip_joint": 47, + "right_middle_pitch_joint": 95, + "right_pinky_mcp_joint": 120, + "right_pinky_pip_joint": 7, + "right_ring_mcp_joint": 108, + "right_ring_pip_joint": 48 + }, + "joint_limit_hard_counts": { + "left_index_pip_joint": 2, + "left_index_pitch_joint": 1, + "left_middle_pip_joint": 1, + "left_pinky_mcp_joint": 1, + "left_pinky_pip_joint": 1, + "left_ring_pip_joint": 1, + "left_thumb_mcp_joint": 1, + "right_index_pip_joint": 4, + "right_index_pitch_joint": 2, + "right_middle_pip_joint": 5, + "right_middle_pitch_joint": 3, + "right_pinky_mcp_joint": 1, + "right_pinky_pip_joint": 1, + "right_ring_mcp_joint": 3, + "right_ring_pip_joint": 17 + }, + "joint_limit_hard_episode_events": 7, + "finger_joint_limit_saturation_counts": { + "left_index_pitch_joint": 2, + "left_middle_pip_joint": 7, + "right_index_pitch_joint": 62, + "right_middle_pip_joint": 7, + "right_middle_pitch_joint": 18, + "right_pinky_mcp_joint": 99, + "right_ring_mcp_joint": 77 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 2.6540716291378885e-09, + "left_index_pip_joint": 0.024104028940200806, + "left_index_pitch_joint": 0.14136695861816406, + "left_middle_dip_joint": 1.4347796422953252e-05, + "left_middle_pip_joint": 0.3747450113296509, + "left_middle_pitch_joint": 0.00032742953044362366, + "left_pinky_mcp_joint": 0.013960235752165318, + "left_pinky_pip_joint": 0.24848175048828125, + "left_ring_dip_joint": 0.0009879057761281729, + "left_ring_mcp_joint": 0.00024576621945016086, + "left_ring_pip_joint": 0.0939168930053711, + "left_thumb_dip_joint": 3.38502177328337e-05, + "left_thumb_mcp_joint": 0.11684705317020416, + "right_index_dip_joint": 1.895584773592418e-06, + "right_index_pip_joint": 0.021683406084775925, + "right_index_pitch_joint": 0.24645459651947021, + "right_middle_dip_joint": 6.430692155845463e-05, + "right_middle_mcp_joint": 0.00024184584617614746, + "right_middle_pip_joint": 0.13140971958637238, + "right_middle_pitch_joint": 0.15641838312149048, + "right_pinky_dip_joint": 9.107340883929282e-05, + "right_pinky_mcp_joint": 1.0306810140609741, + "right_pinky_pip_joint": 0.015674596652388573, + "right_ring_dip_joint": 0.00022810418158769608, + "right_ring_mcp_joint": 0.8171002864837646, + "right_ring_pip_joint": 0.07747568190097809, + "right_thumb_dip_joint": 5.50453296455089e-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": { + 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false, "place_3": false}, "current_stage_completion": {"place_1": true, "place_2": false, "place_3": false}, "stage_first_completion_step": {"place_1": 2079, "place_2": null, "place_3": null}, "violation_counts": {"drop_to_table_obj_186_pillbottle_2": 1}, "policy_query_count": 27, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3102, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_61_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_61_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..deb5de9dfc944469a8babc89b62785019251e3a5 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_61_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": 206100000, + "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": 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": 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": 0.0003223726627981947 + }, + "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": 34.45, + "expert_time_step": 2067, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0003223726627981947, + "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": 0.016763378465506126, + "finger_joint_limit_saturation_step_rate": 0.0006447453255963894, + "max_joint_limit_excess_rad": 0.24097365140914917, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_mcp": 1, + "left_thumb_mcp": 39, + "left_thumb_pip": 2, + "right_index_mcp": 9, + "right_thumb_pip": 2 + }, + "joint_limit_hard_counts": { + "left_index_mcp": 3, + "left_thumb_mcp": 3, + "left_thumb_pip": 1, + "right_index_mcp": 1, + "right_thumb_abd": 1, + "right_thumb_pip": 4 + }, + "joint_limit_hard_episode_events": 10, + "finger_joint_limit_saturation_counts": { + "left_thumb_mcp": 2 + }, + "joint_limit_max_excess_by_joint": { + "left_index_mcp": 0.013265013694763184, + "left_middle_mcp": 0.0022344589233398438, + "left_ring_mcp": 0.003072023391723633, + "left_thumb_abd": 0.003846317995339632, + "left_thumb_mcp": 0.24097365140914917, + "left_thumb_pip": 0.03088366985321045, + "multi_panda_joint2": 8.082389831542969e-05, + "multi_panda_joint6": 0.0005898475646972656, + "panda_joint6": 0.00022268295288085938, + "right_index_mcp": 0.044898033142089844, + "right_middle_mcp": 0.000725865364074707, + "right_ring_mcp": 0.0015270709991455078, + "right_thumb_abd": 0.008111393079161644, + "right_thumb_mcp": 0.004858970642089844, + "right_thumb_pip": 0.01618802547454834 + }, + "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": 16.039803931573548, + "joint_effort_rms": 41.88753186206312, + "joint_jerk_rms": 1594.5734850518577, + "joint_velocity_rms": 0.48056750161748596 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9975080143502202, + "mean_kinematic_grasp_stability": 0.4740289245815201, + "per_object_best_kinematic_grasp_stability": { + "obj_186_pillbottle_2": 0.9975054260204828, + "obj_211_hydrating_oil_4": 0.0, + "obj_218_tooth_paste_3": 0.9975080143502202 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8706211046636216, + "mean_duration_score": 0.3154094132817537, + "mean_hold_score": 0.2635557704706654, + "mean_kinematic_stability_score": 0.15418929236065562, + "mean_legacy_gsi": 0.3983774590198291, + "mean_lift_score": 0.3290350311626907, + "mean_motion_stability_score": 0.2567543629286029 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3102, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_61_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_61_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3dc52b4a782b9fe2ead7a3d8e3df11990729973 --- /dev/null +++ b/gpt6_astra_1x_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, 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"time_to_stable_success_s": 47.36666666666526, "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": 0.7273047149894657, "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": 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"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_1x_icl/source_runs/task_61_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_61_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1a08bc8374128b61e29a589a3ef4be0be6c4c2b4 --- /dev/null +++ b/gpt6_astra_1x_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_1x_icl/source_runs/task_61_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_61_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b1130d682ba628bfada16172a5f7f361c61bfbf --- /dev/null +++ b/gpt6_astra_1x_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": "", 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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_1x_icl/source_runs/task_61_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_61_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..48081ed54a7b43659967c488e3aa483d9bd2114a --- /dev/null +++ b/gpt6_astra_1x_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_1x_icl/source_runs/task_61_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_61_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8822611696b10771ded8282528bee5367803ead3 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_61_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/61_medicine_shoebox_pack.yaml", "episode_index": 8, "seed": 206100007, "success": true, "steps": 2953, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206100007, "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": 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", 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"chain_depth": 3, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_index_mcp": 1, "left_thumb_mcp": 188, "left_thumb_pip": 1}, "joint_limit_hard_counts": {"left_index_mcp": 4, "left_thumb_mcp": 1, "left_thumb_pip": 3, "right_thumb_mcp": 1}, "finger_joint_limit_saturation_counts": {"left_thumb_mcp": 168}, "joint_limit_max_excess_by_joint": {"left_index_mcp": 0.011629700660705566, "left_middle_mcp": 0.0009462833404541016, "left_ring_mcp": 0.0025064945220947266, "left_thumb_abd": 0.00321367965079844, "left_thumb_mcp": 0.2870100140571594, "left_thumb_pip": 0.010969042778015137, "multi_panda_joint1": 0.0007903575897216797, "multi_panda_joint6": 0.000286102294921875, "right_middle_mcp": 0.00034809112548828125, "right_ring_mcp": 0.000453948974609375, "right_thumb_abd": 0.0014569684863090515, "right_thumb_mcp": 0.005170762538909912, "right_thumb_pip": 0.0026092529296875}, "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": 586, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_thumb_pip", "role": "finger", "qpos": 1.2354485988616943, "hard_excess_rad": 0.005448579788208008, "hard_tolerance_rad": 0.005, "hard_lower": -0.7943999171257019, "hard_upper": 1.2300000190734863, "operating_lower": -0.7943999767303467, "operating_upper": 1.2300000190734863, "expanded_target": 1.2300000190734863, "shielded_target": 1.2300000190734863}], "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": [-2.833186149597168, 1.5700000524520874, -1.3956536054611206, -1.5700000524520874, 0.5845223069190979, 2.2655981257724278e-11, -2.2375590801239014, -1.5700000524520874, 0.7869421243667603, 1.5700000524520874, 5.388343334197998, 6.25, -1.9034554958343506, -1.5700000524520874, -0.5559670925140381, 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": [-2.833186149597168, 1.5700000524520874, -1.3956536054611206, -1.5700000524520874, 0.5845223069190979, 2.2655981257724278e-11, -2.2375590801239014, -1.5700000524520874, 0.7869421243667603, 1.5700000524520874, 5.388343334197998, 6.25, -1.9034554958343506, -1.5700000524520874, -0.5559670925140381, 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": [-2.833186149597168, 1.5700000524520874, -1.3956536054611206, -1.5700000524520874, 0.5845223069190979, 2.2655981257724278e-11, -2.2375590801239014, -1.5700000524520874, 0.7869421243667603, 1.5700000524520874, 5.388343334197998, 6.25, -1.9034554958343506, -1.5700000524520874, -0.5559670925140381, 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": 190, "joint_limit_hard_episode_events": 9, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 168, "max_joint_limit_excess_rad": 0.2870100140571594, "max_joint_limit_excess_joint": "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": 190, "joint_limit_active_step_rate": 0.06434134778191669, "finger_joint_limit_saturation_steps": 168, "finger_joint_limit_saturation_step_rate": 0.056891296986115815, "max_joint_limit_excess_rad": 0.2870100140571594, "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": 1776, "place_2": 2446, "place_3": 2872}, "violation_counts": {}, "policy_query_count": 19, "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_1x_icl/source_runs/task_61_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_61_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..9e85036b656ff4f59c278458371a36d54d309718 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_61_episode_08/summary.json @@ -0,0 +1,199 @@ +{ + "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": 49.216666666665155 + }, + "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": 0.6999661361327679, + "expert_time_s": 34.45, + "expert_time_step": 2067, + "avg_steps_to_success": 2953, + "avg_policy_steps_to_success": 985, + "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": 0.06434134778191669, + "finger_joint_limit_saturation_step_rate": 0.056891296986115815, + "max_joint_limit_excess_rad": 0.2870100140571594, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_mcp": 1, + "left_thumb_mcp": 188, + "left_thumb_pip": 1 + }, + "joint_limit_hard_counts": { + "left_index_mcp": 4, + "left_thumb_mcp": 1, + "left_thumb_pip": 3, + "right_thumb_mcp": 1 + }, + "joint_limit_hard_episode_events": 9, + "finger_joint_limit_saturation_counts": { + "left_thumb_mcp": 168 + }, + "joint_limit_max_excess_by_joint": { + "left_index_mcp": 0.011629700660705566, + "left_middle_mcp": 0.0009462833404541016, + "left_ring_mcp": 0.0025064945220947266, + "left_thumb_abd": 0.00321367965079844, + "left_thumb_mcp": 0.2870100140571594, + "left_thumb_pip": 0.010969042778015137, + "multi_panda_joint1": 0.0007903575897216797, + "multi_panda_joint6": 0.000286102294921875, + "right_middle_mcp": 0.00034809112548828125, + "right_ring_mcp": 0.000453948974609375, + "right_thumb_abd": 0.0014569684863090515, + "right_thumb_mcp": 0.005170762538909912, + "right_thumb_pip": 0.0026092529296875 + }, + "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": 17.675503475729258, + "joint_effort_rms": 38.8981735676954, + "joint_jerk_rms": 1803.9602444693194, + "joint_velocity_rms": 0.4343947830157773 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9969436458192371, + "mean_kinematic_grasp_stability": 0.33699397511883417, + "per_object_best_kinematic_grasp_stability": { + "obj_186_pillbottle_2": 0.35580568653410594, + "obj_211_hydrating_oil_4": 0.9091275109127861, + "obj_218_tooth_paste_3": 0.9969436458192371 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8552884072694517, + "mean_duration_score": 0.22029950709259802, + "mean_hold_score": 0.2041031719155682, + "mean_kinematic_stability_score": 0.06383066827513305, + "mean_legacy_gsi": 0.3440011911997051, + "mean_lift_score": 0.28073145953267864, + "mean_motion_stability_score": 0.20796409339240898 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2953, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_61_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_61_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e8dbf0bd5f20b43ab0022eef0523b1cff5ac604a --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_61_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/61_medicine_shoebox_pack.yaml", "episode_index": 9, "seed": 206100008, "success": true, "steps": 2655, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206100008, "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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0.19698377551402754, 0.7171023132492235], "rpy_deg": [90.0, 0.0, 28.731614052048553]}, "obj_211_hydrating_oil_4": {"position": [-0.0739740731452724, 0.3321954825399889, 0.7171023132621622], "rpy_deg": [90.0, 0.0, 2.9398868344316025]}}, "_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": 2581, "stable_success_step": 2654, "first_stable_success_step": 2654, "steps_to_stable_success": 2655, "policy_steps_to_stable_success": 885, "policy_queries_to_stable_success": 29, "time_to_stable_success_s": 44.24999999999877, "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": 0.7785310734463494, "kinematic_grasp_stability_index": 0.8089761238941843, "mean_kinematic_grasp_stability": 0.0391003681311435, "per_object_best_kinematic_grasp_stability": {"obj_186_pillbottle_2": 0.15141064309080343, "obj_211_hydrating_oil_4": 0.8089761238941843, "obj_218_tooth_paste_3": 0.037211694913859186}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.3047986790988492, "mean_kinematic_stability_score": 0.00365231310603525, "mean_lift_score": 0.2566227244193346, "mean_hold_score": 0.16864406779661217, "mean_motion_stability_score": 0.16569447235491824, "mean_duration_score": 0.15552626072400078, "mean_anti_slip_score": 0.8296296296296313}, "robot_motion_metrics": {"joint_velocity_rms": 0.321257080659096, "joint_acceleration_rms": 11.644175574111955, "joint_jerk_rms": 1173.4849295215595, "joint_effort_rms": 27.346834147155025}, "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": 0.0029627084732055664, "left_middle_mcp": 0.001270294189453125, "left_ring_mcp": 0.0011947154998779297, "left_thumb_abd": 0.001991557190194726, "left_thumb_mcp": 0.0036461353302001953, "left_thumb_pip": 0.0015344619750976562, "right_middle_mcp": 0.0005000829696655273, "right_ring_mcp": 6.866455078125e-05, "right_thumb_abd": 0.0021194329019635916, "right_thumb_mcp": 0.0026462674140930176, "right_thumb_pip": 0.0019075870513916016}, "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": 0.0036461353302001953, "max_joint_limit_excess_joint": "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": 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": 0.0036461353302001953, "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": 1403, "place_2": 1889, "place_3": 2581}, "violation_counts": {}, "policy_query_count": 29, "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_1x_icl/source_runs/task_61_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_61_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8d730a065a052d50f2ceefd053dc5374d86fac49 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_61_episode_09/summary.json @@ -0,0 +1,186 @@ +{ + "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": 44.24999999999877 + }, + "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": 0.7785310734463494, + "expert_time_s": 34.45, + "expert_time_step": 2067, + "avg_steps_to_success": 2655, + "avg_policy_steps_to_success": 885, + "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": 0.0036461353302001953, + "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": 0.0029627084732055664, + "left_middle_mcp": 0.001270294189453125, + "left_ring_mcp": 0.0011947154998779297, + "left_thumb_abd": 0.001991557190194726, + "left_thumb_mcp": 0.0036461353302001953, + "left_thumb_pip": 0.0015344619750976562, + "right_middle_mcp": 0.0005000829696655273, + "right_ring_mcp": 6.866455078125e-05, + "right_thumb_abd": 0.0021194329019635916, + "right_thumb_mcp": 0.0026462674140930176, + "right_thumb_pip": 0.0019075870513916016 + }, + "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": 11.644175574111955, + "joint_effort_rms": 27.346834147155025, + "joint_jerk_rms": 1173.4849295215595, + "joint_velocity_rms": 0.321257080659096 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8089761238941843, + "mean_kinematic_grasp_stability": 0.0391003681311435, + "per_object_best_kinematic_grasp_stability": { + "obj_186_pillbottle_2": 0.15141064309080343, + "obj_211_hydrating_oil_4": 0.8089761238941843, + "obj_218_tooth_paste_3": 0.037211694913859186 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8296296296296313, + "mean_duration_score": 0.15552626072400078, + "mean_hold_score": 0.16864406779661217, + "mean_kinematic_stability_score": 0.00365231310603525, + "mean_legacy_gsi": 0.3047986790988492, + "mean_lift_score": 0.2566227244193346, + "mean_motion_stability_score": 0.16569447235491824 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2655, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_61_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_61_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e6ff58eed686e8c713d51ba48176352d9fe7d15 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_61_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/61_medicine_shoebox_pack.yaml", "episode_index": 10, "seed": 206100009, "success": true, "steps": 2763, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206100009, "base_seed": 206100000, "seed_policy": "episode_seed = base_seed + episode_index - 1", 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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": 0.7480998914223886, "kinematic_grasp_stability_index": 0.9988284656916531, "mean_kinematic_grasp_stability": 0.5977468853562676, "per_object_best_kinematic_grasp_stability": {"obj_186_pillbottle_2": 0.9988284656916531, "obj_211_hydrating_oil_4": 0.7733816543988481, "obj_218_tooth_paste_3": 0.9881561777040925}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.40480265281576244, "mean_kinematic_stability_score": 0.15006771244135517, "mean_lift_score": 0.3771263119797322, "mean_hold_score": 0.28523947400168953, "mean_motion_stability_score": 0.2636840085707778, "mean_duration_score": 0.30151204407447624, "mean_anti_slip_score": 0.8643583866168}, "robot_motion_metrics": {"joint_velocity_rms": 0.3212098737646803, "joint_acceleration_rms": 10.274678700032428, "joint_jerk_rms": 1053.5336530616032, "joint_effort_rms": 30.6728002899722}, "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": 0.0025752782821655273, "left_middle_mcp": 0.0023795366287231445, "left_ring_mcp": 0.0003726482391357422, "left_thumb_abd": 0.002032308839261532, "left_thumb_mcp": 0.0020871758460998535, "left_thumb_pip": 0.00025832653045654297, "right_middle_mcp": 0.00040471553802490234, "right_ring_mcp": 0.000809788703918457, "right_thumb_abd": 0.002300787018612027, "right_thumb_mcp": 0.0024222731590270996}, "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": 0.0025752782821655273, "max_joint_limit_excess_joint": "left_index_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": 0.0025752782821655273, "max_joint_limit_excess_joint": "left_index_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": 1323, "place_2": 2002, "place_3": 2569}, "violation_counts": {}, "policy_query_count": 28, "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_1x_icl/source_runs/task_61_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_61_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..7f94b97953df38f690007236dabf6f5b6c0a3e2f --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_61_episode_10/summary.json @@ -0,0 +1,185 @@ +{ + "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": 46.04999999999867 + }, + "safety": { + "safe_success_rate": 1.0, + "hard_violation_rate": 0.0, + "drop_rate": 0.0, + 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"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": 0.0059310197830200195, "max_joint_limit_excess_joint": "left_thumb_pip", "stage_completion": {"place_1": false, "place_2": false, "place_3": false}, "current_stage_completion": {"place_1": false, "place_2": false, "place_3": false}, "stage_first_completion_step": {"place_1": null, "place_2": null, "place_3": null}, "violation_counts": {}, "policy_query_count": 8, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3102, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_61_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_61_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..63ca48d6587d4e70345a6571e985cbdca6520388 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_61_episode_11/summary.json @@ -0,0 +1,184 @@ +{ + "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": 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": 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": 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": { + "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": 34.45, + "expert_time_step": 2067, + "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": 0.0, + "joint_limit_active_step_rate": 0.0, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.0059310197830200195, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": { + "left_thumb_pip": 1 + }, + "joint_limit_hard_episode_events": 1, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_index_mcp": 0.00026047229766845703, + "left_middle_mcp": 0.0010116100311279297, + "left_ring_mcp": 0.0011066198348999023, + "left_thumb_abd": 0.0033802350517362356, + "left_thumb_mcp": 0.004390239715576172, + "left_thumb_pip": 0.0059310197830200195, + "right_thumb_abd": 3.221980737766472e-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": 11.985966876155086, + "joint_effort_rms": 23.75060432973136, + "joint_jerk_rms": 1170.4921368671728, + "joint_velocity_rms": 0.3777309206860161 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.0, + "mean_kinematic_grasp_stability": null, + "per_object_best_kinematic_grasp_stability": { + "obj_186_pillbottle_2": 0.0, + "obj_211_hydrating_oil_4": 0.0, + "obj_218_tooth_paste_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": 0.19999999999999238, + "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": 762, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_61_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_61_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..51be11ea7ae6d73ac80551b394399e1d0ce157c3 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_61_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/61_medicine_shoebox_pack.yaml", "episode_index": 12, "seed": 206100011, "success": true, "steps": 2734, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206100011, "base_seed": 206100000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 90.0, "base_yaw_deg": 90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan10", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": 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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_hard_counts": {"left_thumb_abd": 1}, "joint_limit_max_excess_by_joint": {"left_index_mcp": 0.004033684730529785, "left_middle_mcp": 0.0005934238433837891, "left_ring_mcp": 0.0005768537521362305, "left_thumb_abd": 0.006793883629143238, "left_thumb_mcp": 0.003947436809539795, "right_middle_mcp": 0.000643610954284668, "right_thumb_abd": 0.0012509891530498862, "right_thumb_mcp": 0.0026432275772094727}, "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_thumb_abd", "role": "finger", "qpos": 0.006793883629143238, "hard_excess_rad": 0.006793883629143238, "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": [-1.5511668920516968, 1.5700000524520874, -1.609081506729126, -1.5700000524520874, -0.015314392745494843, 2.2655981257724278e-11, -1.6384704113006592, -1.5700000524520874, 1.5241649150848389, 1.5700000524520874, 6.230031490325928, 6.25, -1.5264501571655273, -1.5700000524520874, -0.01917240023612976, 2.213073724277592e-09, -0.03009169176220894, 4.02903710394753e-09, -0.005596250295639038, 0.007700348272919655, 0.00810621865093708, 0.007226894143968821, 0.0, -1.63480462500587e-09, 8.888768832093774e-09, 3.8195988039113615e-10, -1.6506856992393182e-09, -3.3405771482364344e-09, -0.01086718775331974, -0.008716008625924587, -0.00497592194005847, -0.008737577125430107, 0.029810957610607147, -2.7410340663891475e-10, -1.7214670799958753e-09, 2.0379429255257264e-09, -2.268611964950651e-10, -2.9153653713365202e-08, -0.0032357918098568916, -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": [-1.5511668920516968, 1.5700000524520874, -1.609081506729126, -1.5700000524520874, -0.015314392745494843, 2.2655981257724278e-11, -1.6384704113006592, -1.5700000524520874, 1.5241649150848389, 1.5700000524520874, 6.230031490325928, 6.25, -1.5264501571655273, -1.5700000524520874, -0.01917240023612976, 2.213073724277592e-09, 0.0, 0.0, 0.0, 0.0, -0.03009169176220894, 0.0, 0.0, 0.0, 0.0, 4.02903710394753e-09, -0.005596250295639038, 0.007700348272919655, 0.00810621865093708, 0.007226894143968821, 0.0, -1.63480462500587e-09, 8.888768832093774e-09, 3.8195988039113615e-10, -1.6506856992393182e-09, -3.3405771482364344e-09, -0.01086718775331974, -0.008716008625924587, -0.00497592194005847, -0.008737577125430107, 0.029810957610607147, -2.7410340663891475e-10, -1.7214670799958753e-09, 2.0379429255257264e-09, -2.268611964950651e-10, -2.9153653713365202e-08, -0.0032357918098568916, -8.803794360190409e-10], "shielded_full_target": [-1.5511668920516968, 1.5700000524520874, -1.609081506729126, -1.5700000524520874, -0.015314392745494843, 2.2655981257724278e-11, -1.6384704113006592, -1.5700000524520874, 1.5241649150848389, 1.5700000524520874, 6.230031490325928, 6.25, -1.5264501571655273, -1.5700000524520874, -0.01917240023612976, 2.213073724277592e-09, 0.0, 0.0, 0.0, 0.0, -0.03009169176220894, 0.0, 0.0, 0.0, 0.0, 4.02903710394753e-09, -0.005596250295639038, 0.007700348272919655, 0.00810621865093708, 0.007226894143968821, 0.0, -1.63480462500587e-09, 8.888768832093774e-09, 3.8195988039113615e-10, -1.6506856992393182e-09, -3.3405771482364344e-09, -0.01086718775331974, -0.008716008625924587, -0.00497592194005847, -0.008737577125430107, 0.029810957610607147, -2.7410340663891475e-10, -1.7214670799958753e-09, 2.0379429255257264e-09, -2.268611964950651e-10, -2.9153653713365202e-08, -0.0032357918098568916, -8.803794360190409e-10]}, "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": 0.006793883629143238, "max_joint_limit_excess_joint": "left_thumb_abd", "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": 0.006793883629143238, "max_joint_limit_excess_joint": "left_thumb_abd", "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": 1289, "place_2": 1866, "place_3": 2640}, "violation_counts": {}, "policy_query_count": 22, "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_1x_icl/source_runs/task_61_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_61_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..fa9fea0105eea392379b4d8700efda65e6c45d11 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_61_episode_12/summary.json @@ -0,0 +1,185 @@ +{ + "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": 45.56666666666536 + }, + "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": 0.7560351133870005, + "expert_time_s": 34.45, + "expert_time_step": 2067, + "avg_steps_to_success": 2734, + "avg_policy_steps_to_success": 912, + "avg_policy_queries_to_success": 22 + }, + "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": 0.006793883629143238, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": { + "left_thumb_abd": 1 + }, + "joint_limit_hard_episode_events": 1, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_index_mcp": 0.004033684730529785, + "left_middle_mcp": 0.0005934238433837891, + "left_ring_mcp": 0.0005768537521362305, + "left_thumb_abd": 0.006793883629143238, + "left_thumb_mcp": 0.003947436809539795, + "right_middle_mcp": 0.000643610954284668, + "right_thumb_abd": 0.0012509891530498862, + "right_thumb_mcp": 0.0026432275772094727 + }, + "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": 10.731824423471274, + "joint_effort_rms": 27.29241308706, + "joint_jerk_rms": 1083.4069208434241, + "joint_velocity_rms": 0.31209995712862015 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9989547151974736, + "mean_kinematic_grasp_stability": 0.6176559470785595, + "per_object_best_kinematic_grasp_stability": { + "obj_186_pillbottle_2": 0.9989547151974736, + "obj_211_hydrating_oil_4": 0.5954890139316483, + "obj_218_tooth_paste_3": 0.989886078271229 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9895960334877695, + "mean_duration_score": 0.28297976103389416, + "mean_hold_score": 0.29580590099975934, + "mean_kinematic_stability_score": 0.2426344137389806, + "mean_legacy_gsi": 0.4253391069118256, + "mean_lift_score": 0.40063399170933917, + "mean_motion_stability_score": 0.26242213277150567 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2734, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_61_episode_13/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_61_episode_13/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aeb399a554fa12f2f68fc4112a4a8e5e9876c4c8 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_61_episode_13/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/61_medicine_shoebox_pack.yaml", "episode_index": 13, "seed": 206100012, "success": true, "steps": 2897, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206100012, "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, "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", 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"_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": 2816, "stable_success_step": 2896, "first_stable_success_step": 2896, "steps_to_stable_success": 2897, "policy_steps_to_stable_success": 966, "policy_queries_to_stable_success": 24, "time_to_stable_success_s": 48.283333333331875, "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": 0.7134967207456205, "kinematic_grasp_stability_index": 0.9949055371526895, "mean_kinematic_grasp_stability": 0.6417567781275748, "per_object_best_kinematic_grasp_stability": {"obj_186_pillbottle_2": 0.9949055371526895, "obj_211_hydrating_oil_4": 0.05902969118102547, "obj_218_tooth_paste_3": 0.9919112242059065}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4105467098510992, "mean_kinematic_stability_score": 0.21945704114545536, "mean_lift_score": 0.34196295017834544, "mean_hold_score": 0.2711080428029011, "mean_motion_stability_score": 0.26393980158548946, "mean_duration_score": 0.2577532313120853, "mean_anti_slip_score": 0.9650596402408863}, "robot_motion_metrics": {"joint_velocity_rms": 0.2939373982094769, "joint_acceleration_rms": 11.006734702992196, "joint_jerk_rms": 1112.0608680805306, "joint_effort_rms": 26.11676297207357}, "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": 0.0009812116622924805, "left_middle_mcp": 0.0010619163513183594, "left_ring_mcp": 0.0009926557540893555, "left_thumb_abd": 0.001712453318759799, "left_thumb_mcp": 0.0026230812072753906, "left_thumb_pip": 0.0002611875534057617, "left_wrist": 0.00021761655807495117, "multi_panda_joint6": 0.00010251998901367188, "right_middle_mcp": 0.0010597705841064453, "right_ring_mcp": 0.0006669759750366211, "right_thumb_abd": 0.0019930219277739525, "right_thumb_mcp": 0.003518223762512207, "right_thumb_pip": 0.001722097396850586}, "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": 0.003518223762512207, "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": 0.003518223762512207, "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": 1489, "place_2": 2011, "place_3": 2816}, "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_1x_icl/source_runs/task_61_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_61_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b83383cd2305e749f3440b19b74170e456d562ee --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_61_episode_13/summary.json @@ -0,0 +1,188 @@ +{ + "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": 48.283333333331875 + }, + "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": 0.7134967207456205, + "expert_time_s": 34.45, + "expert_time_step": 2067, + "avg_steps_to_success": 2897, + "avg_policy_steps_to_success": 966, + "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": 0.003518223762512207, + "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": 0.0009812116622924805, + "left_middle_mcp": 0.0010619163513183594, + "left_ring_mcp": 0.0009926557540893555, + "left_thumb_abd": 0.001712453318759799, + "left_thumb_mcp": 0.0026230812072753906, + "left_thumb_pip": 0.0002611875534057617, + "left_wrist": 0.00021761655807495117, + "multi_panda_joint6": 0.00010251998901367188, + "right_middle_mcp": 0.0010597705841064453, + "right_ring_mcp": 0.0006669759750366211, + "right_thumb_abd": 0.0019930219277739525, + "right_thumb_mcp": 0.003518223762512207, + "right_thumb_pip": 0.001722097396850586 + }, + "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": 11.006734702992196, + "joint_effort_rms": 26.11676297207357, + "joint_jerk_rms": 1112.0608680805306, + "joint_velocity_rms": 0.2939373982094769 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9949055371526895, + "mean_kinematic_grasp_stability": 0.6417567781275748, + "per_object_best_kinematic_grasp_stability": { + "obj_186_pillbottle_2": 0.9949055371526895, + "obj_211_hydrating_oil_4": 0.05902969118102547, + "obj_218_tooth_paste_3": 0.9919112242059065 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9650596402408863, + "mean_duration_score": 0.2577532313120853, + "mean_hold_score": 0.2711080428029011, + "mean_kinematic_stability_score": 0.21945704114545536, + "mean_legacy_gsi": 0.4105467098510992, + "mean_lift_score": 0.34196295017834544, + "mean_motion_stability_score": 0.26393980158548946 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2897, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_61_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_61_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5dcc64637e4f6c664debf5c00707b798b77e533 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_61_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/61_medicine_shoebox_pack.yaml", "episode_index": 14, "seed": 206100013, "success": true, "steps": 3023, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206100013, "base_seed": 206100000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": 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0.37796451319131796, "joint_acceleration_rms": 12.744894084050179, "joint_jerk_rms": 1281.342631400484, "joint_effort_rms": 32.96409333004514}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.00033079722130335143, "safety_violation_rate_time": 0.00033079722130335143, "safety_violation_rate_event": 0.0003307972213033411, "safety_violation_step_rate": 0.0003307972213033411, "safety_violation_events_per_step": 0.0003307972213033411, "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": 3, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"panda_joint1": 12}, "joint_limit_hard_counts": {"panda_joint1": 1}, "joint_limit_max_excess_by_joint": {"left_index_mcp": 0.0004630088806152344, "left_middle_mcp": 0.0018461942672729492, "left_ring_mcp": 0.004880070686340332, "left_thumb_abd": 0.00207792641595006, "left_thumb_mcp": 0.00424647331237793, "panda_joint1": 0.03150486946105957, "right_middle_mcp": 0.0004144906997680664, "right_ring_mcp": 0.0005376338958740234, "right_thumb_abd": 0.0017723657656461, "right_thumb_mcp": 0.002502143383026123, "right_thumb_pip": 0.004409193992614746}, "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": 2968, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "panda_joint1", "role": "arm", "qpos": -2.980320692062378, "hard_excess_rad": 0.013221025466918945, "hard_tolerance_rad": 0.011868398666381836, "hard_lower": -2.967099666595459, "hard_upper": 2.967099666595459, "operating_lower": -2.967099666595459, "operating_upper": 2.967099666595459, "expanded_target": -2.967099666595459, "shielded_target": -2.967099666595459}], "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": [-2.967099666595459, 1.4041368961334229, -1.654029369354248, -1.9841488599777222, 0.9199448823928833, -0.1709209680557251, -2.334075689315796, -2.503978967666626, 2.6728427410125732, 1.1966384649276733, 6.142992973327637, 5.5255937576293945, -2.8283815383911133, -1.165762186050415, -0.8489289283752441, 0.664387047290802, -0.31940728425979614, -0.8550852537155151, 1.551986813545227, 1.5854969024658203, 0.47752970457077026, 1.5766350030899048, 0.0, -0.13464608788490295, 0.1388876736164093, -0.04048629105091095, 0.06434759497642517, 0.0, -0.23947595059871674, 0.4636772572994232, -0.17473988234996796, 0.06971898674964905, 1.2300000190734863, -0.2895675301551819, -0.26812708377838135, -0.07175569981336594, -0.2738229036331177, 0.9504529237747192, 0.7616990208625793, -0.1550024449825287], "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": [-2.967099666595459, 1.4041368961334229, -1.654029369354248, -1.9841488599777222, 0.9199448823928833, 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-2.8283815383911133, -1.165762186050415, -0.8489289283752441, 0.664387047290802, 0.0, 0.0, 0.0, 0.0, -0.31940728425979614, 0.0, 0.0, 0.0, 0.0, -0.8550852537155151, 1.551986813545227, 1.5854969024658203, 0.47752970457077026, 1.5766350030899048, 0.0, -0.13464608788490295, 0.1388876736164093, -0.04048629105091095, 0.06434759497642517, 0.0, -0.23947595059871674, 0.4636772572994232, -0.17473988234996796, 0.06971898674964905, 1.2300000190734863, -0.2895675301551819, -0.26812708377838135, -0.07175569981336594, -0.2738229036331177, 0.9504529237747192, 0.7616990208625793, -0.1550024449825287]}, "joint_limit_active_steps": 12, "joint_limit_hard_episode_events": 1, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.03150486946105957, "max_joint_limit_excess_joint": "panda_joint1", "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": 12, "joint_limit_active_step_rate": 0.0039695666556400925, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.03150486946105957, "max_joint_limit_excess_joint": "panda_joint1", "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": 1757, "place_2": 2464, "place_3": 2993}, "violation_counts": {"drop_to_table_obj_186_pillbottle_2": 1}, "policy_query_count": 36, "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_1x_icl/source_runs/task_61_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_61_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b99f02aa87c729a0cc565526dcc26e403f7804eb --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_61_episode_14/summary.json @@ -0,0 +1,192 @@ +{ + "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": 50.383333333331755 + }, + "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": 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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": 21, "joint_limit_hard_episode_events": 8, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 6, "max_joint_limit_excess_rad": 0.3137786388397217, "max_joint_limit_excess_joint": "multi_leap_r_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": 21, "joint_limit_active_step_rate": 0.0064995357474466105, "finger_joint_limit_saturation_steps": 6, "finger_joint_limit_saturation_step_rate": 0.0018570102135561746, "max_joint_limit_excess_rad": 0.3137786388397217, "max_joint_limit_excess_joint": "multi_leap_r_10", "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": 22, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3231, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_62_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_62_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..fc453712c7e7bb2cf5a5561858937a20cb267788 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_62_episode_05/summary.json @@ -0,0 +1,193 @@ +{ + "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": 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": 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": 1.0, + "drop_rate": 1.0, + "high_speed_violation_rate": 1.0, + "safety_violation_step_rate": 0.0024760136180748994 + }, + "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": 0.0006190034045187249, + "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": 0.0064995357474466105, + "finger_joint_limit_saturation_step_rate": 0.0018570102135561746, + "max_joint_limit_excess_rad": 0.3137786388397217, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "multi_leap_r_10": 17, + "multi_leap_r_2": 4 + }, + "joint_limit_hard_counts": { + "multi_leap_r_10": 1, + "multi_leap_r_2": 3, + "multi_leap_r_5": 1, + "multi_leap_r_9": 4 + }, + "joint_limit_hard_episode_events": 8, + "finger_joint_limit_saturation_counts": { + "multi_leap_r_10": 6 + }, + "joint_limit_max_excess_by_joint": { + "multi_leap_r_10": 0.3137786388397217, + "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": 11.964967948296236, + "joint_effort_rms": 51.10020723349504, + "joint_jerk_rms": 1153.4000971476846, + "joint_velocity_rms": 0.5106931793205831 + }, + "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": 0.3063963685133511, + "mean_hold_score": 0.024708552563705796, + "mean_kinematic_stability_score": 0.015783379298632425, + "mean_legacy_gsi": 0.2746512752356616, + "mean_lift_score": 0.031259671928195606, + "mean_motion_stability_score": 0.017861909944042888 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3231, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_62_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_62_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..69ad5093c76d461a0e8b5d54a69682c8f410fe37 --- /dev/null +++ b/gpt6_astra_1x_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": 3231, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206200005, "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": 270.0, "base_yaw_deg": -90.0, "flip_180_applied": false, "physics_enabled": false, 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"joint_jerk_rms": 1705.9014985330775, "joint_effort_rms": 61.522119669357615}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.004333023831631216, "safety_violation_rate_time": 0.004333023831631216, "safety_violation_rate_event": 0.0006190034045187249, "safety_violation_step_rate": 0.004333023831631074, "safety_violation_events_per_step": 0.0006190034045187249, "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": {"multi_leap_r_2": 345}, "joint_limit_hard_counts": {"multi_leap_r_2": 22, "multi_leap_r_9": 1}, "finger_joint_limit_saturation_counts": {"multi_leap_r_2": 234}, "joint_limit_max_excess_by_joint": {"multi_joint5": 0.001739501953125, "multi_leap_r_1": 0.0031715333461761475, "multi_leap_r_2": 1.3980273008346558, "multi_leap_r_3": 0.00019490718841552734, "multi_leap_r_5": 0.004411220550537109, "multi_leap_r_9": 0.006113320589065552}, "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": [-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, 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], "shielded_full_target": [-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, 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": 345, "joint_limit_hard_episode_events": 23, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 234, "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": 345, "joint_limit_active_step_rate": 0.10677808727948004, "finger_joint_limit_saturation_steps": 234, "finger_joint_limit_saturation_step_rate": 0.07242339832869081, "max_joint_limit_excess_rad": 1.3980273008346558, "max_joint_limit_excess_joint": "multi_leap_r_2", "stage_completion": {"place_1": false, "place_2": false, "place_3": false}, "current_stage_completion": {"place_1": false, "place_2": false, "place_3": false}, "stage_first_completion_step": {"place_1": null, "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": 22, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3231, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_62_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_62_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..d2ed1f6d80213cd3240b6ee9e42110b8517e9663 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_62_episode_06/summary.json @@ -0,0 +1,191 @@ +{ + "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": 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": 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": 0.0 + }, + "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": 0.004333023831631074 + }, + "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": 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": 0.0006190034045187249, + "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": 0.10677808727948004, + "finger_joint_limit_saturation_step_rate": 0.07242339832869081, + "max_joint_limit_excess_rad": 1.3980273008346558, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "multi_leap_r_2": 345 + }, + "joint_limit_hard_counts": { + "multi_leap_r_2": 22, + "multi_leap_r_9": 1 + }, + "joint_limit_hard_episode_events": 23, + "finger_joint_limit_saturation_counts": { + "multi_leap_r_2": 234 + }, + "joint_limit_max_excess_by_joint": { + "multi_joint5": 0.001739501953125, + "multi_leap_r_1": 0.0031715333461761475, + "multi_leap_r_2": 1.3980273008346558, + "multi_leap_r_3": 0.00019490718841552734, + "multi_leap_r_5": 0.004411220550537109, + "multi_leap_r_9": 0.006113320589065552 + }, + "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": 17.303788443561714, + "joint_effort_rms": 61.522119669357615, + "joint_jerk_rms": 1705.9014985330775, + "joint_velocity_rms": 0.5998098667978135 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.865689982495278, + "mean_kinematic_grasp_stability": 0.3882159247033796, + "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": 0.9045703084700543, + "mean_duration_score": 0.2893325079954606, + "mean_hold_score": 0.03516455173836771, + "mean_kinematic_stability_score": 0.01706179551466416, + "mean_legacy_gsi": 0.25800466887147716, + "mean_lift_score": 0.043949241720829466, + "mean_motion_stability_score": 0.026597965455834392 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3231, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_62_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_62_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e84502e23a77ab78f090773f0103aada5f024023 --- /dev/null +++ b/gpt6_astra_1x_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, 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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_1x_icl/source_runs/task_62_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_62_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8e5519321988af242631e3413719e650181f81d1 --- /dev/null +++ b/gpt6_astra_1x_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_1x_icl/source_runs/task_62_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_62_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77e4f475f45b963b0f12959571a59bc825c9dbf9 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_62_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": 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"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, 1.7655121088027954, 1.3567105772160915e-10, -0.9793917536735535, -1.5700000524520874, 0.19466248154640198, 1.5700000524520874, -1.79038667678833, -6.398155338871447e-10, 2.399261236190796, -1.5700000524520874, 0.7145161628723145, -1.9717127084732056, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 0.0, 5.533952740499615e-10, 0.0, 0.0, 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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": 128, "joint_limit_hard_episode_events": 44, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 70, "max_joint_limit_excess_rad": 0.6067723035812378, "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": 128, "joint_limit_active_step_rate": 0.042468480424684804, "finger_joint_limit_saturation_steps": 70, "finger_joint_limit_saturation_step_rate": 0.023224950232249502, "max_joint_limit_excess_rad": 0.6067723035812378, "max_joint_limit_excess_joint": "multi_leap_r_2", "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": 811, "place_2": 2369, "place_3": 2961}, "violation_counts": {}, "policy_query_count": 22, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3231, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_62_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_62_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..f51872ab5bfcb61e0bd6dfee8b6e3d1f9905bc7a --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_62_episode_08/summary.json @@ -0,0 +1,200 @@ +{ + "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": 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": 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": 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": 50.233333333331764 + }, + "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": 0.7146648971466713, + "expert_time_s": 35.9, + "expert_time_step": 2154, + "avg_steps_to_success": 3014, + "avg_policy_steps_to_success": 1005, + "avg_policy_queries_to_success": 22 + }, + "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": 0.042468480424684804, + "finger_joint_limit_saturation_step_rate": 0.023224950232249502, + "max_joint_limit_excess_rad": 0.6067723035812378, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_10": 75, + "leap_l_5": 8, + "multi_leap_r_2": 45 + }, + "joint_limit_hard_counts": { + "leap_l_10": 33, + "leap_l_2": 2, + "leap_l_5": 1, + "multi_leap_r_2": 8 + }, + "joint_limit_hard_episode_events": 44, + "finger_joint_limit_saturation_counts": { + "leap_l_10": 45, + "multi_leap_r_2": 25 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_1": 0.004084199666976929, + "leap_l_10": 0.40831100940704346, + "leap_l_11": 0.0005508363246917725, + "leap_l_13": 0.002033233642578125, + "leap_l_15": 0.0007299184799194336, + "leap_l_2": 0.007049381732940674, + "leap_l_3": 1.665949821472168e-05, + "leap_l_5": 0.01879701018333435, + "multi_leap_r_10": 0.0017113685607910156, + "multi_leap_r_2": 0.6067723035812378, + "multi_leap_r_3": 0.0005801916122436523, + "multi_leap_r_5": 0.0013105273246765137, + "multi_leap_r_9": 0.00269395112991333 + }, + "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": 11.248687940274243, + "joint_effort_rms": 54.70952673587017, + "joint_jerk_rms": 1132.7116871406924, + "joint_velocity_rms": 0.39567711091007385 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9370152195410023, + "mean_kinematic_grasp_stability": 0.3872490750691377, + "per_object_best_kinematic_grasp_stability": { + "obj_143_pet_collar_3": 0.9370152195410023, + "obj_153_shoe_2": 0.6830678962591148, + "obj_203_seal_4": 0.7649926374936072 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6573029565730293, + "mean_duration_score": 0.42881368428813676, + "mean_hold_score": 0.1595664675956645, + "mean_kinematic_stability_score": 0.03661777916214474, + "mean_legacy_gsi": 0.30583075215999816, + "mean_lift_score": 0.19597434195974342, + "mean_motion_stability_score": 0.13021376714151536 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3014, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_62_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_62_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..405f729e712fccdea737803b4ab2e263dd9b71fd --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_62_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/62_shoebox_accessory_pack.yaml", "episode_index": 9, "seed": 206200008, "success": false, "steps": 3231, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206200008, "base_seed": 206200000, "seed_policy": "episode_seed = 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{"mean_legacy_gsi": 0.2566711191764453, "mean_kinematic_stability_score": 0.009917435983778127, "mean_lift_score": 0.10182606004333024, "mean_hold_score": 0.07648302898999261, "mean_motion_stability_score": 0.06615904809518436, "mean_duration_score": 0.25875373981223554, "mean_anti_slip_score": 0.8029849719729024}, "robot_motion_metrics": {"joint_velocity_rms": 0.47422245505326127, "joint_acceleration_rms": 13.383842097035691, "joint_jerk_rms": 1318.852024122356, "joint_effort_rms": 53.06105264040257}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0006190034045187452, "safety_violation_rate_time": 0.0006190034045187452, "safety_violation_rate_event": 0.0006190034045187249, "safety_violation_step_rate": 0.0006190034045187249, "safety_violation_events_per_step": 0.0006190034045187249, "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": {"leap_l_10": 328, "leap_l_2": 44, "multi_leap_r_2": 93}, "joint_limit_hard_counts": {"leap_l_1": 1, "leap_l_10": 18, "leap_l_13": 1, "leap_l_2": 5, "multi_leap_r_2": 31}, "finger_joint_limit_saturation_counts": {"leap_l_10": 249, "multi_leap_r_2": 23}, "joint_limit_max_excess_by_joint": {"leap_l_1": 0.006041496992111206, "leap_l_10": 0.9413332939147949, "leap_l_11": 0.0003135502338409424, "leap_l_13": 0.006847858428955078, "leap_l_15": 0.0002624988555908203, "leap_l_2": 0.14914929866790771, "leap_l_3": 9.414553642272949e-05, "multi_leap_r_2": 0.17821890115737915, "multi_leap_r_3": 0.00014251470565795898, "multi_leap_r_5": 0.003225475549697876, "multi_leap_r_9": 0.0024124085903167725}, "joint_limit_baseline_checks": [{"phase": 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"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, 2.046447277069092, 1.3567105772160915e-10, -1.0771936178207397, -1.5700000524520874, -0.08491199463605881, 1.5700000524520874, -1.8290488719940186, -6.398155338871447e-10, 2.52786922454834, -1.5700000524520874, 0.6265676021575928, -1.9614921808242798, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 5.533952740499615e-10, 1.445254921913147, 1.7578216791152954, 0.12318854033946991, 0.6602828502655029, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, -0.0028762812726199627, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.47865021228790283, 1.1356180906295776, 0.03612995147705078, 0.5582115650177002, -0.36463481187820435, -0.0003760196268558502, -0.0017080709803849459, 0.3678603768348694], "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, 2.046447277069092, 1.3567105772160915e-10, -1.0771936178207397, -1.5700000524520874, -0.08491199463605881, 1.5700000524520874, -1.8290488719940186, -6.398155338871447e-10, 2.52786922454834, -1.5700000524520874, 0.6265676021575928, -1.9614921808242798, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 0.0, 5.533952740499615e-10, 0.0, 0.0, 1.445254921913147, 1.7578216791152954, 0.12318854033946991, 0.6602828502655029, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, 0.0, -0.0028762812726199627, 0.0, 0.0, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.47865021228790283, 1.1356180906295776, 0.03612995147705078, 0.5582115650177002, -0.36463481187820435, -0.0003760196268558502, -0.0017080709803849459, 0.3678603768348694], "shielded_full_target": [-1.5700000524520874, -1.5700000524520874, 2.046447277069092, 1.3567105772160915e-10, -1.0771936178207397, -1.5700000524520874, -0.08491199463605881, 1.5700000524520874, -1.8290488719940186, -6.398155338871447e-10, 2.52786922454834, -1.5700000524520874, 0.6265676021575928, -1.9614921808242798, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 0.0, 5.533952740499615e-10, 0.0, 0.0, 1.445254921913147, 1.7578216791152954, 0.12318854033946991, 0.6602828502655029, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, 0.0, -0.0028762812726199627, 0.0, 0.0, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.47865021228790283, 1.1356180906295776, 0.03612995147705078, 0.5582115650177002, -0.36463481187820435, -0.0003760196268558502, -0.0017080709803849459, 0.3678603768348694]}, "joint_limit_active_steps": 432, "joint_limit_hard_episode_events": 49, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 272, "max_joint_limit_excess_rad": 0.9413332939147949, "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": 432, "joint_limit_active_step_rate": 0.13370473537604458, "finger_joint_limit_saturation_steps": 272, "finger_joint_limit_saturation_step_rate": 0.08418446301454657, "max_joint_limit_excess_rad": 0.9413332939147949, "max_joint_limit_excess_joint": "leap_l_10", "stage_completion": {"place_1": true, "place_2": true, "place_3": false}, "current_stage_completion": {"place_1": true, "place_2": true, "place_3": false}, "stage_first_completion_step": {"place_1": 2004, "place_2": 2822, "place_3": null}, "violation_counts": {"drop_to_table_obj_203_seal_4": 1, "drop_to_table_obj_143_pet_collar_3": 1}, "policy_query_count": 21, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3231, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_62_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_62_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0eba1f11e02b67d86579fc027fc873f3271f3c66 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_62_episode_09/summary.json @@ -0,0 +1,202 @@ +{ + "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": 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": 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": 0.6666666666666666 + }, + "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": 0.0006190034045187249 + }, + "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": 0.6666666666666666, + "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": 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": 0.0006190034045187249, + "violation_counts": { + "drop_to_table_obj_143_pet_collar_3": 1, + "drop_to_table_obj_203_seal_4": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.13370473537604458, + "finger_joint_limit_saturation_step_rate": 0.08418446301454657, + "max_joint_limit_excess_rad": 0.9413332939147949, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_10": 328, + "leap_l_2": 44, + "multi_leap_r_2": 93 + }, + "joint_limit_hard_counts": { + "leap_l_1": 1, + "leap_l_10": 18, + "leap_l_13": 1, + "leap_l_2": 5, + "multi_leap_r_2": 31 + }, + "joint_limit_hard_episode_events": 49, + "finger_joint_limit_saturation_counts": { + "leap_l_10": 249, + "multi_leap_r_2": 23 + }, + 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true, "place_2": true, "place_3": false}, "current_stage_completion": {"place_1": false, "place_2": false, "place_3": false}, "stage_first_completion_step": {"place_1": 767, "place_2": 2089, "place_3": null}, "violation_counts": {}, "policy_query_count": 20, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3231, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_62_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_62_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0521b50a15148468647b37eb42695ac99e70efe1 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_62_episode_10/summary.json @@ -0,0 +1,199 @@ +{ + "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": 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": 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": 0.6666666666666666 + }, + "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": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 0.6666666666666666, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 2 + }, + "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": 0.047044258743423086, + "finger_joint_limit_saturation_step_rate": 0.019808108944599195, + "max_joint_limit_excess_rad": 0.4365924000740051, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_10": 108, + "multi_leap_r_2": 42, + "multi_leap_r_5": 2 + }, + "joint_limit_hard_counts": { + "leap_l_10": 25, + "leap_l_2": 2, + "multi_leap_r_2": 2, + "multi_leap_r_5": 6 + }, + "joint_limit_hard_episode_events": 35, + "finger_joint_limit_saturation_counts": { + "leap_l_10": 64 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_1": 0.0037842094898223877, + "leap_l_10": 0.4365924000740051, + "leap_l_11": 0.0007315278053283691, + "leap_l_13": 0.0035512447357177734, + "leap_l_15": 0.0021696090698242188, + "leap_l_2": 0.005913496017456055, + "leap_l_3": 0.0003237128257751465, + "leap_l_5": 0.002263486385345459, + "multi_leap_r_10": 0.004169881343841553, + "multi_leap_r_2": 0.10774469375610352, + "multi_leap_r_3": 9.891390800476074e-05, + "multi_leap_r_5": 0.025865495204925537, + "multi_leap_r_9": 0.004392027854919434 + }, + "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": 14.0822717042076, + "joint_effort_rms": 51.320019702252885, + "joint_jerk_rms": 1384.086161675939, + "joint_velocity_rms": 0.5064473634106432 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9999993093942318, + "mean_kinematic_grasp_stability": 0.40807135991363347, + "per_object_best_kinematic_grasp_stability": { + "obj_143_pet_collar_3": 0.9999993093942318, + "obj_153_shoe_2": 0.8386859057634993, + "obj_203_seal_4": 0.6627813998291219 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8496853399361063, + "mean_duration_score": 0.473812717081055, + "mean_hold_score": 0.16944186526359375, + "mean_kinematic_stability_score": 0.09649226832993377, + "mean_legacy_gsi": 0.36598109652791794, + "mean_lift_score": 0.23934798308057362, + "mean_motion_stability_score": 0.15547422877868533 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3231, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_62_episode_11/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_62_episode_11/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e7bf89efead40c06e11bdd239754e25e7c85cc31 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_62_episode_11/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/62_shoebox_accessory_pack.yaml", "episode_index": 11, "seed": 206200010, "success": false, "steps": 3231, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206200010, "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": 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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"allowed_robot_keys": []}}, "resolved_object_placements": {"obj_129_shoe_box_1": {"position": [0.3310531226138125, 0.19103434829582322, 0.706619885521936], "rpy_deg": [90.0, 0.0, 6.066835095462629]}, "obj_153_shoe_2": {"position": [-0.26286270988355487, 0.19266463280619786, 0.706619892190522], "rpy_deg": [90.0, 0.0, 11.254848124826344]}, "obj_143_pet_collar_3": {"position": [-0.1, 0.1, 0.7066198830511103], "rpy_deg": [90.0, 0.0, 0.5399027760165094]}, "obj_203_seal_4": {"position": [0.1, 0.2, 0.7507073707090081], "rpy_deg": [0.0, 0.0, -26.961722160126662]}}, "_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": 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": 35.9, "expert_time_step": 2154, "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": 0.6666666666666666, "current_normalized_progress_score": 0.6666666666666666, "current_chain_depth_progress_score": 0.6666666666666666, "current_chain_depth": 2, "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": 0.8193274583802023, "mean_kinematic_grasp_stability": 0.5716138625361261, "per_object_best_kinematic_grasp_stability": {"obj_143_pet_collar_3": 0.30955755640385546, "obj_153_shoe_2": 0.8193274583802023, "obj_203_seal_4": 0.7041011374860867}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.29716060043883064, "mean_kinematic_stability_score": 0.07949401492816445, "mean_lift_score": 0.15175900134117404, "mean_hold_score": 0.13771794078200802, "mean_motion_stability_score": 0.12065813627370249, "mean_duration_score": 0.410402696103717, "mean_anti_slip_score": 0.6864747756112956}, "robot_motion_metrics": {"joint_velocity_rms": 0.47293542476805805, "joint_acceleration_rms": 11.161370202143297, "joint_jerk_rms": 1072.5317016514368, "joint_effort_rms": 45.50078384867155}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0003095017022593726, "safety_violation_rate_time": 0.0003095017022593726, "safety_violation_rate_event": 0.00030950170225936243, "safety_violation_step_rate": 0.00030950170225936243, "safety_violation_events_per_step": 0.00030950170225936243, "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": {"leap_l_10": 325, "multi_leap_r_2": 21}, "joint_limit_hard_counts": {"leap_l_10": 9, "multi_leap_r_2": 5}, "finger_joint_limit_saturation_counts": {"leap_l_10": 55}, "joint_limit_max_excess_by_joint": {"leap_l_10": 0.3628842830657959, "leap_l_11": 0.00040981173515319824, "leap_l_13": 0.005527496337890625, "leap_l_15": 0.0010148286819458008, "leap_l_3": 6.318092346191406e-05, "leap_l_5": 0.0010840296745300293, "multi_leap_r_2": 0.10242795944213867, "multi_leap_r_3": 7.18832015991211e-05, "multi_leap_r_5": 0.003061145544052124, "multi_leap_r_9": 0.002390533685684204}, "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": 289, "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": -0.5130596160888672, "hard_excess_rad": 0.007059693336486816, "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, 1.6160410642623901, 1.3567105772160915e-10, -0.828633725643158, -1.5700000524520874, 0.3913332521915436, 1.5700000524520874, -1.7588750123977661, -6.398155338871447e-10, 2.320647954940796, -1.5700000524520874, 0.8327924013137817, -2.012795925140381, 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, 1.6160410642623901, 1.3567105772160915e-10, -0.828633725643158, -1.5700000524520874, 0.3913332521915436, 1.5700000524520874, -1.7588750123977661, -6.398155338871447e-10, 2.320647954940796, -1.5700000524520874, 0.8327924013137817, -2.012795925140381, 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, 1.6160410642623901, 1.3567105772160915e-10, -0.828633725643158, -1.5700000524520874, 0.3913332521915436, 1.5700000524520874, -1.7588750123977661, -6.398155338871447e-10, 2.320647954940796, -1.5700000524520874, 0.8327924013137817, -2.012795925140381, 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": 346, "joint_limit_hard_episode_events": 14, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 55, "max_joint_limit_excess_rad": 0.3628842830657959, "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": 346, "joint_limit_active_step_rate": 0.1070875889817394, "finger_joint_limit_saturation_steps": 55, "finger_joint_limit_saturation_step_rate": 0.017022593624264934, "max_joint_limit_excess_rad": 0.3628842830657959, "max_joint_limit_excess_joint": "leap_l_10", "stage_completion": {"place_1": true, "place_2": true, "place_3": false}, "current_stage_completion": {"place_1": true, "place_2": true, "place_3": false}, "stage_first_completion_step": {"place_1": 581, "place_2": 2308, "place_3": null}, "violation_counts": {"drop_to_table_obj_143_pet_collar_3": 1}, "policy_query_count": 24, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3231, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_62_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_62_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e9b4888d24464fd5c3a7e12bb0c3d9eddb4a4e0b --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_62_episode_11/summary.json @@ -0,0 +1,195 @@ +{ + "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": 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": 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": 0.6666666666666666 + }, + "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": 0.00030950170225936243 + }, + "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": 0.6666666666666666, + "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": 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": 0.00030950170225936243, + "violation_counts": { + "drop_to_table_obj_143_pet_collar_3": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.1070875889817394, + "finger_joint_limit_saturation_step_rate": 0.017022593624264934, + "max_joint_limit_excess_rad": 0.3628842830657959, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_10": 325, + "multi_leap_r_2": 21 + }, + "joint_limit_hard_counts": { + "leap_l_10": 9, + "multi_leap_r_2": 5 + }, + "joint_limit_hard_episode_events": 14, + "finger_joint_limit_saturation_counts": { + "leap_l_10": 55 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_10": 0.3628842830657959, + "leap_l_11": 0.00040981173515319824, + "leap_l_13": 0.005527496337890625, + "leap_l_15": 0.0010148286819458008, + "leap_l_3": 6.318092346191406e-05, + "leap_l_5": 0.0010840296745300293, + "multi_leap_r_2": 0.10242795944213867, + "multi_leap_r_3": 7.18832015991211e-05, + "multi_leap_r_5": 0.003061145544052124, + "multi_leap_r_9": 0.002390533685684204 + }, + "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": 11.161370202143297, + "joint_effort_rms": 45.50078384867155, + "joint_jerk_rms": 1072.5317016514368, + "joint_velocity_rms": 0.47293542476805805 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8193274583802023, + "mean_kinematic_grasp_stability": 0.5716138625361261, + "per_object_best_kinematic_grasp_stability": { + "obj_143_pet_collar_3": 0.30955755640385546, + "obj_153_shoe_2": 0.8193274583802023, + "obj_203_seal_4": 0.7041011374860867 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6864747756112956, + "mean_duration_score": 0.410402696103717, + "mean_hold_score": 0.13771794078200802, + "mean_kinematic_stability_score": 0.07949401492816445, + "mean_legacy_gsi": 0.29716060043883064, + "mean_lift_score": 0.15175900134117404, + "mean_motion_stability_score": 0.12065813627370249 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3231, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_62_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_62_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a4b77c64f7b36fe4a1eadfc45a1b3a7d0573bd3 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_62_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/62_shoebox_accessory_pack.yaml", "episode_index": 12, "seed": 206200011, "success": false, "steps": 3231, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206200011, "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": 0.0, "base_yaw_deg": 0.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan207", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan207_physics/scene.usda", "scene_offset": [0.0, 0.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_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": 1210.9120720446579, "color": [0.513913772344314, 0.6601992170507671, 0.5096761549894794], "pitch_deg": -14.641613487604012, "yaw_deg": -71.0037271664246, "angle_deg": 0.9901850373382776}, "dome": {"intensity": 244.08390405629586, "color": [0.8298484180178911, 0.9315413724507108, 0.7886379045461513], "exposure": -0.14472644717545435}, "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}, 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"robot_constraint_diagnostics": {"joint_limit_soft_counts": {"multi_leap_r_1": 37, "multi_leap_r_10": 38, "multi_leap_r_2": 10, "multi_leap_r_5": 307, "multi_leap_r_6": 40, "multi_leap_r_9": 125}, "joint_limit_hard_counts": {"multi_leap_r_1": 11, "multi_leap_r_10": 4, "multi_leap_r_2": 2, "multi_leap_r_5": 19, "multi_leap_r_6": 2, "multi_leap_r_9": 10}, "finger_joint_limit_saturation_counts": {"multi_leap_r_1": 23, "multi_leap_r_5": 96, "multi_leap_r_6": 16, "multi_leap_r_9": 65}, "joint_limit_max_excess_by_joint": {"multi_joint2": 8.726119995117188e-05, "multi_leap_r_1": 0.7594497799873352, "multi_leap_r_10": 0.17040562629699707, "multi_leap_r_14": 0.0032968521118164062, "multi_leap_r_2": 0.12141591310501099, "multi_leap_r_3": 1.5616416931152344e-05, "multi_leap_r_5": 0.5519753694534302, "multi_leap_r_6": 0.6966503858566284, "multi_leap_r_9": 0.4708576798439026}, "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": 453, "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": -0.5148134827613831, "hard_excess_rad": 0.008813560009002686, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": 0.19875289499759674, "shielded_target": 0.19875289499759674}], "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, 1.7130928039550781, 1.3567105772160915e-10, -0.8353561758995056, -1.5700000524520874, 0.27889153361320496, 1.5700000524520874, -1.6915359497070312, -6.398155338871447e-10, 2.4942572116851807, -1.5700000524520874, 0.6951867341995239, -2.135892629623413, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 5.533952740499615e-10, 0.625580906867981, 1.4948264360427856, -0.1665443331003189, 0.49184802174568176, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, 0.0036064558662474155, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.27252399921417236, 1.0723806619644165, -0.057695817202329636, 0.19875289499759674, -0.2303229123353958, 0.0007852157577872276, 0.004109143279492855, 0.0953182578086853], "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, 1.7130928039550781, 1.3567105772160915e-10, -0.8353561758995056, -1.5700000524520874, 0.27889153361320496, 1.5700000524520874, -1.6915359497070312, -6.398155338871447e-10, 2.4942572116851807, -1.5700000524520874, 0.6951867341995239, -2.135892629623413, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 0.0, 5.533952740499615e-10, 0.0, 0.0, 0.625580906867981, 1.4948264360427856, -0.1665443331003189, 0.49184802174568176, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, 0.0, 0.0036064558662474155, 0.0, 0.0, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.27252399921417236, 1.0723806619644165, -0.057695817202329636, 0.19875289499759674, -0.2303229123353958, 0.0007852157577872276, 0.004109143279492855, 0.0953182578086853], "shielded_full_target": [-1.5700000524520874, -1.5700000524520874, 1.7130928039550781, 1.3567105772160915e-10, -0.8353561758995056, -1.5700000524520874, 0.27889153361320496, 1.5700000524520874, -1.6915359497070312, -6.398155338871447e-10, 2.4942572116851807, -1.5700000524520874, 0.6951867341995239, -2.135892629623413, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 0.0, 5.533952740499615e-10, 0.0, 0.0, 0.625580906867981, 1.4948264360427856, -0.1665443331003189, 0.49184802174568176, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, 0.0, 0.0036064558662474155, 0.0, 0.0, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.27252399921417236, 1.0723806619644165, -0.057695817202329636, 0.19875289499759674, -0.2303229123353958, 0.0007852157577872276, 0.004109143279492855, 0.0953182578086853]}, "joint_limit_active_steps": 401, "joint_limit_hard_episode_events": 26, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 113, "max_joint_limit_excess_rad": 0.7594497799873352, "max_joint_limit_excess_joint": "multi_leap_r_1", "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": 401, "joint_limit_active_step_rate": 0.12411018260600433, "finger_joint_limit_saturation_steps": 113, "finger_joint_limit_saturation_step_rate": 0.03497369235530796, "max_joint_limit_excess_rad": 0.7594497799873352, "max_joint_limit_excess_joint": "multi_leap_r_1", "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": 816, "place_2": null, "place_3": null}, "violation_counts": {"drop_to_table_obj_203_seal_4": 1}, "policy_query_count": 25, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3231, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_62_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_62_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..6506b19f94522646af584345ad82b86523ebaf73 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_62_episode_12/summary.json @@ -0,0 +1,205 @@ +{ + "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": 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": 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": 1.0, + "drop_rate": 1.0, + "high_speed_violation_rate": 0.0, + "safety_violation_step_rate": 0.00030950170225936243 + }, + "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": { + 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"joint_limit_max_excess_by_joint": { + "multi_joint2": 8.726119995117188e-05, + "multi_leap_r_1": 0.7594497799873352, + "multi_leap_r_10": 0.17040562629699707, + "multi_leap_r_14": 0.0032968521118164062, + "multi_leap_r_2": 0.12141591310501099, + "multi_leap_r_3": 1.5616416931152344e-05, + "multi_leap_r_5": 0.5519753694534302, + "multi_leap_r_6": 0.6966503858566284, + "multi_leap_r_9": 0.4708576798439026 + }, + "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": 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a/gpt6_astra_1x_icl/source_runs/task_62_episode_13/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_62_episode_13/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b5f78e67c381a29c66325ff17aec9f9839291a3d --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_62_episode_13/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/62_shoebox_accessory_pack.yaml", "episode_index": 13, "seed": 206200012, "success": false, "steps": 3231, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206200012, "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": 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", 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0.0, 5.533952740499615e-10, 0.0, 0.0, 1.277271032333374, 1.6800174713134766, 0.09488231688737869, 0.6089584231376648, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, 0.0, -0.00439178291708231, 0.0, 0.0, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.446846067905426, 1.107161521911621, 0.007503887172788382, 0.4639699459075928, -0.32616183161735535, -0.0022114727180451155, 0.003646941389888525, 0.2978658378124237]}, "joint_limit_active_steps": 270, "joint_limit_hard_episode_events": 42, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 150, "max_joint_limit_excess_rad": 0.7667875289916992, "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": 270, "joint_limit_active_step_rate": 0.08356545961002786, "finger_joint_limit_saturation_steps": 150, "finger_joint_limit_saturation_step_rate": 0.04642525533890436, "max_joint_limit_excess_rad": 0.7667875289916992, "max_joint_limit_excess_joint": "multi_leap_r_2", "stage_completion": {"place_1": true, "place_2": true, "place_3": false}, "current_stage_completion": {"place_1": true, "place_2": true, "place_3": false}, "stage_first_completion_step": {"place_1": 634, "place_2": 2177, "place_3": null}, "violation_counts": {}, "policy_query_count": 24, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3231, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_62_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_62_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ec43a5a82fd4a21123d5a36373a080d958b21adc --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_62_episode_13/summary.json @@ -0,0 +1,205 @@ +{ + "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": 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": 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": 0.6666666666666666 + }, + "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": 0.6666666666666666, + "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": 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": 0.08356545961002786, + "finger_joint_limit_saturation_step_rate": 0.04642525533890436, + "max_joint_limit_excess_rad": 0.7667875289916992, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_10": 125, + "leap_l_15": 34, + "leap_l_2": 3, + "leap_l_6": 55, + "multi_leap_r_2": 92 + }, + "joint_limit_hard_counts": { + "leap_l_10": 18, + "leap_l_15": 1, + "leap_l_2": 2, + "leap_l_5": 1, + "leap_l_6": 1, + "multi_leap_r_2": 25 + }, + "joint_limit_hard_episode_events": 42, + "finger_joint_limit_saturation_counts": { + "leap_l_10": 35, + "leap_l_6": 33, + "multi_leap_r_2": 82 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_1": 0.0037685036659240723, + "leap_l_10": 0.38284045457839966, + "leap_l_11": 0.00048810243606567383, + "leap_l_13": 0.0020956993103027344, + "leap_l_15": 0.07977128028869629, + "leap_l_2": 0.019920170307159424, + "leap_l_3": 1.7583370208740234e-06, + "leap_l_5": 0.0055928826332092285, + "leap_l_6": 0.2482045292854309, + "multi_leap_r_2": 0.7667875289916992, + "multi_leap_r_3": 0.0001309216022491455, + "multi_leap_r_5": 0.0022090673446655273, + "multi_leap_r_9": 0.0017607808113098145 + }, + "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": 13.218012524281988, + "joint_effort_rms": 47.977526005919934, + "joint_jerk_rms": 1300.44168939395, + "joint_velocity_rms": 0.5526784847853012 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9834429246294984, + "mean_kinematic_grasp_stability": 0.7195950898817383, + "per_object_best_kinematic_grasp_stability": { + "obj_143_pet_collar_3": 0.5952501302423291, + "obj_153_shoe_2": 0.9834429246294984, + "obj_203_seal_4": 0.9280805193204359 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.4176003301351562, + "mean_hold_score": 0.13896626431445355, + "mean_kinematic_stability_score": 0.11937572521715002, + "mean_legacy_gsi": 0.3657121267527856, + "mean_lift_score": 0.16589291241101825, + "mean_motion_stability_score": 0.13144736842000476 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3231, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_62_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_62_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..92d1f5a101f6b27e45f0532832574c03771d4433 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_62_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/62_shoebox_accessory_pack.yaml", "episode_index": 14, "seed": 206200013, "success": false, "steps": 3231, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206200013, "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": 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_wood_wood0463_jpg", "asset_uri": "dex2bench_dataset/textures/wood/wood0463.jpg", "asset_category": 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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": 0.7391113264555886, "mean_kinematic_grasp_stability": 0.1290557225090344, "per_object_best_kinematic_grasp_stability": {"obj_143_pet_collar_3": 0.0, "obj_153_shoe_2": 0.7391113264555886, "obj_203_seal_4": 0.47010021604079205}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.23014114606107852, "mean_kinematic_stability_score": 0.00384783903900866, "mean_lift_score": 0.039306716186939025, "mean_hold_score": 0.012988754771484621, "mean_motion_stability_score": 0.017812407915070085, "mean_duration_score": 0.3652670311908937, "mean_anti_slip_score": 0.7307335190343547}, "robot_motion_metrics": {"joint_velocity_rms": 0.47278135090611717, "joint_acceleration_rms": 11.484446708126992, "joint_jerk_rms": 1112.761360897495, "joint_effort_rms": 43.21168928887805}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0003095017022593726, "safety_violation_rate_time": 0.0003095017022593726, "safety_violation_rate_event": 0.00030950170225936243, "safety_violation_step_rate": 0.00030950170225936243, "safety_violation_events_per_step": 0.00030950170225936243, "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": {"leap_l_10": 22, "leap_l_12": 1, "leap_l_2": 41, "leap_l_6": 8, "multi_leap_r_2": 278}, "joint_limit_hard_counts": {"leap_l_10": 9, "leap_l_12": 1, "leap_l_2": 11, "leap_l_5": 1, "leap_l_6": 1, "multi_leap_r_2": 3}, "finger_joint_limit_saturation_counts": {"multi_leap_r_2": 254}, "joint_limit_max_excess_by_joint": {"leap_l_10": 0.11133188009262085, "leap_l_11": 0.0002537667751312256, "leap_l_12": 0.030606746673583984, "leap_l_13": 0.0044934749603271484, "leap_l_15": 0.00012683868408203125, "leap_l_2": 0.14363157749176025, "leap_l_3": 8.70823860168457e-05, "leap_l_5": 0.006676167249679565, "leap_l_6": 0.15740829706192017, "multi_leap_r_2": 0.5904451608657837, "multi_leap_r_3": 6.097555160522461e-05, "multi_leap_r_5": 0.0024030208587646484, "multi_leap_r_9": 0.0018330812454223633}, "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": 348, "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": -0.5131925940513611, "hard_excess_rad": 0.007192671298980713, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.5031525492668152, "shielded_target": -0.5031525492668152}], "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, 1.921886682510376, 1.3567105772160915e-10, -0.8535438179969788, -1.5700000524520874, 0.07663466036319733, 1.5700000524520874, -1.6725066900253296, -6.398155338871447e-10, 2.4566283226013184, -1.5700000524520874, 0.7219839692115784, -1.944886565208435, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 5.533952740499615e-10, 1.5008535385131836, 1.7626603841781616, 0.1737096607685089, 0.6752989292144775, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, -0.0037769097834825516, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.5031525492668152, 1.1276235580444336, 0.043406419456005096, 0.5627087950706482, -0.36456331610679626, -0.0006526474026031792, 0.0013327370397746563, 0.3691335916519165], "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, 1.921886682510376, 1.3567105772160915e-10, -0.8535438179969788, -1.5700000524520874, 0.07663466036319733, 1.5700000524520874, -1.6725066900253296, -6.398155338871447e-10, 2.4566283226013184, -1.5700000524520874, 0.7219839692115784, -1.944886565208435, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 0.0, 5.533952740499615e-10, 0.0, 0.0, 1.5008535385131836, 1.7626603841781616, 0.1737096607685089, 0.6752989292144775, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, 0.0, -0.0037769097834825516, 0.0, 0.0, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.5031525492668152, 1.1276235580444336, 0.043406419456005096, 0.5627087950706482, -0.36456331610679626, -0.0006526474026031792, 0.0013327370397746563, 0.3691335916519165], "shielded_full_target": [-1.5700000524520874, -1.5700000524520874, 1.921886682510376, 1.3567105772160915e-10, -0.8535438179969788, -1.5700000524520874, 0.07663466036319733, 1.5700000524520874, -1.6725066900253296, -6.398155338871447e-10, 2.4566283226013184, -1.5700000524520874, 0.7219839692115784, -1.944886565208435, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 0.0, 5.533952740499615e-10, 0.0, 0.0, 1.5008535385131836, 1.7626603841781616, 0.1737096607685089, 0.6752989292144775, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, 0.0, -0.0037769097834825516, 0.0, 0.0, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.5031525492668152, 1.1276235580444336, 0.043406419456005096, 0.5627087950706482, -0.36456331610679626, -0.0006526474026031792, 0.0013327370397746563, 0.3691335916519165]}, "joint_limit_active_steps": 343, "joint_limit_hard_episode_events": 24, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 254, "max_joint_limit_excess_rad": 0.5904451608657837, "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": 343, "joint_limit_active_step_rate": 0.10615908387496131, "finger_joint_limit_saturation_steps": 254, "finger_joint_limit_saturation_step_rate": 0.07861343237387805, "max_joint_limit_excess_rad": 0.5904451608657837, "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": 716, "place_2": null, "place_3": null}, "violation_counts": {"drop_to_table_obj_153_shoe_2": 1}, "policy_query_count": 22, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3231, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_62_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_62_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b82eb213034c4c4c202e1e2d755fa64fd3b43e97 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_62_episode_14/summary.json @@ -0,0 +1,205 @@ +{ + "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": 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": 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": 1.0, + "drop_rate": 1.0, + "high_speed_violation_rate": 0.0, + "safety_violation_step_rate": 0.00030950170225936243 + }, + "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": 0.00030950170225936243, + "violation_counts": { + "drop_to_table_obj_153_shoe_2": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.10615908387496131, + "finger_joint_limit_saturation_step_rate": 0.07861343237387805, + "max_joint_limit_excess_rad": 0.5904451608657837, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_10": 22, + "leap_l_12": 1, + "leap_l_2": 41, + "leap_l_6": 8, + "multi_leap_r_2": 278 + }, + "joint_limit_hard_counts": { + "leap_l_10": 9, + "leap_l_12": 1, + "leap_l_2": 11, + "leap_l_5": 1, + "leap_l_6": 1, + "multi_leap_r_2": 3 + }, + "joint_limit_hard_episode_events": 24, + "finger_joint_limit_saturation_counts": { + "multi_leap_r_2": 254 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_10": 0.11133188009262085, + "leap_l_11": 0.0002537667751312256, + "leap_l_12": 0.030606746673583984, + "leap_l_13": 0.0044934749603271484, + "leap_l_15": 0.00012683868408203125, + "leap_l_2": 0.14363157749176025, + "leap_l_3": 8.70823860168457e-05, + "leap_l_5": 0.006676167249679565, + "leap_l_6": 0.15740829706192017, + "multi_leap_r_2": 0.5904451608657837, + "multi_leap_r_3": 6.097555160522461e-05, + "multi_leap_r_5": 0.0024030208587646484, + "multi_leap_r_9": 0.0018330812454223633 + }, + "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": 11.484446708126992, + "joint_effort_rms": 43.21168928887805, + "joint_jerk_rms": 1112.761360897495, + "joint_velocity_rms": 0.47278135090611717 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.7391113264555886, + "mean_kinematic_grasp_stability": 0.1290557225090344, + "per_object_best_kinematic_grasp_stability": { + "obj_143_pet_collar_3": 0.0, + "obj_153_shoe_2": 0.7391113264555886, + "obj_203_seal_4": 0.47010021604079205 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7307335190343547, + "mean_duration_score": 0.3652670311908937, + "mean_hold_score": 0.012988754771484621, + "mean_kinematic_stability_score": 0.00384783903900866, + "mean_legacy_gsi": 0.23014114606107852, + "mean_lift_score": 0.039306716186939025, + "mean_motion_stability_score": 0.017812407915070085 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3231, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_64_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_64_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14cfc1b65bbf65f54b3062fded6c6df2adbe46bc --- /dev/null +++ b/gpt6_astra_1x_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", 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"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_1x_icl/source_runs/task_64_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_64_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..896fcdc114ad92d347984f604c1395f70bb0ee48 --- /dev/null +++ b/gpt6_astra_1x_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": {}, + "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": 0.007484614849090576, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": { + "multi_joint_2_0": 19 + }, + "joint_limit_hard_episode_events": 19, + "finger_joint_limit_saturation_counts": {}, + "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 + }, + "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": 5.471778751201035, + "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, + "mean_kinematic_stability_score": 0.23443209632205955, + "mean_legacy_gsi": 0.4783884682261246, + "mean_lift_score": 0.47584789311408016, + "mean_motion_stability_score": 0.3587688295393255 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1946, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_64_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_64_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..865bdd159198d6cfb62626b4ef4a7efe94355f12 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_64_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/64_sports_ball_cup_sort.yaml", "episode_index": 6, "seed": 206400005, "success": true, "steps": 1960, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206400005, "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": 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_fabric_fabric0369_jpg", "asset_uri": "dex2bench_dataset/textures/fabric/fabric0369.jpg", "asset_category": "fabric", "asset_id": "fabric/fabric0369.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1146.538794760926, "color": [0.6017673700275965, 0.6185511380421016, 0.8263872387085495], "pitch_deg": -18.414952744178528, "yaw_deg": -17.110428149740585, "angle_deg": 0.8640280601556231}, "dome": {"intensity": 181.86812593399736, "color": [0.8407234707609391, 0.8635066490226067, 0.7862698963891249], "exposure": -0.4039599954679385}, "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": 0.004485398478449941, "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": [-0.002279938665511684, 0.0022742500502287875, 0.004595374553058863], "target_offset_m": [-0.0027961290818682696, -0.004644522378354497, -0.004618497447940529], "distance_offset_m": -0.022011192530656462, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.5344226424753793, -0.618764734885545, 0.6581925221911415], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [0.0032380069864268992, -0.0008268991611615328, 0.0011620155402581314], "target_offset_m": [-0.002068431445230138, 0.0011016175206852632, 0.000844506318314682], "distance_offset_m": 0.0020286178931558582, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.7521065716140569, 0.39739465334674673, -0.10123213012179333], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [-0.003140602314733538, 0.0011270729002356358, -0.0031231215154285744], "target_offset_m": [-0.003699405339913491, 0.004423779592285977, -0.0015276971553821084], "distance_offset_m": 0.011222798396701927, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.768737084266248, -0.352163314960773, 0.8209258423438053], "has_offset": true}, "cam_stereo_right": {"enabled": true, "position_offset_m": [-0.003140602314733538, 0.0011270729002356358, -0.0031231215154285744], "target_offset_m": [-0.003699405339913491, 0.004423779592285977, -0.0015276971553821084], "distance_offset_m": 0.011222798396701927, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.768737084266248, -0.352163314960773, 0.8209258423438053], "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": [0.004348884886509151, -0.001215325211979059, -0.0007274561370353462], "rpy_offset_deg": [0.6980337036104871, -0.3078936317951202, -0.08904883753704063], "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": [-0.004692465795663015, 0.004687640514817311, -0.0024658234580746574], "rpy_offset_deg": [0.347591691575897, -0.33223759426875366, 0.33940957462445986], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 2, "asset_split": "unseen", "asset_pool_size": 14, "assets": [{"name": "clutter_072b_toy_airplane", "uri": "dex2bench_dataset/Objects/072-b_toy_airplane/google_16k/usd_decomposition_linux/textured.usd", "scale": [1.1826226120640373, 1.1826226120640373, 1.1826226120640373], "body_type": "dynamic", "category": "toy", "asset_code": "072", "asset_id": "clutter_072b_toy_airplane", "asset_split": "unseen", "spawn_position": [-0.717299311763289, 0.005591264284725686, 0.7549513517904602], "spawn_yaw_deg": 239.9625844398026, "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": [0.9894941242078108, 0.9894941242078108, 0.9894941242078108], "body_type": "dynamic", "category": "ball", "asset_code": "053", "asset_id": "clutter_053_mini_soccer_ball", "asset_split": "unseen", "spawn_position": [-0.8692126999318429, 0.341391030551534, 0.7550029039294149], "spawn_yaw_deg": 281.1979974477519, "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_065_d_cups_1": {"position": [0.06826786571321243, 0.3015146923348116, 0.7556139984457918], "rpy_deg": [0.0, 0.0, 9.890256558912991]}, "obj_065_e_cups_2": {"position": [0.05, 0.15, 0.7555032984643408], "rpy_deg": [0.0, 0.0, -5.921305095119358]}, "obj_054_softball_3": {"position": [-0.4121351481238031, 0.20402143732031697, 0.754742998484166], "rpy_deg": [0.0, 0.0, -1.77771046195749]}, "obj_055_baseball_4": {"position": [0.4000991470028762, 0.1629722146816913, 0.7546903984823662], "rpy_deg": [0.0, 0.0, 8.717785327365291]}, "obj_057_racquetball_5": {"position": [-0.18126231913119709, 0.3117638719095301, 0.754714598477462], "rpy_deg": [0.0, 0.0, 0.0596965404901475]}, "obj_058_golf_ball_6": {"position": [0.2106140876220221, 0.12602383729031097, 0.7548513984713868], "rpy_deg": [0.0, 0.0, -6.852174470386387]}}, "_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": 1858, "stable_success_step": 1959, "first_stable_success_step": 1959, "steps_to_stable_success": 1960, "policy_steps_to_stable_success": 654, "policy_queries_to_stable_success": 27, "time_to_stable_success_s": 32.666666666666096, "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": 0.6780612244898078, "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_legacy_gsi": 0.3981902389304762, "mean_kinematic_stability_score": 0.03374982241312972, "mean_lift_score": 0.3950255102040816, "mean_hold_score": 0.3166900510204105, "mean_motion_stability_score": 0.3011769392756871, "mean_duration_score": 0.34349914965986406, "mean_anti_slip_score": 0.7031462585033916}, "robot_motion_metrics": {"joint_velocity_rms": 0.17409270253770404, "joint_acceleration_rms": 5.110776111838259, "joint_jerk_rms": 516.9571265959906, "joint_effort_rms": 21.061241751413256}, "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": 1}, "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}, "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": 273, "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": -0.18093134462833405, "hard_excess_rad": 0.0069313496351242065, "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, 1.292029619216919, -1.5700000524520874, -1.0014652013778687, 1.583168665608703e-11, -0.0066668568179011345, -1.5700000524520874, -2.2197813987731934, 1.5700000524520874, 2.8700244426727295, 6.25, 5.152509689331055, -1.5700000524520874, -2.5853097438812256, 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, 1.292029619216919, -1.5700000524520874, -1.0014652013778687, 1.583168665608703e-11, -0.0066668568179011345, -1.5700000524520874, -2.2197813987731934, 1.5700000524520874, 2.8700244426727295, 6.25, 5.152509689331055, -1.5700000524520874, -2.5853097438812256, 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, 1.292029619216919, -1.5700000524520874, -1.0014652013778687, 1.583168665608703e-11, -0.0066668568179011345, -1.5700000524520874, -2.2197813987731934, 1.5700000524520874, 2.8700244426727295, 6.25, 5.152509689331055, -1.5700000524520874, -2.5853097438812256, 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": 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_1x_icl/source_runs/task_64_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_64_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..64bfe7d97740bb64ab554b9fd9a8edc129871257 --- /dev/null +++ b/gpt6_astra_1x_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_1x_icl/source_runs/task_64_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_64_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..618e69dd1e006f4b9a5da30ab36e5d8fbee165c2 --- /dev/null +++ b/gpt6_astra_1x_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": false, "steps": 1995, "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": 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"clutter": {"tabletop": {"enabled": true, "count": 3, "asset_split": "unseen", "asset_pool_size": 14, "assets": [{"name": "clutter_018_plum", "uri": "dex2bench_dataset/Objects/018_plum/usd_decomposition_linux/textured.usd", "scale": [1.053230699615802, 1.053230699615802, 1.053230699615802], "body_type": "dynamic", "category": "fruit", "asset_code": "018", "asset_id": "clutter_018_plum", "asset_split": "unseen", "spawn_position": [0.41591279279868654, 0.37943364840243515, 0.7224425108017032], "spawn_yaw_deg": 197.55036808368857, "obj_id": "distractor_00_clutter_018_plum"}, {"name": "clutter_007_tuna_fish_can", "uri": "dex2bench_dataset/Objects/007_tuna_fish_can/usd_decomposition_linux/textured.usd", "scale": [1.1772382812066013, 1.1772382812066013, 1.1772382812066013], "body_type": "dynamic", "category": "food", "asset_code": "007", "asset_id": "clutter_007_tuna_fish_can", "asset_split": "unseen", "spawn_position": [0.5715834409433783, 0.08052724063001704, 0.7259180541480786], 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0.7231476012788599], "rpy_deg": [0.0, 0.0, -6.936275617301895]}, "obj_054_softball_3": {"position": [-0.4189754218025836, 0.2081986927858138, 0.7223873012986851], "rpy_deg": [0.0, 0.0, -2.596347548698093]}, "obj_055_baseball_4": {"position": [0.405876850088387, 0.1410894537355634, 0.7223347012968853], "rpy_deg": [0.0, 0.0, -6.398218368676072]}, "obj_057_racquetball_5": {"position": [-0.15796969184783258, 0.32235317046131495, 0.7223589012919811], "rpy_deg": [0.0, 0.0, -3.770675455437747]}, "obj_058_golf_ball_6": {"position": [0.1889719348828066, 0.104909532565891, 0.7224957012859059], "rpy_deg": [0.0, 0.0, -9.668695745813451]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_pick_place", "robot_key": "multi_panda_with_allegro", "perturbation_axis": "inv+cov", "stable_success": 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": 22.15, "expert_time_step": 1329, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.25, "normalized_progress_score": 0.25, "chain_depth_progress_score": 0.25, "current_stage_completion_rate": 0.25, "current_normalized_progress_score": 0.25, "current_chain_depth_progress_score": 0.25, "current_chain_depth": 1, "latched_stage_completion_rate": 0.25, "latched_normalized_progress_score": 0.25, "latched_chain_depth_progress_score": 0.25, "latched_chain_depth": 1, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9856745043127136, "mean_kinematic_grasp_stability": 0.26640107223383314, "per_object_best_kinematic_grasp_stability": {"obj_054_softball_3": 0.9856745043127136, "obj_055_baseball_4": 0.9223331892538982, "obj_057_racquetball_5": 0.6629090800737529, "obj_058_golf_ball_6": 0.788022026846377}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.28867418207122075, "mean_kinematic_stability_score": 0.03538660859246405, "mean_lift_score": 0.13283208020050125, "mean_hold_score": 0.06854010025062586, "mean_motion_stability_score": 0.06627888915721235, "mean_duration_score": 0.2532121971595665, "mean_anti_slip_score": 0.9624060150376029}, "robot_motion_metrics": {"joint_velocity_rms": 0.3902556798885675, "joint_acceleration_rms": 12.23302489393915, "joint_jerk_rms": 1186.7319005090771, "joint_effort_rms": 27.264512091708593}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.001503759398496268, "safety_violation_rate_time": 0.001503759398496268, "safety_violation_rate_event": 0.0015037593984962407, "safety_violation_step_rate": 0.0015037593984962407, "safety_violation_events_per_step": 0.0015037593984962407, "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": {"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}, "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": 0.05263157894736842, "finger_joint_limit_saturation_steps": 44, "finger_joint_limit_saturation_step_rate": 0.02205513784461153, "max_joint_limit_excess_rad": 0.22497618198394775, "max_joint_limit_excess_joint": "multi_joint_9_0", "stage_completion": {"place_1": true, "place_2": false, "place_3": false, "place_4": false}, "current_stage_completion": {"place_1": true, "place_2": false, "place_3": false, "place_4": false}, "stage_first_completion_step": {"place_1": 1917, "place_2": null, "place_3": null, "place_4": null}, "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": 50, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1995, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_64_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_64_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e80c89f7f508a2ff2ce9e20c44fa34c435132657 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_64_episode_07/summary.json @@ -0,0 +1,196 @@ +{ + "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": 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": 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": 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": 0.0015037593984962407 + }, + "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": 0.25, + "latched_chain_depth_progress_score": 0.25, + "avg_current_chain_depth": 1, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 22.15, + "expert_time_step": 1329, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0015037593984962407, + "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": 0.05263157894736842, + "finger_joint_limit_saturation_step_rate": 0.02205513784461153, + "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 + }, + "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": 12.23302489393915, + "joint_effort_rms": 27.264512091708593, + "joint_jerk_rms": 1186.7319005090771, + "joint_velocity_rms": 0.3902556798885675 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9856745043127136, + "mean_kinematic_grasp_stability": 0.26640107223383314, + "per_object_best_kinematic_grasp_stability": { + "obj_054_softball_3": 0.9856745043127136, + "obj_055_baseball_4": 0.9223331892538982, + "obj_057_racquetball_5": 0.6629090800737529, + "obj_058_golf_ball_6": 0.788022026846377 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9624060150376029, + 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b/gpt6_astra_1x_icl/source_runs/task_64_episode_08/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": 32.34999999999945 + }, + "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": 0.684698608964463, + "expert_time_s": 22.15, + "expert_time_step": 1329, + "avg_steps_to_success": 1941, + "avg_policy_steps_to_success": 647, + "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": 0.006266698241233826, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": { + "multi_joint_2_0": 39 + }, + "joint_limit_hard_episode_events": 39, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "multi_joint_1_0": 3.8623809814453125e-05, + "multi_joint_2_0": 0.006266698241233826, + "multi_joint_6_0": 1.1324882507324219e-05, + "multi_joint_9_0": 0.00016820430755615234, + "panda_joint5": 7.939338684082031e-05, + "panda_joint7": 0.0015380382537841797 + }, + "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": 4.95280766960967, + "joint_effort_rms": 25.284147911043476, + "joint_jerk_rms": 499.28143785623035, + "joint_velocity_rms": 0.20311047278846803 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9630716172738774, + "mean_kinematic_grasp_stability": 0.4812243400014328, + "per_object_best_kinematic_grasp_stability": { + "obj_054_softball_3": 0.7456684507728628, + "obj_055_baseball_4": 0.9630716172738774, + "obj_057_racquetball_5": 0.9150744935613752, + "obj_058_golf_ball_6": 0.07108541591561096 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8253477588871716, + "mean_duration_score": 0.2833590932509002, + "mean_hold_score": 0.2656233900051522, + "mean_kinematic_stability_score": 0.08045198265351106, + "mean_legacy_gsi": 0.37917042094718556, + "mean_lift_score": 0.3415765069551777, + "mean_motion_stability_score": 0.24921924934142867 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1941, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_64_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_64_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..540974cbde09ebb675c10aa53220ff8aa2fd0639 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_64_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/64_sports_ball_cup_sort.yaml", "episode_index": 9, "seed": 206400008, "success": true, "steps": 1995, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206400008, "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": 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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"hard_excess_rad": 0.008584022521972656, "hard_tolerance_rad": 0.005, "hard_lower": -0.17399999499320984, "hard_upper": 1.7089998722076416, "operating_lower": -0.17400002479553223, "operating_upper": 1.7089998722076416, "expanded_target": 1.682067632675171, "shielded_target": 1.682067632675171}], "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, 1.3768285512924194, 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"joint_limit_active_steps": 15, "joint_limit_hard_episode_events": 1, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.04621243476867676, "max_joint_limit_excess_joint": "multi_joint_6_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": 15, "joint_limit_active_step_rate": 0.007518796992481203, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.04621243476867676, "max_joint_limit_excess_joint": "multi_joint_6_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": 1882, "place_2": 1882, "place_3": 1882, "place_4": 1882}, "violation_counts": {}, "policy_query_count": 31, "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_1x_icl/source_runs/task_64_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_64_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..950ce98988a271cc0cfbfe53ccdc6bbf9c5238dc --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_64_episode_09/summary.json @@ -0,0 +1,187 @@ +{ + "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": 33.249999999999396 + }, + "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": 0.6661654135338466, + "expert_time_s": 22.15, + "expert_time_step": 1329, + "avg_steps_to_success": 1995, + "avg_policy_steps_to_success": 665, + "avg_policy_queries_to_success": 31 + }, + "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": 0.007518796992481203, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.04621243476867676, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "multi_joint_6_0": 15 + }, + "joint_limit_hard_counts": { + "multi_joint_6_0": 1 + }, + "joint_limit_hard_episode_events": 1, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "joint_10_0": 4.0590763092041016e-05, + "joint_13_0": 7.450580596923828e-09, + "multi_joint_1_0": 5.996227264404297e-05, + "multi_joint_2_0": 0.0044104307889938354, + "multi_joint_6_0": 0.04621243476867676, + "multi_joint_9_0": 0.0001043081283569336, + "multi_panda_joint5": 3.409385681152344e-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": 7.62393155221818, + "joint_effort_rms": 29.39421063742991, + "joint_jerk_rms": 754.2515109844297, + "joint_velocity_rms": 0.262247026211204 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9930579834901595, + "mean_kinematic_grasp_stability": 0.44108767385355263, + "per_object_best_kinematic_grasp_stability": { + "obj_054_softball_3": 0.9394155671699174, + "obj_055_baseball_4": 0.9930579834901595, + "obj_057_racquetball_5": 0.9394031565649336, + "obj_058_golf_ball_6": 0.9847007903791778 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9075605680868511, + "mean_duration_score": 0.3373141186299079, + "mean_hold_score": 0.16503132832080142, + "mean_kinematic_stability_score": 0.12906512762506833, + "mean_legacy_gsi": 0.35531571872040224, + "mean_lift_score": 0.2926065162907268, + "mean_motion_stability_score": 0.16554985169099828 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1995, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_64_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_64_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..633c387e3674ddd5ea2948840fdba7b55515071e --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_64_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/64_sports_ball_cup_sort.yaml", "episode_index": 10, "seed": 206400009, "success": false, "steps": 1995, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206400009, "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": 180.0, "base_yaw_deg": 180.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan20", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan20_physics/scene.usda", "scene_offset": [0.08, 1.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, 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"obj_054_softball_3": {"position": [-0.3992608870363433, 0.19264245344505354, 0.7354866234290575], "rpy_deg": [0.0, 0.0, 8.449567392503983]}, "obj_055_baseball_4": {"position": [0.40877058309754644, 0.1685142746078051, 0.7354340234272576], "rpy_deg": [0.0, 0.0, -9.647698545667138]}, "obj_057_racquetball_5": {"position": [-0.18535813970349913, 0.3044141668249105, 0.7354582234223535], "rpy_deg": [0.0, 0.0, 9.251747551189965]}, "obj_058_golf_ball_6": {"position": [0.21584001897529256, 0.10700288490854816, 0.7355950234162782], "rpy_deg": [0.0, 0.0, -2.3856911770223803]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_pick_place", "robot_key": "multi_panda_with_allegro", "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": 22.15, "expert_time_step": 1329, "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": 0.990341155159299, "mean_kinematic_grasp_stability": 0.31114159429535837, "per_object_best_kinematic_grasp_stability": {"obj_054_softball_3": 0.0, "obj_055_baseball_4": 0.990341155159299, "obj_057_racquetball_5": 0.9596932362571903, "obj_058_golf_ball_6": 0.9503589409841042}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.37365095336398646, "mean_kinematic_stability_score": 0.0773954968266023, "mean_lift_score": 0.3407268170426065, "mean_hold_score": 0.20444235588972834, "mean_motion_stability_score": 0.19928847277695624, "mean_duration_score": 0.35322472848788533, "mean_anti_slip_score": 0.859983291562272}, "robot_motion_metrics": {"joint_velocity_rms": 0.4245079366211216, "joint_acceleration_rms": 24.82064300112798, "joint_jerk_rms": 2643.9361650861674, "joint_effort_rms": 41.73553971602466}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.001503759398496268, "safety_violation_rate_time": 0.001503759398496268, "safety_violation_rate_event": 0.0015037593984962407, "safety_violation_step_rate": 0.0015037593984962407, "safety_violation_events_per_step": 0.0015037593984962407, "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": {"joint_10_0": 34, "multi_joint_9_0": 10, "multi_panda_joint5": 18, "panda_joint7": 25}, "joint_limit_hard_counts": {"joint_10_0": 3, "joint_12_0": 1, "joint_9_0": 1, "multi_joint_1_0": 1, "multi_joint_2_0": 2, "multi_joint_5_0": 4, "multi_joint_9_0": 1, "multi_panda_joint5": 1, "panda_joint7": 1}, "finger_joint_limit_saturation_counts": {"joint_10_0": 21}, "joint_limit_max_excess_by_joint": {"joint_10_0": 0.4452577829360962, "joint_12_0": 0.0050629377365112305, "joint_13_0": 5.587935447692871e-07, "joint_5_0": 3.9696693420410156e-05, "joint_9_0": 0.006655454635620117, "multi_joint_1_0": 0.007284760475158691, "multi_joint_2_0": 0.006907269358634949, "multi_joint_5_0": 0.006478667259216309, "multi_joint_6_0": 0.0041826218366622925, "multi_joint_9_0": 0.07529735565185547, "multi_panda_joint5": 0.06462550163269043, "multi_panda_joint7": 0.0021522045135498047, "panda_joint5": 0.0001461505889892578, "panda_joint7": 0.08028483390808105}, "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": 246, "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": -0.1790824830532074, "hard_excess_rad": 0.005082488059997559, "hard_tolerance_rad": 0.005, "hard_lower": -0.17399999499320984, "hard_upper": 1.7089998722076416, "operating_lower": -0.17400002479553223, "operating_upper": 1.7089998722076416, "expanded_target": -0.10204600542783737, "shielded_target": -0.10204600542783737}], "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, 1.2614097595214844, -1.5700000524520874, -0.9469828009605408, 1.583168665608703e-11, 0.04256933555006981, -1.5700000524520874, -2.1824874877929688, 1.5700000524520874, 2.884904146194458, 6.25, 5.144057750701904, -1.5700000524520874, -2.62208890914917, 0.30000001192092896, 1.2583807706832886, 1.0713218090430132e-09, 7.991879380497835e-10, 2.6762703164706636e-09, -1.6848884509812478e-09, 1.5658739805221558, 0.0809156596660614, 1.3827385902404785, 1.6076607704162598, -2.345734717579262e-10, -3.075354415571496e-10, 1.2024473639016264e-09, -9.681625501301028e-10, -0.10204600542783737, 0.8483945727348328, 1.645594835281372, 1.1920586824417114], "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, 1.2614097595214844, -1.5700000524520874, -0.9469828009605408, 1.583168665608703e-11, 0.04256933555006981, -1.5700000524520874, -2.1824874877929688, 1.5700000524520874, 2.884904146194458, 6.25, 5.144057750701904, -1.5700000524520874, -2.62208890914917, 0.0, 0.30000001192092896, 0.0, 0.0, 0.0, 1.2583807706832886, 0.0, 0.0, 1.0713218090430132e-09, 7.991879380497835e-10, 2.6762703164706636e-09, -1.6848884509812478e-09, 1.5658739805221558, 0.0809156596660614, 1.3827385902404785, 1.6076607704162598, -2.345734717579262e-10, -3.075354415571496e-10, 1.2024473639016264e-09, -9.681625501301028e-10, -0.10204600542783737, 0.8483945727348328, 1.645594835281372, 1.1920586824417114, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "shielded_full_target": [-1.5700000524520874, 1.2614097595214844, -1.5700000524520874, -0.9469828009605408, 1.583168665608703e-11, 0.04256933555006981, -1.5700000524520874, -2.1824874877929688, 1.5700000524520874, 2.884904146194458, 6.25, 5.144057750701904, -1.5700000524520874, -2.62208890914917, 0.0, 0.30000001192092896, 0.0, 0.0, 0.0, 1.2583807706832886, 0.0, 0.0, 1.0713218090430132e-09, 7.991879380497835e-10, 2.6762703164706636e-09, -1.6848884509812478e-09, 1.5658739805221558, 0.0809156596660614, 1.3827385902404785, 1.6076607704162598, -2.345734717579262e-10, -3.075354415571496e-10, 1.2024473639016264e-09, -9.681625501301028e-10, -0.10204600542783737, 0.8483945727348328, 1.645594835281372, 1.1920586824417114, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "joint_limit_active_steps": 63, "joint_limit_hard_episode_events": 13, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 21, "max_joint_limit_excess_rad": 0.4452577829360962, "max_joint_limit_excess_joint": "joint_10_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": 63, "joint_limit_active_step_rate": 0.031578947368421054, "finger_joint_limit_saturation_steps": 21, "finger_joint_limit_saturation_step_rate": 0.010526315789473684, "max_joint_limit_excess_rad": 0.4452577829360962, "max_joint_limit_excess_joint": "joint_10_0", "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_055_baseball_4": 1, "high_speed_obj_055_baseball_4": 1, "drop_to_table_obj_057_racquetball_5": 1}, "policy_query_count": 37, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1995, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_64_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_64_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4b0bd3dd513f6fde477bc2f95ddb2ff32611fa01 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_64_episode_10/summary.json @@ -0,0 +1,211 @@ +{ + "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": 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": 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": 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": 0.0015037593984962407 + }, + "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": 22.15, + "expert_time_step": 1329, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0015037593984962407, + "violation_counts": { + "drop_to_table_obj_055_baseball_4": 1, + "drop_to_table_obj_057_racquetball_5": 1, + "high_speed_obj_055_baseball_4": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.031578947368421054, + "finger_joint_limit_saturation_step_rate": 0.010526315789473684, + "max_joint_limit_excess_rad": 0.4452577829360962, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "joint_10_0": 34, + "multi_joint_9_0": 10, + "multi_panda_joint5": 18, + "panda_joint7": 25 + }, + "joint_limit_hard_counts": { + "joint_10_0": 3, + "joint_12_0": 1, + "joint_9_0": 1, + "multi_joint_1_0": 1, + "multi_joint_2_0": 2, + "multi_joint_5_0": 4, + "multi_joint_9_0": 1, + "multi_panda_joint5": 1, + "panda_joint7": 1 + }, + "joint_limit_hard_episode_events": 13, + "finger_joint_limit_saturation_counts": { + "joint_10_0": 21 + }, + "joint_limit_max_excess_by_joint": { + "joint_10_0": 0.4452577829360962, + "joint_12_0": 0.0050629377365112305, + "joint_13_0": 5.587935447692871e-07, + "joint_5_0": 3.9696693420410156e-05, + "joint_9_0": 0.006655454635620117, + "multi_joint_1_0": 0.007284760475158691, + "multi_joint_2_0": 0.006907269358634949, + "multi_joint_5_0": 0.006478667259216309, + "multi_joint_6_0": 0.0041826218366622925, + "multi_joint_9_0": 0.07529735565185547, + "multi_panda_joint5": 0.06462550163269043, + "multi_panda_joint7": 0.0021522045135498047, + "panda_joint5": 0.0001461505889892578, + "panda_joint7": 0.08028483390808105 + }, + "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": 24.82064300112798, + "joint_effort_rms": 41.73553971602466, + "joint_jerk_rms": 2643.9361650861674, + "joint_velocity_rms": 0.4245079366211216 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.990341155159299, + "mean_kinematic_grasp_stability": 0.31114159429535837, + "per_object_best_kinematic_grasp_stability": { + "obj_054_softball_3": 0.0, + "obj_055_baseball_4": 0.990341155159299, + "obj_057_racquetball_5": 0.9596932362571903, + "obj_058_golf_ball_6": 0.9503589409841042 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.859983291562272, + "mean_duration_score": 0.35322472848788533, + "mean_hold_score": 0.20444235588972834, + "mean_kinematic_stability_score": 0.0773954968266023, + "mean_legacy_gsi": 0.37365095336398646, + "mean_lift_score": 0.3407268170426065, + "mean_motion_stability_score": 0.19928847277695624 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1995, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_64_episode_11/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_64_episode_11/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05384267217cd69c0317a967c43d83a9c871ca1c --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_64_episode_11/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/64_sports_ball_cup_sort.yaml", "episode_index": 11, "seed": 206400010, "success": false, "steps": 1995, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206400010, "base_seed": 206400000, "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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"runtime.joint_pos_limits"}, "joint_limit_active_steps": 104, "joint_limit_active_step_rate": 0.05213032581453634, "finger_joint_limit_saturation_steps": 35, "finger_joint_limit_saturation_step_rate": 0.017543859649122806, "max_joint_limit_excess_rad": 0.8996438980102539, "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": false, "place_2": false, "place_3": true, "place_4": true}, "stage_first_completion_step": {"place_1": 1896, "place_2": 1896, "place_3": 1896, "place_4": 1896}, "violation_counts": {"drop_to_table_obj_055_baseball_4": 1}, "policy_query_count": 23, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1995, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_64_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_64_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..2ca9d9039ad61a244594d54a58089444a7f1fbcc --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_64_episode_11/summary.json @@ -0,0 +1,199 @@ +{ + "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": 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": 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": 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": 0.0005012531328320802 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 1.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "rigid_pick_place": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.5, + "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": null, + "expert_time_s": 22.15, + "expert_time_step": 1329, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0005012531328320802, + "violation_counts": { + "drop_to_table_obj_055_baseball_4": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.05213032581453634, + "finger_joint_limit_saturation_step_rate": 0.017543859649122806, + "max_joint_limit_excess_rad": 0.8996438980102539, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "joint_10_0": 29, + "multi_joint_2_0": 30, + "multi_joint_7_0": 45 + }, + "joint_limit_hard_counts": { + "joint_10_0": 1, + "multi_joint_2_0": 1, + "multi_joint_7_0": 2 + }, + "joint_limit_hard_episode_events": 4, + "finger_joint_limit_saturation_counts": { + "multi_joint_2_0": 24, + "multi_joint_7_0": 11 + }, + "joint_limit_max_excess_by_joint": { + "joint_10_0": 0.037378475069999695, + "joint_13_0": 1.1399388313293457e-06, + "multi_joint_2_0": 0.8996438980102539, + "multi_joint_6_0": 0.0001373291015625, + "multi_joint_7_0": 0.24186664819717407, + "multi_joint_9_0": 0.0005227327346801758, + "multi_panda_joint1": 7.200241088867188e-05, + "multi_panda_joint5": 0.00027823448181152344, + "panda_joint5": 3.6716461181640625e-05, + "panda_joint7": 0.0012595653533935547 + }, + "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": 11.452503310029158, + "joint_effort_rms": 41.62967050942967, + "joint_jerk_rms": 1118.662050949485, + "joint_velocity_rms": 0.362494745813949 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9962333836911107, + "mean_kinematic_grasp_stability": 0.3122418193403375, + "per_object_best_kinematic_grasp_stability": { + "obj_054_softball_3": 0.7436386481506345, + "obj_055_baseball_4": 0.8110895487866124, + "obj_057_racquetball_5": 0.9962333836911107, + "obj_058_golf_ball_6": 0.9382419193226105 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8991228070175636, + "mean_duration_score": 0.17284461152882283, + "mean_hold_score": 0.12699874686716606, + "mean_kinematic_stability_score": 0.04675801680597786, + "mean_legacy_gsi": 0.2936227936696278, + "mean_lift_score": 0.2211779448621554, + "mean_motion_stability_score": 0.11812608917387145 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1995, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_64_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_64_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..693ec6fd916959028018383cbccb6a86d59ccc8c --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_64_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/64_sports_ball_cup_sort.yaml", "episode_index": 12, "seed": 206400011, "success": true, "steps": 1970, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206400011, "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": 180.0, "base_yaw_deg": 180.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan1", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan1_physics/scene.usda", "scene_offset": [0.0, 0.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_carpet_carpet0128_jpg", "asset_uri": "dex2bench_dataset/textures/carpet/carpet0128.jpg", "asset_category": "carpet", "asset_id": "carpet/carpet0128.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1324.2722360868056, "color": [0.6156636103824149, 0.8921604193673636, 0.6792421237774664], "pitch_deg": -24.081735658701078, "yaw_deg": -69.29378173472784, "angle_deg": 0.8303870657209826}, "dome": {"intensity": 193.70176948601562, "color": [0.9434521613155277, 0.8636119435069314, 0.6130004488419145], "exposure": 0.09389946378445557}, "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": -0.0007660327680618292, "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": [-0.0024716180231685635, -0.002032497154238938, -0.004148642687632252], "target_offset_m": [0.0009018492389241831, 0.0005043999701297586, 0.0035772694430881427], "distance_offset_m": -0.003189447741291984, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.8995161886855496, -0.7560671326799058, -0.9373735502825027], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [0.004501486510607624, -0.0007717794716015905, 0.0018074242588902436], "target_offset_m": [0.002046494231865461, 0.004857772107214245, 0.0008925519094869425], "distance_offset_m": 0.01578342767216187, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.3324582762860895, -0.6265494969753354, 0.21292067609461163], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [0.002259057751852863, 0.004533522681722901, -0.004450570876552931], "target_offset_m": [0.002762845876103758, -0.00032713080087014117, -0.0031149874865628877], "distance_offset_m": -0.010925148342129317, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.5550023899380072, 0.28401835110330076, -0.411136436747757], "has_offset": true}, "cam_stereo_right": {"enabled": true, "position_offset_m": [0.002259057751852863, 0.004533522681722901, -0.004450570876552931], "target_offset_m": [0.002762845876103758, -0.00032713080087014117, -0.0031149874865628877], "distance_offset_m": -0.010925148342129317, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.5550023899380072, 0.28401835110330076, -0.411136436747757], "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": [0.004741848080639746, -0.004107431587563879, 0.004647880169283614], "rpy_offset_deg": [-0.1557946459178463, 0.9436396727484639, -0.36186856017733393], "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": [-0.0029526468586907827, 0.0011857557282215847, 0.004502845283166344], "rpy_offset_deg": [0.1273468082823075, 0.7138432003957649, -0.7949218806961962], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 2, "asset_split": "unseen", "asset_pool_size": 14, "assets": [{"name": "clutter_018_plum", "uri": "dex2bench_dataset/Objects/018_plum/usd_decomposition_linux/textured.usd", "scale": [1.018615765619583, 1.018615765619583, 1.018615765619583], "body_type": "dynamic", "category": "fruit", "asset_code": "018", "asset_id": "clutter_018_plum", "asset_split": "unseen", "spawn_position": [0.8715555553477656, 0.37438919320526837, 0.7495364961055729], "spawn_yaw_deg": 145.73224047806727, "obj_id": "distractor_00_clutter_018_plum"}, {"name": "clutter_035_power_drill", "uri": "dex2bench_dataset/Objects/035_power_drill/usd_decomposition_linux/textured.usd", "scale": [0.867474423419645, 0.867474423419645, 0.867474423419645], "body_type": "dynamic", "category": "tool", "asset_code": "035", "asset_id": "clutter_035_power_drill", "asset_split": "unseen", "spawn_position": [-0.85350851912327, 0.14891519714653972, 0.7519864635309524], "spawn_yaw_deg": 51.54776243551101, "obj_id": "distractor_01_clutter_035_power_drill"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_065_d_cups_1": {"position": [0.05105234740362634, 0.32723459367424357, 0.75036256719928], "rpy_deg": [0.0, 0.0, -4.348578425507396]}, "obj_065_e_cups_2": {"position": [0.0631716410921377, 0.14002894938574673, 0.750251867217829], "rpy_deg": [0.0, 0.0, -3.1663271336360594]}, "obj_054_softball_3": {"position": [-0.40036402256525433, 0.20966374827522144, 0.7494915672376542], "rpy_deg": [0.0, 0.0, -0.22909246886418266]}, "obj_055_baseball_4": {"position": [0.3862327009653724, 0.15862304835364877, 0.7494389672358543], "rpy_deg": [0.0, 0.0, 2.0042278960365785]}, "obj_057_racquetball_5": {"position": [-0.15048869253020175, 0.3221286538355386, 0.7494631672309502], "rpy_deg": [0.0, 0.0, 1.5111214184141613]}, "obj_058_golf_ball_6": {"position": [0.20379381780608208, 0.13531058940410978, 0.749599967224875], "rpy_deg": [0.0, 0.0, -3.5744860193023538]}}, "_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": 1892, "stable_success_step": 1969, "first_stable_success_step": 1969, "steps_to_stable_success": 1970, "policy_steps_to_stable_success": 657, "policy_queries_to_stable_success": 28, "time_to_stable_success_s": 32.83333333333275, "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": 0.6746192893401134, "kinematic_grasp_stability_index": 0.9965645847036702, "mean_kinematic_grasp_stability": 0.41345296077009586, "per_object_best_kinematic_grasp_stability": {"obj_054_softball_3": 0.5212112188934357, "obj_055_baseball_4": 0.9472619974787265, "obj_057_racquetball_5": 0.5404637105792021, "obj_058_golf_ball_6": 0.9965645847036702}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.41463676348403755, "mean_kinematic_stability_score": 0.10163177474767457, "mean_lift_score": 0.40875634517766496, "mean_hold_score": 0.3212246192893423, "mean_motion_stability_score": 0.3007351163660391, "mean_duration_score": 0.35397208121827234, "mean_anti_slip_score": 0.7740693739424752}, "robot_motion_metrics": {"joint_velocity_rms": 0.21159712644248815, "joint_acceleration_rms": 6.3879924284412954, "joint_jerk_rms": 616.7399011922978, "joint_effort_rms": 29.468715358468405}, "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_soft_counts": {"multi_joint_2_0": 48}, "joint_limit_hard_counts": {"joint_10_0": 15, "multi_joint_2_0": 3}, "joint_limit_max_excess_by_joint": {"joint_10_0": 0.00717596709728241, "multi_joint_1_0": 3.921985626220703e-05, "multi_joint_2_0": 0.04881212115287781, "multi_joint_6_0": 4.5418739318847656e-05, "multi_joint_9_0": 0.0006601810455322266, "multi_panda_joint7": 0.0002810955047607422}, "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": 558, "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": -0.17927193641662598, "hard_excess_rad": 0.005271941423416138, "hard_tolerance_rad": 0.005, "hard_lower": -0.17399999499320984, "hard_upper": 1.7089998722076416, "operating_lower": -0.17400002479553223, "operating_upper": 1.7089998722076416, "expanded_target": -0.10000000149011612, "shielded_target": -0.10000000149011612}], "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, 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"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, 1.4569011926651, -1.5700000524520874, -1.0900213718414307, 1.583168665608703e-11, -0.24917618930339813, -1.5700000524520874, -2.403731346130371, 1.5700000524520874, 2.7997260093688965, 6.25, 4.929553508758545, -1.5700000524520874, -2.9524874687194824, 0.0, 0.30000001192092896, 0.0, 0.0, 0.0, 1.350000023841858, 0.0, 0.0, 1.0713218090430132e-09, 7.991879380497835e-10, 2.6762703164706636e-09, -1.6848884509812478e-09, 1.4457142353057861, 0.05999999865889549, 1.3493947982788086, 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0.0]}, "joint_limit_active_steps": 48, "joint_limit_hard_episode_events": 18, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.04881212115287781, "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": 48, "joint_limit_active_step_rate": 0.024365482233502538, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.04881212115287781, "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": 1892, "place_2": 1892, "place_3": 1892, "place_4": 1892}, "violation_counts": {}, "policy_query_count": 28, "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_1x_icl/source_runs/task_64_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_64_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..be87fcdd8a8e6d62e7c0ea7c9ae35a2922a4cd29 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_64_episode_12/summary.json @@ -0,0 +1,187 @@ +{ + "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": 32.83333333333275 + }, + "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": 0.6746192893401134, + "expert_time_s": 22.15, + "expert_time_step": 1329, + "avg_steps_to_success": 1970, + "avg_policy_steps_to_success": 657, + "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": 0.0, + "joint_limit_active_step_rate": 0.024365482233502538, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.04881212115287781, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "multi_joint_2_0": 48 + }, + "joint_limit_hard_counts": { + "joint_10_0": 15, + "multi_joint_2_0": 3 + }, + "joint_limit_hard_episode_events": 18, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "joint_10_0": 0.00717596709728241, + "multi_joint_1_0": 3.921985626220703e-05, + "multi_joint_2_0": 0.04881212115287781, + "multi_joint_6_0": 4.5418739318847656e-05, + "multi_joint_9_0": 0.0006601810455322266, + "multi_panda_joint7": 0.0002810955047607422 + }, + "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": 6.3879924284412954, + "joint_effort_rms": 29.468715358468405, + "joint_jerk_rms": 616.7399011922978, + "joint_velocity_rms": 0.21159712644248815 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9965645847036702, + "mean_kinematic_grasp_stability": 0.41345296077009586, + "per_object_best_kinematic_grasp_stability": { + "obj_054_softball_3": 0.5212112188934357, + "obj_055_baseball_4": 0.9472619974787265, + "obj_057_racquetball_5": 0.5404637105792021, + "obj_058_golf_ball_6": 0.9965645847036702 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7740693739424752, + "mean_duration_score": 0.35397208121827234, + "mean_hold_score": 0.3212246192893423, + "mean_kinematic_stability_score": 0.10163177474767457, + "mean_legacy_gsi": 0.41463676348403755, + "mean_lift_score": 0.40875634517766496, + "mean_motion_stability_score": 0.3007351163660391 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1970, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_64_episode_13/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_64_episode_13/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d0cc5c2f9df99949620bf89b60cb0fae1301685 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_64_episode_13/per_episode.jsonl @@ -0,0 +1 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0.1912135756660437, 0.7342459577779131], "rpy_deg": [0.0, 0.0, -4.568620074846299]}, "obj_055_baseball_4": {"position": [0.40534632240510315, 0.17714355662630993, 0.7341933577761133], "rpy_deg": [0.0, 0.0, -8.874847968827819]}, "obj_057_racquetball_5": {"position": [-0.18114990969950936, 0.3117785095321377, 0.7342175577712091], "rpy_deg": [0.0, 0.0, -4.55651271284002]}, "obj_058_golf_ball_6": {"position": [0.2016949148221153, 0.11895750662818994, 0.7343543577651339], "rpy_deg": [0.0, 0.0, 0.04111381969428329]}}, "_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": 1857, "stable_success_step": 1933, "first_stable_success_step": 1933, "steps_to_stable_success": 1934, "policy_steps_to_stable_success": 645, "policy_queries_to_stable_success": 34, "time_to_stable_success_s": 32.23333333333279, "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": 0.6871768355739516, "kinematic_grasp_stability_index": 0.9939621448062085, "mean_kinematic_grasp_stability": 0.6585532205759586, "per_object_best_kinematic_grasp_stability": {"obj_054_softball_3": 0.73361377142309, "obj_055_baseball_4": 0.9939621448062085, "obj_057_racquetball_5": 0.9616357198882088, "obj_058_golf_ball_6": 0.9901655845902709}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.42782508831203037, "mean_kinematic_stability_score": 0.15263520223535337, "mean_lift_score": 0.41675284384694933, "mean_hold_score": 0.35100180972078787, "mean_motion_stability_score": 0.29959711483087376, "mean_duration_score": 0.36006118579799995, "mean_anti_slip_score": 0.8147621509824199}, "robot_motion_metrics": {"joint_velocity_rms": 0.2347347180459989, "joint_acceleration_rms": 6.49235780543444, "joint_jerk_rms": 651.4971738258188, "joint_effort_rms": 22.070925381046433}, "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": 4, "robot_constraint_diagnostics": {"joint_limit_max_excess_by_joint": {"joint_13_0": 3.2261013984680176e-06, "joint_1_0": 0.0001138448715209961, "multi_joint_1_0": 6.4849853515625e-05, "multi_joint_2_0": 0.003188088536262512, "multi_joint_6_0": 9.298324584960938e-06, "multi_joint_9_0": 0.001661539077758789, "panda_joint5": 7.319450378417969e-05, "panda_joint7": 0.0013110637664794922}, "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": 0.003188088536262512, "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": 0.003188088536262512, "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": 1857, "place_2": 1857, "place_3": 1857, "place_4": 1857}, "violation_counts": {}, "policy_query_count": 34, "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_1x_icl/source_runs/task_64_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_64_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..5a5af97b612a8df4e42288f8941da1a5ad05d8d6 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_64_episode_13/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": 32.23333333333279 + }, + "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": 0.6871768355739516, + "expert_time_s": 22.15, + "expert_time_step": 1329, + "avg_steps_to_success": 1934, + "avg_policy_steps_to_success": 645, + "avg_policy_queries_to_success": 34 + }, + "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": 0.003188088536262512, + "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": { + "joint_13_0": 3.2261013984680176e-06, + "joint_1_0": 0.0001138448715209961, + "multi_joint_1_0": 6.4849853515625e-05, + "multi_joint_2_0": 0.003188088536262512, + "multi_joint_6_0": 9.298324584960938e-06, + "multi_joint_9_0": 0.001661539077758789, + "panda_joint5": 7.319450378417969e-05, + "panda_joint7": 0.0013110637664794922 + }, + "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": 6.49235780543444, + "joint_effort_rms": 22.070925381046433, + "joint_jerk_rms": 651.4971738258188, + "joint_velocity_rms": 0.2347347180459989 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9939621448062085, + "mean_kinematic_grasp_stability": 0.6585532205759586, + "per_object_best_kinematic_grasp_stability": { + "obj_054_softball_3": 0.73361377142309, + "obj_055_baseball_4": 0.9939621448062085, + "obj_057_racquetball_5": 0.9616357198882088, + "obj_058_golf_ball_6": 0.9901655845902709 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8147621509824199, + "mean_duration_score": 0.36006118579799995, + "mean_hold_score": 0.35100180972078787, + "mean_kinematic_stability_score": 0.15263520223535337, + "mean_legacy_gsi": 0.42782508831203037, + "mean_lift_score": 0.41675284384694933, + "mean_motion_stability_score": 0.29959711483087376 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1934, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_64_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_64_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..552d43435898111273a589360cbcb2e905b0cada --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_64_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/64_sports_ball_cup_sort.yaml", "episode_index": 14, "seed": 206400013, "success": false, "steps": 1995, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206400013, "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": 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_flooring_flooring0098_jpg", "asset_uri": "dex2bench_dataset/textures/flooring/flooring0098.jpg", "asset_category": "flooring", "asset_id": "flooring/flooring0098.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1337.4855897844302, "color": [0.7174866222638219, 0.6523769527239205, 0.8214681796528684], "pitch_deg": -24.876161985916383, "yaw_deg": 81.99181417279215, "angle_deg": 0.5558774766449883}, "dome": {"intensity": 184.2333119142557, "color": [0.9223836400127671, 0.8094359610083007, 0.6036029959333329], "exposure": 0.20059560544082644}, "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": -0.0018920260956977394, "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": [0.0011922545019469096, 0.00011785638126261128, 0.0030834396796865305], "target_offset_m": [0.00032952684541440267, -0.0019186644927977636, 0.00244732766511193], "distance_offset_m": -0.021207136858579823, 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1.7159366664965248]}, "obj_065_e_cups_2": {"position": [0.05, 0.15, 0.7491258738901931], "rpy_deg": [0.0, 0.0, 5.574128847501322]}, "obj_054_softball_3": {"position": [-0.40807313143809154, 0.21140962452946793, 0.7483655739100183], "rpy_deg": [0.0, 0.0, -6.008492301909875]}, "obj_055_baseball_4": {"position": [0.3872218501671166, 0.14280494077115807, 0.7483129739082185], "rpy_deg": [0.0, 0.0, -8.827599425725836]}, "obj_057_racquetball_5": {"position": [-0.1726722182487745, 0.30691367501070554, 0.7483371739033143], "rpy_deg": [0.0, 0.0, -6.324166362503756]}, "obj_058_golf_ball_6": {"position": [0.19706305667873236, 0.13221325291015423, 0.7484739738972391], "rpy_deg": [0.0, 0.0, -1.8286440826093617]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_pick_place", "robot_key": "multi_panda_with_allegro", "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": 22.15, "expert_time_step": 1329, "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": 0.9821663155765293, "mean_kinematic_grasp_stability": 0.35276660438523333, "per_object_best_kinematic_grasp_stability": {"obj_054_softball_3": 0.580304644979544, "obj_055_baseball_4": 0.7092044237435005, "obj_057_racquetball_5": 0.9821663155765293, "obj_058_golf_ball_6": 0.5162573299454538}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.3365377015530965, "mean_kinematic_stability_score": 0.05096991163611203, "mean_lift_score": 0.3032581453634085, "mean_hold_score": 0.22140977443609053, "mean_motion_stability_score": 0.21739849288339758, "mean_duration_score": 0.28005847953215895, "mean_anti_slip_score": 0.7212197159565534}, "robot_motion_metrics": {"joint_velocity_rms": 0.26195596275774685, "joint_acceleration_rms": 7.5333033463922945, "joint_jerk_rms": 733.3393726313956, "joint_effort_rms": 25.263770270689676}, "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": {"joint_10_0": 199, "multi_joint_2_0": 3, "panda_joint7": 10}, "joint_limit_hard_counts": {"joint_10_0": 2, "multi_joint_2_0": 4, "panda_joint7": 1}, "finger_joint_limit_saturation_counts": {"joint_10_0": 163}, "joint_limit_max_excess_by_joint": {"joint_10_0": 0.66518634557724, "joint_12_0": 0.003899812698364258, "joint_1_0": 0.00023233890533447266, "joint_5_0": 0.00020384788513183594, "joint_9_0": 0.0003285408020019531, "multi_joint_1_0": 1.6927719116210938e-05, "multi_joint_2_0": 0.010852783918380737, "multi_joint_9_0": 0.00016605854034423828, "panda_joint5": 0.0001430511474609375, "panda_joint7": 0.0362548828125}, "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": 246, "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": -0.17969577014446259, "hard_excess_rad": 0.005695775151252747, "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, 1.2776604890823364, -1.5700000524520874, -1.0464097261428833, 1.583168665608703e-11, 0.06132737174630165, -1.5700000524520874, -2.312087059020996, 1.5700000524520874, 2.926196336746216, 6.25, 5.11800479888916, -1.5700000524520874, -2.6473982334136963, 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, 1.2776604890823364, -1.5700000524520874, -1.0464097261428833, 1.583168665608703e-11, 0.06132737174630165, -1.5700000524520874, -2.312087059020996, 1.5700000524520874, 2.926196336746216, 6.25, 5.11800479888916, -1.5700000524520874, -2.6473982334136963, 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, 1.2776604890823364, -1.5700000524520874, -1.0464097261428833, 1.583168665608703e-11, 0.06132737174630165, -1.5700000524520874, -2.312087059020996, 1.5700000524520874, 2.926196336746216, 6.25, 5.11800479888916, -1.5700000524520874, -2.6473982334136963, 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": 204, "joint_limit_hard_episode_events": 6, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 163, "max_joint_limit_excess_rad": 0.66518634557724, "max_joint_limit_excess_joint": "joint_10_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": 204, "joint_limit_active_step_rate": 0.10225563909774436, "finger_joint_limit_saturation_steps": 163, "finger_joint_limit_saturation_step_rate": 0.08170426065162907, "max_joint_limit_excess_rad": 0.66518634557724, "max_joint_limit_excess_joint": "joint_10_0", "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": {}, "policy_query_count": 24, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1995, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_64_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_64_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b4e30e939f434f5d2b70b0518ba502cdd67a236e --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_64_episode_14/summary.json @@ -0,0 +1,196 @@ +{ + "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": 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": 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": 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": { + "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": 22.15, + "expert_time_step": 1329, + "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": 0.10225563909774436, + "finger_joint_limit_saturation_step_rate": 0.08170426065162907, + "max_joint_limit_excess_rad": 0.66518634557724, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "joint_10_0": 199, + "multi_joint_2_0": 3, + "panda_joint7": 10 + }, + "joint_limit_hard_counts": { + "joint_10_0": 2, + "multi_joint_2_0": 4, + "panda_joint7": 1 + }, + "joint_limit_hard_episode_events": 6, + "finger_joint_limit_saturation_counts": { + "joint_10_0": 163 + }, + "joint_limit_max_excess_by_joint": { + "joint_10_0": 0.66518634557724, + "joint_12_0": 0.003899812698364258, + "joint_1_0": 0.00023233890533447266, + "joint_5_0": 0.00020384788513183594, + "joint_9_0": 0.0003285408020019531, + "multi_joint_1_0": 1.6927719116210938e-05, + "multi_joint_2_0": 0.010852783918380737, + "multi_joint_9_0": 0.00016605854034423828, + "panda_joint5": 0.0001430511474609375, + "panda_joint7": 0.0362548828125 + }, + "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": 7.5333033463922945, + "joint_effort_rms": 25.263770270689676, + "joint_jerk_rms": 733.3393726313956, + "joint_velocity_rms": 0.26195596275774685 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9821663155765293, + "mean_kinematic_grasp_stability": 0.35276660438523333, + "per_object_best_kinematic_grasp_stability": { + "obj_054_softball_3": 0.580304644979544, + "obj_055_baseball_4": 0.7092044237435005, + "obj_057_racquetball_5": 0.9821663155765293, + "obj_058_golf_ball_6": 0.5162573299454538 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7212197159565534, + "mean_duration_score": 0.28005847953215895, + "mean_hold_score": 0.22140977443609053, + "mean_kinematic_stability_score": 0.05096991163611203, + "mean_legacy_gsi": 0.3365377015530965, + "mean_lift_score": 0.3032581453634085, + "mean_motion_stability_score": 0.21739849288339758 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1995, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_67_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_67_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be8bcd8b298522c9796743930b6add6857b4aa5d --- /dev/null +++ b/gpt6_astra_1x_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": false, "steps": 2892, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206700004, 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"left_pinky_proximal_joint": 2, "left_ring_distal_joint": 2, "left_ring_proximal_joint": 8, "right_index_proximal_joint": 2, "right_middle_proximal_joint": 2, "right_pinky_proximal_joint": 2, "right_ring_proximal_joint": 1}, "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": 0.035812851041555405, "left_pinky_distal_joint": 0.0008218161528930068, "left_pinky_proximal_joint": 0.006139582954347134, "left_ring_distal_joint": 0.009153462015092373, "left_ring_proximal_joint": 0.04438851401209831, "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": 0.0054474505595862865}, "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": ["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, -1.5638988018035889, 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], "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": 30, "joint_limit_hard_episode_events": 14, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.04438851401209831, "max_joint_limit_excess_joint": "left_ring_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": 30, "joint_limit_active_step_rate": 0.01037344398340249, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.04438851401209831, "max_joint_limit_excess_joint": "left_ring_proximal_joint", "stage_completion": {"spoon_in_mug": true, "mug_under_faucet": false, "faucet_open_close": false, "mug_on_tray": false}, "current_stage_completion": {"spoon_in_mug": false, "mug_under_faucet": false, "faucet_open_close": false, "mug_on_tray": false}, "stage_first_completion_step": {"spoon_in_mug": 1001, "mug_under_faucet": null, "faucet_open_close": null, "mug_on_tray": null}, "violation_counts": {"drop_to_table_obj_031_spoon_1": 1}, "policy_query_count": 23, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2892, "dwell_time_s": 3.0} diff --git a/gpt6_astra_1x_icl/source_runs/task_67_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_67_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ca8a853cab9d9308b075f9ab4f6d8654fc065820 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_67_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": 206700000, + "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": 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": 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": 0.00034578146611341634 + }, + "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": 0.25, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 32.13333333333333, + "expert_time_step": 1928, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00034578146611341634, + "violation_counts": { + "drop_to_table_obj_031_spoon_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.01037344398340249, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.04438851401209831, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_proximal_joint": 1, + "left_middle_proximal_joint": 6, + "left_ring_proximal_joint": 22, + "right_pinky_proximal_joint": 1 + }, + "joint_limit_hard_counts": { + "left_index_proximal_joint": 4, + "left_middle_proximal_joint": 4, + "left_pinky_proximal_joint": 2, + "left_ring_distal_joint": 2, + "left_ring_proximal_joint": 8, + "right_index_proximal_joint": 2, + "right_middle_proximal_joint": 2, + "right_pinky_proximal_joint": 2, + "right_ring_proximal_joint": 1 + }, + "joint_limit_hard_episode_events": 14, + "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": 0.035812851041555405, + "left_pinky_distal_joint": 0.0008218161528930068, + "left_pinky_proximal_joint": 0.006139582954347134, + "left_ring_distal_joint": 0.009153462015092373, + "left_ring_proximal_joint": 0.04438851401209831, + "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": 0.0054474505595862865 + }, + "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": 13.609387027032994, + "joint_effort_rms": 39.87138796946533, + "joint_jerk_rms": 1354.0628035605969, + "joint_velocity_rms": 0.4191227301763191 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8893117410689476, + "mean_kinematic_grasp_stability": 0.2554655260709706, + "per_object_best_kinematic_grasp_stability": { + "obj_025_mug_1": 0.0, + "obj_031_spoon_1": 0.8893117410689476 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6590018441678198, + "mean_duration_score": 0.390231673582296, + "mean_hold_score": 0.08323824343015142, + "mean_kinematic_stability_score": 0.020449609019858126, + "mean_legacy_gsi": 0.2612746933204783, + "mean_lift_score": 0.15145228215767634, + "mean_motion_stability_score": 0.07620471457785712 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2892, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_67_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_67_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc73b56bea4e16ecb232b5bb03dc4f560627a06e --- /dev/null +++ b/gpt6_astra_1x_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": {"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": 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[0.8045634440042398, 0.8045634440042398, 0.8045634440042398], "body_type": "dynamic", "category": "tool", "asset_code": "035", "asset_id": "clutter_035_power_drill", "asset_split": "unseen", "spawn_position": [-0.5796150185132587, 0.10421511904168296, 0.7783791049008044], "spawn_yaw_deg": 105.74986941378874, "obj_id": "distractor_00_clutter_035_power_drill"}, {"name": "clutter_070b_colored_wood_blocks", "uri": "dex2bench_dataset/Objects/070-b_colored_wood_blocks/google_16k/usd_decomposition_linux/textured.usd", "scale": [1.094125186695122, 1.094125186695122, 1.094125186695122], "body_type": "dynamic", "category": "block", "asset_code": "070", "asset_id": "clutter_070b_colored_wood_blocks", "asset_split": "unseen", "spawn_position": [-1.0098976855440562, 0.2537748133626207, 0.7760800621857412], "spawn_yaw_deg": 337.57559889708654, "obj_id": "distractor_01_clutter_070b_colored_wood_blocks"}]}}, "embodiment": {"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, 0.8696224290334602], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_025_mug_1": {"position": [0.1, 0.07, 0.7766242251006644], "rpy_deg": [0.0, 0.0, -12.832045865871418]}, "obj_130_tray_1": {"position": [0.52, 0.15, 0.7758262288773926], "rpy_deg": [90.0, 0.0, 0.0]}, "obj_031_spoon_1": {"position": [-0.3, 0.1, 0.8223402258797307], "rpy_deg": [90.0, 0.0, 173.36053581863328]}}, "_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": 2368, "stable_success_step": 2547, "first_stable_success_step": 2547, "steps_to_stable_success": 2548, 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"mean_kinematic_stability_score": 0.3880566460991166, "mean_lift_score": 0.7423469387755102, "mean_hold_score": 0.6247350863422312, "mean_motion_stability_score": 0.5565181499456802, "mean_duration_score": 0.7223966509680797, "mean_anti_slip_score": 0.7976190476190328}, "robot_motion_metrics": {"joint_velocity_rms": 0.3093593813558884, "joint_acceleration_rms": 15.366586760819425, "joint_jerk_rms": 1621.0179854714247, "joint_effort_rms": 30.207742852153643}, "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": 4, "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}, "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}, "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": "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_1x_icl/source_runs/task_67_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_67_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..9500b6c16bff899e3e37b24a24bc450c6875ff4d --- /dev/null +++ b/gpt6_astra_1x_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_1x_icl/source_runs/task_67_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_67_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04a9682c4c203492869d2aa8969886e17ec5d652 --- /dev/null +++ b/gpt6_astra_1x_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": false, "steps": 2892, "metric_schema_version": 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{"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": 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": 32.13333333333333, "expert_time_step": 1928, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.25, "normalized_progress_score": 0.25, "chain_depth_progress_score": 0.25, "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": 0.25, "latched_chain_depth_progress_score": 0.25, "latched_chain_depth": 1, "task_efficiency": null, "kinematic_grasp_stability_index": 0.6739387889688042, "mean_kinematic_grasp_stability": 0.01598455425476353, "per_object_best_kinematic_grasp_stability": {"obj_025_mug_1": 0.0, "obj_031_spoon_1": 0.6739387889688042}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.222432313868745, "mean_kinematic_stability_score": 0.0018156729158678494, "mean_lift_score": 0.11358921161825726, "mean_hold_score": 0.018084370677731804, "mean_motion_stability_score": 0.007954287836078038, "mean_duration_score": 0.019311894882434618, "mean_anti_slip_score": 1.0}, "robot_motion_metrics": {"joint_velocity_rms": 0.40270460781650397, "joint_acceleration_rms": 21.370160733722578, "joint_jerk_rms": 2234.3457599136736, "joint_effort_rms": 32.92367068385997}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.00034578146611342675, "safety_violation_rate_time": 0.00034578146611342675, "safety_violation_rate_event": 0.00034578146611341634, "safety_violation_step_rate": 0.00034578146611341634, "safety_violation_events_per_step": 0.00034578146611341634, "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": {"l_joint4": 69, "left_middle_distal_joint": 3, "left_pinky_distal_joint": 14, "left_thumb_distal_joint": 57, "left_thumb_proximal_joint": 32}, "joint_limit_hard_counts": {"l_joint4": 1, "left_middle_distal_joint": 1, "left_pinky_distal_joint": 1, "left_pinky_proximal_joint": 2, "left_ring_distal_joint": 1, "left_thumb_distal_joint": 1, "left_thumb_proximal_joint": 1}, "finger_joint_limit_saturation_counts": {"left_thumb_distal_joint": 43, "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": 0.004430039320141077, "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": 0.009367047809064388, "left_ring_proximal_joint": 0.003764623776078224, "left_thumb_distal_joint": 0.5415257215499878, "left_thumb_metacarpal_joint": 3.6879377148579806e-05, "left_thumb_proximal_joint": 0.19011513888835907, "right_index_distal_joint": 3.419486638289726e-10, "right_index_proximal_joint": 1.3449923397246266e-09}, "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": 143, "joint_limit_hard_episode_events": 7, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 43, "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": 143, "joint_limit_active_step_rate": 0.04944674965421853, "finger_joint_limit_saturation_steps": 43, "finger_joint_limit_saturation_step_rate": 0.014868603042876901, "max_joint_limit_excess_rad": 0.6398665904998779, "max_joint_limit_excess_joint": "l_joint4", "stage_completion": {"spoon_in_mug": true, "mug_under_faucet": false, "faucet_open_close": false, "mug_on_tray": false}, "current_stage_completion": {"spoon_in_mug": false, "mug_under_faucet": false, "faucet_open_close": false, "mug_on_tray": false}, "stage_first_completion_step": {"spoon_in_mug": 861, "mug_under_faucet": null, "faucet_open_close": null, "mug_on_tray": null}, "violation_counts": {"drop_to_table_obj_031_spoon_1": 1}, "policy_query_count": 29, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2892, "dwell_time_s": 3.0} diff --git a/gpt6_astra_1x_icl/source_runs/task_67_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_67_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..a6f2f9a6bb3ec1cabde3946b7bdbcfd532e00d34 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_67_episode_07/summary.json @@ -0,0 +1,207 @@ +{ + "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": 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": 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": 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": 0.00034578146611341634 + }, + "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": 0.25, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 32.13333333333333, + "expert_time_step": 1928, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00034578146611341634, + "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": 0.04944674965421853, + "finger_joint_limit_saturation_step_rate": 0.014868603042876901, + "max_joint_limit_excess_rad": 0.6398665904998779, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "l_joint4": 69, + "left_middle_distal_joint": 3, + "left_pinky_distal_joint": 14, + "left_thumb_distal_joint": 57, + "left_thumb_proximal_joint": 32 + }, + "joint_limit_hard_counts": { + "l_joint4": 1, + "left_middle_distal_joint": 1, + "left_pinky_distal_joint": 1, + "left_pinky_proximal_joint": 2, + "left_ring_distal_joint": 1, + "left_thumb_distal_joint": 1, + "left_thumb_proximal_joint": 1 + }, + "joint_limit_hard_episode_events": 7, + "finger_joint_limit_saturation_counts": { + "left_thumb_distal_joint": 43, + "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": 0.004430039320141077, + "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": 0.009367047809064388, + "left_ring_proximal_joint": 0.003764623776078224, + "left_thumb_distal_joint": 0.5415257215499878, + "left_thumb_metacarpal_joint": 3.6879377148579806e-05, + "left_thumb_proximal_joint": 0.19011513888835907, + "right_index_distal_joint": 3.419486638289726e-10, + "right_index_proximal_joint": 1.3449923397246266e-09 + }, + "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": 21.370160733722578, + "joint_effort_rms": 32.92367068385997, + "joint_jerk_rms": 2234.3457599136736, + "joint_velocity_rms": 0.40270460781650397 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.6739387889688042, + "mean_kinematic_grasp_stability": 0.01598455425476353, + "per_object_best_kinematic_grasp_stability": { + "obj_025_mug_1": 0.0, + "obj_031_spoon_1": 0.6739387889688042 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.019311894882434618, + "mean_hold_score": 0.018084370677731804, + "mean_kinematic_stability_score": 0.0018156729158678494, + "mean_legacy_gsi": 0.222432313868745, + "mean_lift_score": 0.11358921161825726, + "mean_motion_stability_score": 0.007954287836078038 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2892, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_67_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_67_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80fae739b2060579693b742aa988530c0b8d3ef8 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_67_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/67_faucet_cup_water_fill.yaml", "episode_index": 8, "seed": 206700007, "success": false, "steps": 2892, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206700007, "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": 90.0, "base_yaw_deg": 90.0, "flip_180_applied": false, "physics_enabled": false, 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"faucet_open_close": false, "mug_on_tray": false}, "stage_first_completion_step": {"spoon_in_mug": 1567, "mug_under_faucet": null, "faucet_open_close": null, "mug_on_tray": null}, "violation_counts": {"drop_to_table_obj_031_spoon_1": 1}, "policy_query_count": 27, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2892, "dwell_time_s": 3.0} diff --git a/gpt6_astra_1x_icl/source_runs/task_67_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_67_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..2b2a75cc5f8b054761dc0a6138bc86a9ef7f4b4a --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_67_episode_08/summary.json @@ -0,0 +1,225 @@ +{ + "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": 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": 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": 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": 0.00034578146611341634 + }, + "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": 0.25, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 32.13333333333333, + "expert_time_step": 1928, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00034578146611341634, + "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": 0.03699861687413555, + "finger_joint_limit_saturation_step_rate": 0.028699861687413553, + "max_joint_limit_excess_rad": 1.2255189418792725, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_pinky_proximal_joint": 1, + "left_ring_proximal_joint": 12, + "right_index_proximal_joint": 2, + "right_middle_distal_joint": 45, + "right_middle_proximal_joint": 70, + "right_pinky_proximal_joint": 69, + "right_ring_proximal_joint": 67, + "right_thumb_metacarpal_joint": 79, + "right_thumb_proximal_joint": 72 + }, + "joint_limit_hard_counts": { + "left_index_proximal_joint": 2, + "left_middle_proximal_joint": 2, + "left_pinky_proximal_joint": 2, + "left_ring_proximal_joint": 3, + "right_index_proximal_joint": 1, + "right_middle_distal_joint": 1, + "right_middle_proximal_joint": 3, + "right_pinky_proximal_joint": 4, + "right_ring_proximal_joint": 3, + "right_thumb_metacarpal_joint": 1, + "right_thumb_proximal_joint": 2 + }, + "joint_limit_hard_episode_events": 7, + "finger_joint_limit_saturation_counts": { + "right_middle_distal_joint": 37, + "right_middle_proximal_joint": 60, + "right_pinky_proximal_joint": 58, + "right_ring_proximal_joint": 62, + "right_thumb_metacarpal_joint": 73, + "right_thumb_proximal_joint": 66 + }, + "joint_limit_max_excess_by_joint": { + "left_index_distal_joint": 2.784757757723355e-09, + "left_index_proximal_joint": 0.007924878038465977, + "left_middle_distal_joint": 0.001243546255864203, + "left_middle_proximal_joint": 0.007022620178759098, + "left_pinky_distal_joint": 0.0012519769370555878, + "left_pinky_proximal_joint": 0.014163516461849213, + "left_ring_distal_joint": 0.003325596684589982, + "left_ring_proximal_joint": 0.19426436722278595, + "left_thumb_distal_joint": 0.0023773908615112305, + "left_thumb_proximal_joint": 0.004860520362854004, + "right_index_distal_joint": 3.401482429055136e-10, + "right_index_proximal_joint": 0.011916751973330975, + "right_middle_distal_joint": 0.5703709125518799, + "right_middle_proximal_joint": 1.2255189418792725, + "right_pinky_distal_joint": 0.0015592765994369984, + "right_pinky_proximal_joint": 0.4822751581668854, + "right_ring_distal_joint": 0.0038112662732601166, + "right_ring_proximal_joint": 0.729503333568573, + "right_thumb_metacarpal_joint": 1.004553198814392, + "right_thumb_proximal_joint": 0.3518408536911011 + }, + "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": 21.97143194926374, + "joint_effort_rms": 42.28909721260906, + "joint_jerk_rms": 2235.536849496864, + "joint_velocity_rms": 0.5177846606075182 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8490121186085485, + "mean_kinematic_grasp_stability": 0.30925813596738994, + "per_object_best_kinematic_grasp_stability": { + "obj_025_mug_1": 0.6660069657051405, + "obj_031_spoon_1": 0.8490121186085485 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7945481788842875, + "mean_duration_score": 0.2662402028584607, + "mean_hold_score": 0.1862897648686022, + "mean_kinematic_stability_score": 0.05512536967191892, + "mean_legacy_gsi": 0.3306347440353863, + "mean_lift_score": 0.30809128630705396, + "mean_motion_stability_score": 0.185709209943082 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2892, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_67_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_67_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54391d410f22ed57cc3e5142d0fbc657ee8b9cc5 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_67_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/67_faucet_cup_water_fill.yaml", "episode_index": 9, "seed": 206700008, "success": false, "steps": 2892, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206700008, "base_seed": 206700000, "seed_policy": 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{"left_index_proximal_joint": 1, "left_pinky_proximal_joint": 1, "right_index_proximal_joint": 2, "right_middle_proximal_joint": 2, "right_pinky_proximal_joint": 5, "right_ring_distal_joint": 1, "right_ring_proximal_joint": 2, "right_thumb_distal_joint": 4}, "joint_limit_max_excess_by_joint": {"left_index_distal_joint": 1.869531640608102e-09, "left_index_proximal_joint": 0.006152895744889975, "left_middle_distal_joint": 0.0007475775782950222, "left_middle_proximal_joint": 0.0038371470291167498, "left_pinky_distal_joint": 0.0007149269222281873, "left_pinky_proximal_joint": 0.005360888317227364, "left_ring_distal_joint": 0.0020210680086165667, "left_ring_proximal_joint": 0.004611690994352102, "right_index_distal_joint": 3.43435807570458e-10, "right_index_proximal_joint": 0.0076657189056277275, "right_middle_distal_joint": 0.0012766382424160838, "right_middle_proximal_joint": 0.007648952305316925, "right_pinky_distal_joint": 0.0014106238959357142, "right_pinky_proximal_joint": 0.07170937955379486, "right_ring_distal_joint": 0.07349101454019547, "right_ring_proximal_joint": 0.00676021259278059, "right_thumb_distal_joint": 0.005689024925231934}, "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": -0.005360888317227364, "hard_excess_rad": 0.005360888317227364, "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, -1.564202904701233, 1.5700000524520874, -1.5559179782867432, -1.5700000524520874, 1.5732959508895874, 5.605516051332415e-10, 0.015399648807942867, 1.5700000524520874, -1.5500577688217163, 2.5093929156838612e-09, -0.01141673605889082, 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, -1.564202904701233, 1.5700000524520874, -1.5559179782867432, -1.5700000524520874, 1.5732959508895874, 5.605516051332415e-10, 0.015399648807942867, 1.5700000524520874, -1.5500577688217163, 2.5093929156838612e-09, -0.01141673605889082, 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, -1.564202904701233, 1.5700000524520874, -1.5559179782867432, -1.5700000524520874, 1.5732959508895874, 5.605516051332415e-10, 0.015399648807942867, 1.5700000524520874, -1.5500577688217163, 2.5093929156838612e-09, -0.01141673605889082, 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": 33, "joint_limit_hard_episode_events": 10, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.07349101454019547, "max_joint_limit_excess_joint": "right_ring_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": 33, "joint_limit_active_step_rate": 0.011410788381742738, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.07349101454019547, "max_joint_limit_excess_joint": "right_ring_distal_joint", "stage_completion": {"spoon_in_mug": true, "mug_under_faucet": true, "faucet_open_close": false, "mug_on_tray": false}, "current_stage_completion": {"spoon_in_mug": false, "mug_under_faucet": false, "faucet_open_close": false, "mug_on_tray": false}, "stage_first_completion_step": {"spoon_in_mug": 2011, "mug_under_faucet": 2334, "faucet_open_close": null, "mug_on_tray": null}, "violation_counts": {"drop_to_table_obj_031_spoon_1": 1}, "policy_query_count": 26, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2892, "dwell_time_s": 3.0} diff --git a/gpt6_astra_1x_icl/source_runs/task_67_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_67_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b59980ff4c4870219c89295a80ae4ead8c22a507 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_67_episode_09/summary.json @@ -0,0 +1,205 @@ +{ + "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": 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": 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": 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": 0.0, + "safety_violation_step_rate": 0.00034578146611341634 + }, + "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": 0.5, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 2 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 32.13333333333333, + "expert_time_step": 1928, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00034578146611341634, + "violation_counts": { + "drop_to_table_obj_031_spoon_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.011410788381742738, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.07349101454019547, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_pinky_proximal_joint": 33, + "right_ring_distal_joint": 12 + }, + "joint_limit_hard_counts": { + "left_index_proximal_joint": 1, + "left_pinky_proximal_joint": 1, + "right_index_proximal_joint": 2, + "right_middle_proximal_joint": 2, + "right_pinky_proximal_joint": 5, + "right_ring_distal_joint": 1, + "right_ring_proximal_joint": 2, + "right_thumb_distal_joint": 4 + }, + "joint_limit_hard_episode_events": 10, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_index_distal_joint": 1.869531640608102e-09, + "left_index_proximal_joint": 0.006152895744889975, + "left_middle_distal_joint": 0.0007475775782950222, + "left_middle_proximal_joint": 0.0038371470291167498, + "left_pinky_distal_joint": 0.0007149269222281873, + "left_pinky_proximal_joint": 0.005360888317227364, + "left_ring_distal_joint": 0.0020210680086165667, + "left_ring_proximal_joint": 0.004611690994352102, + "right_index_distal_joint": 3.43435807570458e-10, + "right_index_proximal_joint": 0.0076657189056277275, + "right_middle_distal_joint": 0.0012766382424160838, + "right_middle_proximal_joint": 0.007648952305316925, + "right_pinky_distal_joint": 0.0014106238959357142, + "right_pinky_proximal_joint": 0.07170937955379486, + "right_ring_distal_joint": 0.07349101454019547, + "right_ring_proximal_joint": 0.00676021259278059, + "right_thumb_distal_joint": 0.005689024925231934 + }, + "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": 15.798817916291242, + "joint_effort_rms": 34.50741321150067, + "joint_jerk_rms": 1589.6330834339756, + "joint_velocity_rms": 0.3841482943914418 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9130364300533312, + "mean_kinematic_grasp_stability": 0.20305575644037185, + "per_object_best_kinematic_grasp_stability": { + "obj_025_mug_1": 0.9130364300533312, + "obj_031_spoon_1": 0.7750185578078745 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7385892116182446, + "mean_duration_score": 0.4282849239280773, + "mean_hold_score": 0.1388571922544938, + "mean_kinematic_stability_score": 0.03493092628944848, + "mean_legacy_gsi": 0.325469855492921, + "mean_lift_score": 0.28475103734439833, + "mean_motion_stability_score": 0.12921098823781402 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2892, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_67_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_67_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b8e8ab8f0e85ade795a298a7dcc86016f903414 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_67_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/67_faucet_cup_water_fill.yaml", "episode_index": 10, "seed": 206700009, "success": false, "steps": 2892, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206700009, "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, 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"selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_094_faucet_1": {"position": [-0.05, 0.25, 0.8204097556292698], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_025_mug_1": {"position": [0.1, 0.07, 0.727411551696474], "rpy_deg": [0.0, 0.0, -17.750782656045605]}, "obj_130_tray_1": {"position": [0.52, 0.15, 0.7266135554732022], "rpy_deg": [90.0, 0.0, 0.0]}, "obj_031_spoon_1": {"position": [-0.3, 0.1, 0.7731275524755402], "rpy_deg": [90.0, 0.0, 184.0223481478604]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "articulation_multi", "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": 32.13333333333333, "expert_time_step": 1928, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.75, "normalized_progress_score": 0.75, "chain_depth_progress_score": 0.75, "current_stage_completion_rate": 0.5, "current_normalized_progress_score": 0.75, "current_chain_depth_progress_score": 0.75, "current_chain_depth": 3, "latched_stage_completion_rate": 0.75, "latched_normalized_progress_score": 0.75, "latched_chain_depth_progress_score": 0.75, "latched_chain_depth": 3, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9803412312632206, "mean_kinematic_grasp_stability": 0.5639297997335221, "per_object_best_kinematic_grasp_stability": {"obj_025_mug_1": 0.9619493378485806, "obj_031_spoon_1": 0.9803412312632206}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.6552537134403206, "mean_kinematic_stability_score": 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"chain_depth": 3, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_index_proximal_joint": 7, "left_middle_proximal_joint": 6, "left_pinky_proximal_joint": 4, "left_ring_proximal_joint": 2, "right_index_proximal_joint": 7, "right_middle_proximal_joint": 3, "right_pinky_proximal_joint": 4, "right_ring_proximal_joint": 1}, "joint_limit_hard_counts": {"left_index_proximal_joint": 3, "left_middle_proximal_joint": 3, "left_pinky_proximal_joint": 1, "left_ring_distal_joint": 1, "left_ring_proximal_joint": 4, "right_index_proximal_joint": 1, "right_middle_proximal_joint": 2, "right_pinky_proximal_joint": 3, "right_ring_proximal_joint": 3, "right_thumb_distal_joint": 2}, "joint_limit_max_excess_by_joint": {"left_index_distal_joint": 5.6929487790569056e-09, "left_index_proximal_joint": 0.054530300199985504, "left_middle_distal_joint": 0.0018266277620568871, "left_middle_proximal_joint": 0.03148150444030762, "left_pinky_distal_joint": 0.0019170513842254877, "left_pinky_proximal_joint": 0.052287131547927856, "left_ring_distal_joint": 0.005009491462260485, "left_ring_proximal_joint": 0.024556461721658707, "left_thumb_proximal_joint": 0.002409696578979492, "right_index_distal_joint": 3.283947280774413e-10, "right_index_proximal_joint": 0.044638969004154205, "right_middle_distal_joint": 0.0017028815345838666, "right_middle_proximal_joint": 0.018164200708270073, "right_pinky_distal_joint": 0.0017880683299154043, "right_pinky_proximal_joint": 0.03525007143616676, "right_ring_distal_joint": 0.004668754525482655, "right_ring_proximal_joint": 0.019229745492339134, "right_thumb_distal_joint": 0.006306767463684082, "right_thumb_metacarpal_joint": 0.00011202959285583347, "right_thumb_proximal_joint": 0.0026199996937066317}, "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_index_proximal_joint", "role": "finger", "qpos": -0.023767802864313126, "hard_excess_rad": 0.023767802864313126, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.0025792575906962156, "shielded_target": 0.0025792575906962156}, {"joint": "left_middle_proximal_joint", "role": "finger", "qpos": -0.024648673832416534, "hard_excess_rad": 0.024648673832416534, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.0029716065619140863, "shielded_target": 0.0029716065619140863}, {"joint": "left_pinky_proximal_joint", "role": "finger", "qpos": -0.043365538120269775, "hard_excess_rad": 0.043365538120269775, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.013250026851892471, "shielded_target": 0.013250026851892471}, {"joint": "left_ring_distal_joint", "role": "finger_mimic", "qpos": -0.005009491462260485, "hard_excess_rad": 0.005009491462260485, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.6299998760223389, "operating_lower": 0.0, "operating_upper": 1.6299998760223389, "expanded_target": 3.30146613123361e-05, "shielded_target": 3.30146613123361e-05, "mimic_source_joint": "left_ring_proximal_joint"}, {"joint": "left_ring_proximal_joint", "role": "finger", "qpos": -0.024556461721658707, "hard_excess_rad": 0.024556461721658707, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 2.858412335626781e-05, "shielded_target": 2.858412335626781e-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, -1.5487849712371826, 1.5700000524520874, -1.5246777534484863, -1.5700000524520874, 1.5812675952911377, 5.605516051332415e-10, 0.04580868035554886, 1.5700000524520874, -1.503676414489746, 2.5093929156838612e-09, -0.03555157780647278, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0025792575906962156, 0.0029716065619140863, 0.013250026851892471, 2.858412335626781e-05, 0.053812574595212936, 1.6082230658298613e-08, 0.0319414921104908], "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, -1.5487849712371826, 1.5700000524520874, -1.5246777534484863, -1.5700000524520874, 1.5812675952911377, 5.605516051332415e-10, 0.04580868035554886, 1.5700000524520874, -1.503676414489746, 2.5093929156838612e-09, -0.03555157780647278, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0025792575906962156, 0.0029716065619140863, 0.013250026851892471, 2.858412335626781e-05, 0.053812574595212936, 0.0, 9.452961968747786e-09, 4.5882924126772195e-09, 5.451861184724294e-09, 1.6082230658298613e-08, 0.00297904247418046, 0.003432205645367503, 0.015303781256079674, 3.30146613123361e-05, 0.0319414921104908, 1.6082230658298613e-08, 0.0319414921104908], "shielded_full_target": [1.5700000524520874, -1.5487849712371826, 1.5700000524520874, -1.5246777534484863, -1.5700000524520874, 1.5812675952911377, 5.605516051332415e-10, 0.04580868035554886, 1.5700000524520874, -1.503676414489746, 2.5093929156838612e-09, -0.03555157780647278, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0025792575906962156, 0.0029716065619140863, 0.013250026851892471, 2.858412335626781e-05, 0.053812574595212936, 0.0, 9.452961968747786e-09, 4.5882924126772195e-09, 5.451861184724294e-09, 1.6082230658298613e-08, 0.00297904247418046, 0.003432205645367503, 0.015303781256079674, 3.30146613123361e-05, 0.0319414921104908, 1.6082230658298613e-08, 0.0319414921104908]}, "joint_limit_active_steps": 16, "joint_limit_hard_episode_events": 10, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.054530300199985504, "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": 16, "joint_limit_active_step_rate": 0.005532503457814661, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.054530300199985504, "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": false}, "current_stage_completion": {"spoon_in_mug": true, "mug_under_faucet": false, "faucet_open_close": true, "mug_on_tray": false}, "stage_first_completion_step": {"spoon_in_mug": 852, "mug_under_faucet": 1460, "faucet_open_close": 2244, "mug_on_tray": null}, "violation_counts": {}, "policy_query_count": 38, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2892, "dwell_time_s": 3.0} diff --git a/gpt6_astra_1x_icl/source_runs/task_67_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_67_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..2dbc1693cf5cbd7e19d034a0a4e74d0fb9ccab21 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_67_episode_10/summary.json @@ -0,0 +1,214 @@ +{ + "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": 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": 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": 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": { + "articulation_multi": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.5, + "current_chain_depth_progress_score": 0.75, + "latched_chain_depth_progress_score": 0.75, + "avg_current_chain_depth": 3, + "avg_latched_chain_depth": 3 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 32.13333333333333, + "expert_time_step": 1928, + "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": 0.0, + "joint_limit_active_step_rate": 0.005532503457814661, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.054530300199985504, + 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4.720225987853155e-09, 5.752893716959306e-09, 0.0009825743036344647, 0.0011320483172312379, 0.0050476291216909885, 1.08891899799346e-05, 0.020500030368566513, 0.0, 9.452961968747786e-09, 4.5882924126772195e-09, 5.451861184724294e-09, 1.6082230658298613e-08, 0.0011348733678460121, 0.0013075157767161727, 0.005830011796206236, 1.257701478607487e-05, 0.012168188579380512, 1.6082230658298613e-08, 0.012168188579380512]}, "joint_limit_active_steps": 122, "joint_limit_hard_episode_events": 16, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 8, "max_joint_limit_excess_rad": 0.49430060386657715, "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": 122, "joint_limit_active_step_rate": 0.042185338865836794, "finger_joint_limit_saturation_steps": 8, "finger_joint_limit_saturation_step_rate": 0.0027662517289073307, "max_joint_limit_excess_rad": 0.49430060386657715, "max_joint_limit_excess_joint": "left_middle_proximal_joint", "stage_completion": {"spoon_in_mug": true, "mug_under_faucet": false, "faucet_open_close": false, "mug_on_tray": false}, "current_stage_completion": {"spoon_in_mug": false, "mug_under_faucet": false, "faucet_open_close": false, "mug_on_tray": false}, "stage_first_completion_step": {"spoon_in_mug": 911, "mug_under_faucet": null, "faucet_open_close": null, "mug_on_tray": null}, "violation_counts": {"drop_to_table_obj_031_spoon_1": 1}, "policy_query_count": 29, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2892, "dwell_time_s": 3.0} diff --git a/gpt6_astra_1x_icl/source_runs/task_67_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_67_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..7c4afc09e886c90eb5082e4465c485b378529a55 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_67_episode_11/summary.json @@ -0,0 +1,216 @@ +{ + "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": 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": 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": 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": 0.00034578146611341634 + }, + "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": 0.25, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 32.13333333333333, + "expert_time_step": 1928, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00034578146611341634, + "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": 0.042185338865836794, + "finger_joint_limit_saturation_step_rate": 0.0027662517289073307, + "max_joint_limit_excess_rad": 0.49430060386657715, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_proximal_joint": 1, + "left_middle_proximal_joint": 26, + "left_ring_distal_joint": 11, + "left_ring_proximal_joint": 102, + "right_thumb_metacarpal_joint": 14 + }, + "joint_limit_hard_counts": { + "left_index_proximal_joint": 6, + "left_middle_proximal_joint": 5, + "left_pinky_proximal_joint": 5, + "left_ring_distal_joint": 1, + "left_ring_proximal_joint": 7, + "right_index_proximal_joint": 2, + "right_pinky_proximal_joint": 3, + "right_ring_proximal_joint": 1, + "right_thumb_metacarpal_joint": 1 + }, + "joint_limit_hard_episode_events": 16, + "finger_joint_limit_saturation_counts": { + "left_middle_proximal_joint": 8, + "left_ring_proximal_joint": 1 + }, + "joint_limit_max_excess_by_joint": { + "left_index_distal_joint": 4.264472330817171e-09, + "left_index_proximal_joint": 0.010887360200285912, + "left_middle_distal_joint": 0.0013336391421034932, + "left_middle_proximal_joint": 0.49430060386657715, + "left_pinky_distal_joint": 0.0010159745579585433, + "left_pinky_proximal_joint": 0.0072784144431352615, + "left_ring_distal_joint": 0.08776852488517761, + "left_ring_proximal_joint": 0.27737730741500854, + "left_thumb_distal_joint": 3.9142094465205446e-05, + "left_thumb_metacarpal_joint": 0.0004657520039472729, + "left_thumb_proximal_joint": 0.0011084568686783314, + "right_index_distal_joint": 3.323274988531466e-10, + "right_index_proximal_joint": 0.0067883701995015144, + "right_middle_distal_joint": 0.0011615395778790116, + "right_middle_proximal_joint": 0.004836463835090399, + "right_pinky_distal_joint": 0.0031721366103738546, + "right_pinky_proximal_joint": 0.009938840754330158, + "right_ring_distal_joint": 0.003345223842188716, + "right_ring_proximal_joint": 0.005747293122112751, + "right_thumb_metacarpal_joint": 0.08979499340057373, + "right_thumb_proximal_joint": 0.004332304000854492 + }, + "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": 19.527467690879615, + "joint_effort_rms": 42.173841629091626, + "joint_jerk_rms": 1936.6805218131328, + "joint_velocity_rms": 0.4934212133798214 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9212365103949867, + "mean_kinematic_grasp_stability": 0.2928577765725031, + "per_object_best_kinematic_grasp_stability": { + "obj_025_mug_1": 0.6508540937626129, + "obj_031_spoon_1": 0.9212365103949867 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7324804057169295, + "mean_duration_score": 0.3937413554633407, + "mean_hold_score": 0.2658108575380476, + "mean_kinematic_stability_score": 0.0933661376209709, + "mean_legacy_gsi": 0.39720425749863, + "mean_lift_score": 0.4491701244813278, + "mean_motion_stability_score": 0.2628466068365511 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2892, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_67_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_67_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d89831c739db09c399e2db63288c3e0ba6f7bb15 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_67_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": 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"rpy_deg": [90.0, 0.0, 186.87994641236065]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "articulation_multi", "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": 32.13333333333333, "expert_time_step": 1928, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.75, "normalized_progress_score": 0.75, "chain_depth_progress_score": 0.75, "current_stage_completion_rate": 0.25, "current_normalized_progress_score": 0.75, "current_chain_depth_progress_score": 0.75, "current_chain_depth": 3, "latched_stage_completion_rate": 0.75, "latched_normalized_progress_score": 0.75, "latched_chain_depth_progress_score": 0.75, "latched_chain_depth": 3, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9982274677302395, "mean_kinematic_grasp_stability": 0.5591974459341527, "per_object_best_kinematic_grasp_stability": {"obj_025_mug_1": 0.9982274677302395, "obj_031_spoon_1": 0.7049014080796966}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.5871550293622569, "mean_kinematic_stability_score": 0.2286483332701022, "mean_lift_score": 0.7337482710926694, "mean_hold_score": 0.5494035269709645, "mean_motion_stability_score": 0.5084740651992427, "mean_duration_score": 0.7225218994928537, "mean_anti_slip_score": 0.5739972337482735}, "robot_motion_metrics": {"joint_velocity_rms": 0.5648015532530357, "joint_acceleration_rms": 26.35600234397104, "joint_jerk_rms": 2750.3443623558364, "joint_effort_rms": 39.36172754616469}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.00034578146611342675, "safety_violation_rate_time": 0.00034578146611342675, "safety_violation_rate_event": 0.00034578146611341634, "safety_violation_step_rate": 0.00034578146611341634, "safety_violation_events_per_step": 0.00034578146611341634, "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_proximal_joint": 57, "left_middle_distal_joint": 31, "left_middle_proximal_joint": 19, "left_pinky_proximal_joint": 1, "left_ring_proximal_joint": 2, "left_thumb_metacarpal_joint": 2, "right_pinky_proximal_joint": 1}, "joint_limit_hard_counts": {"left_index_proximal_joint": 7, "left_middle_distal_joint": 3, "left_middle_proximal_joint": 6, "left_pinky_proximal_joint": 2, "left_ring_proximal_joint": 3, "left_thumb_distal_joint": 3, "left_thumb_metacarpal_joint": 2, "left_thumb_proximal_joint": 5, "right_index_proximal_joint": 2, "right_middle_proximal_joint": 1, "right_pinky_proximal_joint": 3, "right_ring_proximal_joint": 1}, "finger_joint_limit_saturation_counts": {"left_index_proximal_joint": 12}, "joint_limit_max_excess_by_joint": {"joint3": 0.0006670951843261719, "left_index_distal_joint": 3.3231457585713997e-09, "left_index_proximal_joint": 0.21345362067222595, "left_middle_distal_joint": 0.0739472284913063, "left_middle_proximal_joint": 0.20059874653816223, "left_pinky_distal_joint": 0.001051570288836956, "left_pinky_proximal_joint": 0.011254378594458103, "left_ring_distal_joint": 0.004389300476759672, "left_ring_proximal_joint": 0.019283846020698547, "left_thumb_distal_joint": 0.007132411003112793, "left_thumb_metacarpal_joint": 0.08816321939229965, "left_thumb_proximal_joint": 0.006332039833068848, "right_index_distal_joint": 3.323274988531466e-10, "right_index_proximal_joint": 0.006609572563320398, "right_middle_distal_joint": 0.001118360203690827, "right_middle_proximal_joint": 0.00503044668585062, "right_pinky_distal_joint": 0.001075071981176734, "right_pinky_proximal_joint": 0.010573177598416805, "right_ring_distal_joint": 0.0029979958198964596, "right_ring_proximal_joint": 0.005663970950990915, "right_thumb_proximal_joint": 0.0024774260818958282}, "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_index_proximal_joint", "role": "finger", "qpos": -0.005133265163749456, "hard_excess_rad": 0.005133265163749456, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.001179089187644422, "shielded_target": 0.001179089187644422}, {"joint": "left_middle_proximal_joint", "role": "finger", "qpos": -0.0056769708171486855, "hard_excess_rad": 0.0056769708171486855, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.0013584555126726627, "shielded_target": 0.0013584555126726627}, {"joint": "left_pinky_proximal_joint", "role": "finger", "qpos": -0.011254378594458103, "hard_excess_rad": 0.011254378594458103, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.006057155318558216, "shielded_target": 0.006057155318558216}], "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, -1.5609761476516724, 1.5700000524520874, -1.5505437850952148, -1.5700000524520874, 1.5710335969924927, 5.605516051332415e-10, 0.040475793182849884, 1.5700000524520874, -1.5341227054595947, 2.5093929156838612e-09, -0.03524927794933319, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.001179089187644422, 0.0013584555126726627, 0.006057155318558216, 1.3067027794022579e-05, 0.024600036442279816, 1.6082230658298613e-08, 0.01460182573646307], "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, -1.5609761476516724, 1.5700000524520874, -1.5505437850952148, -1.5700000524520874, 1.5710335969924927, 5.605516051332415e-10, 0.040475793182849884, 1.5700000524520874, -1.5341227054595947, 2.5093929156838612e-09, -0.03524927794933319, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.001179089187644422, 0.0013584555126726627, 0.006057155318558216, 1.3067027794022579e-05, 0.024600036442279816, 0.0, 9.452961968747786e-09, 4.5882924126772195e-09, 5.451861184724294e-09, 1.6082230658298613e-08, 0.0013618479715660214, 0.0015690161380916834, 0.00699601462110877, 1.5092417015694082e-05, 0.01460182573646307, 1.6082230658298613e-08, 0.01460182573646307], "shielded_full_target": [1.5700000524520874, -1.5609761476516724, 1.5700000524520874, -1.5505437850952148, -1.5700000524520874, 1.5710335969924927, 5.605516051332415e-10, 0.040475793182849884, 1.5700000524520874, -1.5341227054595947, 2.5093929156838612e-09, -0.03524927794933319, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.001179089187644422, 0.0013584555126726627, 0.006057155318558216, 1.3067027794022579e-05, 0.024600036442279816, 0.0, 9.452961968747786e-09, 4.5882924126772195e-09, 5.451861184724294e-09, 1.6082230658298613e-08, 0.0013618479715660214, 0.0015690161380916834, 0.00699601462110877, 1.5092417015694082e-05, 0.01460182573646307, 1.6082230658298613e-08, 0.01460182573646307]}, "joint_limit_active_steps": 109, "joint_limit_hard_episode_events": 22, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 12, "max_joint_limit_excess_rad": 0.21345362067222595, "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": 109, "joint_limit_active_step_rate": 0.03769017980636238, "finger_joint_limit_saturation_steps": 12, "finger_joint_limit_saturation_step_rate": 0.004149377593360996, "max_joint_limit_excess_rad": 0.21345362067222595, "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": false}, "current_stage_completion": {"spoon_in_mug": false, "mug_under_faucet": false, "faucet_open_close": true, "mug_on_tray": false}, "stage_first_completion_step": {"spoon_in_mug": 791, "mug_under_faucet": 1334, "faucet_open_close": 1946, "mug_on_tray": null}, "violation_counts": {"drop_to_table_obj_031_spoon_1": 1}, "policy_query_count": 29, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2892, "dwell_time_s": 3.0} diff --git a/gpt6_astra_1x_icl/source_runs/task_67_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_67_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4dbb7a25dfe3a531fa340ba65c73b6d7e34899c2 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_67_episode_12/summary.json @@ -0,0 +1,220 @@ +{ + "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": 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": 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": 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": 0.00034578146611341634 + }, + "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": 0.25, + "current_chain_depth_progress_score": 0.75, + "latched_chain_depth_progress_score": 0.75, + "avg_current_chain_depth": 3, + "avg_latched_chain_depth": 3 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 32.13333333333333, + "expert_time_step": 1928, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00034578146611341634, + "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": 0.03769017980636238, + "finger_joint_limit_saturation_step_rate": 0.004149377593360996, + "max_joint_limit_excess_rad": 0.21345362067222595, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_proximal_joint": 57, + "left_middle_distal_joint": 31, + "left_middle_proximal_joint": 19, + "left_pinky_proximal_joint": 1, + "left_ring_proximal_joint": 2, + "left_thumb_metacarpal_joint": 2, + "right_pinky_proximal_joint": 1 + }, + "joint_limit_hard_counts": { + "left_index_proximal_joint": 7, + "left_middle_distal_joint": 3, + "left_middle_proximal_joint": 6, + "left_pinky_proximal_joint": 2, + "left_ring_proximal_joint": 3, + "left_thumb_distal_joint": 3, + "left_thumb_metacarpal_joint": 2, + "left_thumb_proximal_joint": 5, + "right_index_proximal_joint": 2, + "right_middle_proximal_joint": 1, + "right_pinky_proximal_joint": 3, + "right_ring_proximal_joint": 1 + }, + "joint_limit_hard_episode_events": 22, + "finger_joint_limit_saturation_counts": { + "left_index_proximal_joint": 12 + }, + "joint_limit_max_excess_by_joint": { + "joint3": 0.0006670951843261719, + "left_index_distal_joint": 3.3231457585713997e-09, + "left_index_proximal_joint": 0.21345362067222595, + "left_middle_distal_joint": 0.0739472284913063, + "left_middle_proximal_joint": 0.20059874653816223, + "left_pinky_distal_joint": 0.001051570288836956, + "left_pinky_proximal_joint": 0.011254378594458103, + "left_ring_distal_joint": 0.004389300476759672, + "left_ring_proximal_joint": 0.019283846020698547, + "left_thumb_distal_joint": 0.007132411003112793, + "left_thumb_metacarpal_joint": 0.08816321939229965, + "left_thumb_proximal_joint": 0.006332039833068848, + "right_index_distal_joint": 3.323274988531466e-10, + "right_index_proximal_joint": 0.006609572563320398, + "right_middle_distal_joint": 0.001118360203690827, + "right_middle_proximal_joint": 0.00503044668585062, + "right_pinky_distal_joint": 0.001075071981176734, + 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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": 0.0064471811056137085, "max_joint_limit_excess_joint": "left_pinky_proximal_joint", "stage_completion": {"spoon_in_mug": false, "mug_under_faucet": false, "faucet_open_close": false, "mug_on_tray": false}, "current_stage_completion": {"spoon_in_mug": false, "mug_under_faucet": false, "faucet_open_close": false, "mug_on_tray": false}, "stage_first_completion_step": {"spoon_in_mug": null, "mug_under_faucet": null, "faucet_open_close": null, "mug_on_tray": null}, "violation_counts": {}, "policy_query_count": 40, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2892, "dwell_time_s": 3.0} diff --git a/gpt6_astra_1x_icl/source_runs/task_67_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_67_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..11aff058640a035535cceec07291eeaac3988df3 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_67_episode_13/summary.json @@ -0,0 +1,190 @@ +{ + "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": 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": 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": 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": { + "articulation_multi": 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": 32.13333333333333, + "expert_time_step": 1928, + "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": 0.0, + "joint_limit_active_step_rate": 0.0, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.0064471811056137085, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": { + "left_index_proximal_joint": 1, + "left_pinky_distal_joint": 1, + "left_pinky_proximal_joint": 2, + "left_ring_distal_joint": 1, + "left_ring_proximal_joint": 1 + }, + "joint_limit_hard_episode_events": 4, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_index_distal_joint": 2.2319657233538237e-09, + "left_index_proximal_joint": 0.0058154938742518425, + "left_middle_distal_joint": 0.000927250599488616, + "left_middle_proximal_joint": 0.004573183599859476, + "left_pinky_distal_joint": 0.005900123622268438, + "left_pinky_proximal_joint": 0.0064471811056137085, + "left_ring_distal_joint": 0.0056516146287322044, + "left_ring_proximal_joint": 0.005490751005709171, + "right_index_distal_joint": 3.413515858863292e-10, + "right_index_proximal_joint": 1.4307456330797663e-09 + }, + "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": 12.324259039041626, + "joint_effort_rms": 31.229752614413087, + "joint_jerk_rms": 1230.7233271680004, + "joint_velocity_rms": 0.4145940465433177 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.07038430900510216, + "mean_kinematic_grasp_stability": 0.01839536670634434, + "per_object_best_kinematic_grasp_stability": { + "obj_025_mug_1": 0.0, + "obj_031_spoon_1": 0.07038430900510216 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.0, + "mean_hold_score": 0.0006483402489626554, + "mean_kinematic_stability_score": 7.950971086767091e-05, + "mean_legacy_gsi": 0.20069449680698775, + "mean_lift_score": 0.004322268326417704, + "mean_motion_stability_score": 0.0005300647391178059 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2892, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_67_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_67_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba39fa6c3fcd683615a07e2a184b8032f308cd64 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_67_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/67_faucet_cup_water_fill.yaml", "episode_index": 14, "seed": 206700013, "success": false, "steps": 2892, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206700013, "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, "clean_surface": false, "asset_name": "table_surface_stone_stone2037_jpg", "asset_uri": "dex2bench_dataset/textures/stone/stone2037.jpg", "asset_category": "stone", "asset_id": "stone/stone2037.jpg", "asset_split": 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false, "chain_depth": 0, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_index_proximal_joint": 1, "left_middle_proximal_joint": 4, "left_pinky_distal_joint": 24}, "joint_limit_hard_counts": {"left_index_proximal_joint": 4, "left_middle_proximal_joint": 7, "left_pinky_distal_joint": 1, "left_pinky_proximal_joint": 2, "left_ring_distal_joint": 2, "right_index_proximal_joint": 1, "right_pinky_distal_joint": 2, "right_pinky_proximal_joint": 3, "right_ring_distal_joint": 1, "right_ring_proximal_joint": 1}, "finger_joint_limit_saturation_counts": {"left_pinky_distal_joint": 7}, "joint_limit_max_excess_by_joint": {"left_index_distal_joint": 4.227829641934022e-09, "left_index_proximal_joint": 0.01637820340692997, "left_middle_distal_joint": 0.0010206872830167413, "left_middle_proximal_joint": 0.019467296078801155, "left_pinky_distal_joint": 0.18549209833145142, "left_pinky_proximal_joint": 0.006873396225273609, "left_ring_distal_joint": 0.007083557080477476, "left_ring_proximal_joint": 0.003558848286047578, "left_thumb_distal_joint": 0.001513838768005371, "left_thumb_proximal_joint": 0.00036813507904298604, "right_index_distal_joint": 3.4104219448494177e-10, "right_index_proximal_joint": 0.005079854279756546, "right_middle_distal_joint": 0.0008604501490481198, "right_middle_proximal_joint": 0.0036730088759213686, "right_pinky_distal_joint": 0.006779804825782776, "right_pinky_proximal_joint": 0.008138157427310944, "right_ring_distal_joint": 0.007645664736628532, "right_ring_proximal_joint": 0.007314715068787336}, "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_index_proximal_joint", "role": "finger", "qpos": -0.005859056022018194, "hard_excess_rad": 0.005859056022018194, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.0009825743036344647, "shielded_target": 0.0009825743036344647}, {"joint": "left_middle_proximal_joint", "role": "finger", "qpos": -0.005072683561593294, "hard_excess_rad": 0.005072683561593294, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.0011320483172312379, "shielded_target": 0.0011320483172312379}, {"joint": "left_pinky_proximal_joint", "role": "finger", "qpos": -0.006873396225273609, "hard_excess_rad": 0.006873396225273609, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.0050476291216909885, "shielded_target": 0.0050476291216909885}], "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, -1.5653473138809204, 1.5700000524520874, -1.5539546012878418, -1.5700000524520874, 1.5755764245986938, 5.605516051332415e-10, 0.004679249133914709, 1.5700000524520874, -1.5393345355987549, 2.5093929156838612e-09, -0.005006970372051001, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0009825743036344647, 0.0011320483172312379, 0.0050476291216909885, 1.08891899799346e-05, 0.020500030368566513, 1.6082230658298613e-08, 0.012168188579380512], "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, -1.5653473138809204, 1.5700000524520874, -1.5539546012878418, -1.5700000524520874, 1.5755764245986938, 5.605516051332415e-10, 0.004679249133914709, 1.5700000524520874, -1.5393345355987549, 2.5093929156838612e-09, -0.005006970372051001, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0009825743036344647, 0.0011320483172312379, 0.0050476291216909885, 1.08891899799346e-05, 0.020500030368566513, 0.0, 9.452961968747786e-09, 4.5882924126772195e-09, 5.451861184724294e-09, 1.6082230658298613e-08, 0.0011348733678460121, 0.0013075157767161727, 0.005830011796206236, 1.257701478607487e-05, 0.012168188579380512, 1.6082230658298613e-08, 0.012168188579380512], "shielded_full_target": [1.5700000524520874, -1.5653473138809204, 1.5700000524520874, -1.5539546012878418, -1.5700000524520874, 1.5755764245986938, 5.605516051332415e-10, 0.004679249133914709, 1.5700000524520874, -1.5393345355987549, 2.5093929156838612e-09, -0.005006970372051001, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0009825743036344647, 0.0011320483172312379, 0.0050476291216909885, 1.08891899799346e-05, 0.020500030368566513, 0.0, 9.452961968747786e-09, 4.5882924126772195e-09, 5.451861184724294e-09, 1.6082230658298613e-08, 0.0011348733678460121, 0.0013075157767161727, 0.005830011796206236, 1.257701478607487e-05, 0.012168188579380512, 1.6082230658298613e-08, 0.012168188579380512]}, "joint_limit_active_steps": 29, "joint_limit_hard_episode_events": 17, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 7, "max_joint_limit_excess_rad": 0.18549209833145142, "max_joint_limit_excess_joint": "left_pinky_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": 29, "joint_limit_active_step_rate": 0.010027662517289074, "finger_joint_limit_saturation_steps": 7, "finger_joint_limit_saturation_step_rate": 0.0024204702627939143, "max_joint_limit_excess_rad": 0.18549209833145142, "max_joint_limit_excess_joint": "left_pinky_distal_joint", "stage_completion": {"spoon_in_mug": false, "mug_under_faucet": false, "faucet_open_close": false, "mug_on_tray": false}, "current_stage_completion": {"spoon_in_mug": false, "mug_under_faucet": false, "faucet_open_close": false, "mug_on_tray": false}, "stage_first_completion_step": {"spoon_in_mug": null, "mug_under_faucet": null, "faucet_open_close": null, "mug_on_tray": null}, "violation_counts": {"drop_to_table_obj_031_spoon_1": 1}, "policy_query_count": 30, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2892, "dwell_time_s": 3.0} diff --git a/gpt6_astra_1x_icl/source_runs/task_67_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_67_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..c72e50dd79d44d1163ec21e9505069d02d221b2f --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_67_episode_14/summary.json @@ -0,0 +1,211 @@ +{ + "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": 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": 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": 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": 0.00034578146611341634 + }, + "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": 0.0, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 0 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 32.13333333333333, + "expert_time_step": 1928, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00034578146611341634, + "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": 0.010027662517289074, + "finger_joint_limit_saturation_step_rate": 0.0024204702627939143, + "max_joint_limit_excess_rad": 0.18549209833145142, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_proximal_joint": 1, + "left_middle_proximal_joint": 4, + "left_pinky_distal_joint": 24 + }, + "joint_limit_hard_counts": { + "left_index_proximal_joint": 4, + "left_middle_proximal_joint": 7, + "left_pinky_distal_joint": 1, + "left_pinky_proximal_joint": 2, + "left_ring_distal_joint": 2, + "right_index_proximal_joint": 1, + "right_pinky_distal_joint": 2, + "right_pinky_proximal_joint": 3, + "right_ring_distal_joint": 1, + "right_ring_proximal_joint": 1 + }, + "joint_limit_hard_episode_events": 17, + "finger_joint_limit_saturation_counts": { + "left_pinky_distal_joint": 7 + }, + "joint_limit_max_excess_by_joint": { + "left_index_distal_joint": 4.227829641934022e-09, + "left_index_proximal_joint": 0.01637820340692997, + "left_middle_distal_joint": 0.0010206872830167413, + "left_middle_proximal_joint": 0.019467296078801155, + "left_pinky_distal_joint": 0.18549209833145142, + "left_pinky_proximal_joint": 0.006873396225273609, + "left_ring_distal_joint": 0.007083557080477476, + "left_ring_proximal_joint": 0.003558848286047578, + "left_thumb_distal_joint": 0.001513838768005371, + "left_thumb_proximal_joint": 0.00036813507904298604, + "right_index_distal_joint": 3.4104219448494177e-10, + "right_index_proximal_joint": 0.005079854279756546, + "right_middle_distal_joint": 0.0008604501490481198, + "right_middle_proximal_joint": 0.0036730088759213686, + "right_pinky_distal_joint": 0.006779804825782776, + "right_pinky_proximal_joint": 0.008138157427310944, + "right_ring_distal_joint": 0.007645664736628532, + "right_ring_proximal_joint": 0.007314715068787336 + }, + "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": 15.18176162599021, + "joint_effort_rms": 29.476324784128327, + "joint_jerk_rms": 1515.148142819703, + "joint_velocity_rms": 0.3828948828836075 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.6813974789885235, + "mean_kinematic_grasp_stability": 0.18664730605351207, + "per_object_best_kinematic_grasp_stability": { + "obj_025_mug_1": 0.6723968760513157, + "obj_031_spoon_1": 0.6813974789885235 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9079644997694877, + "mean_duration_score": 0.18919432918395396, + "mean_hold_score": 0.08419778699861577, + "mean_kinematic_stability_score": 0.03133377146921857, + "mean_legacy_gsi": 0.2789569348768483, + "mean_lift_score": 0.18931535269709543, + "mean_motion_stability_score": 0.08923608226093374 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2892, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_73_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_73_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1697c64edc6a932289d59517855abae495091d81 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_73_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/73_jigsaw_puzzle_assembly.yaml", "episode_index": 5, "seed": 207300004, "success": false, "steps": 3639, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207300004, "base_seed": 207300000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 0.0, "base_yaw_deg": 0.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan207", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan207_physics/scene.usda", "scene_offset": [0.0, 0.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_stone_stone3673_jpg", "asset_uri": "dex2bench_dataset/textures/stone/stone3673.jpg", "asset_category": "stone", "asset_id": "stone/stone3673.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, 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"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": true, "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": {}, "policy_query_count": 30, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3639, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_73_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_73_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..682f6ab6f6ad12b94b1357a493fbd85410b11c55 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_73_episode_05/summary.json @@ -0,0 +1,253 @@ +{ + "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": 3639, + "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": { + "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": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.06842539159109645, + "finger_joint_limit_saturation_step_rate": 0.04891453696070349, + "max_joint_limit_excess_rad": 1.7219103574752808, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_DIP": 76, + "left_index_MCP_FE": 33, + "left_index_PIP": 57, + "multi_right_index_DIP": 11, + "multi_right_index_MCP_AA": 18, + "multi_right_index_MCP_FE": 45, + "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_MCP_FE": 21 + }, + "joint_limit_hard_counts": { + "left_index_DIP": 3, + "left_index_MCP_FE": 2, + "left_index_PIP": 2, + "multi_right_index_DIP": 1, + "multi_right_index_MCP_AA": 1, + "multi_right_index_MCP_FE": 5, + "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": 1, + "multi_right_thumb_MCP_FE": 1 + }, + "joint_limit_hard_episode_events": 8, + "finger_joint_limit_saturation_counts": { + "left_index_DIP": 32, + "left_index_MCP_FE": 27, + "left_index_PIP": 37, + "multi_right_index_DIP": 6, + "multi_right_index_MCP_AA": 11, + "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": 7.663545492642143e-11, + "left_middle_PIP": 6.398578261723742e-05, + "left_pinky_CMC": 0.00488975690677762, + "left_pinky_DIP": 2.1357922375120353e-11, + "left_pinky_PIP": 5.335526657290757e-05, + "left_ring_DIP": 3.208667465059989e-07, + "left_ring_PIP": 8.961553976405412e-05, + "left_thumb_IP": 3.190012876075343e-07, + "multi_right_index_DIP": 0.5522264242172241, + "multi_right_index_MCP_AA": 0.4186832010746002, + "multi_right_index_MCP_FE": 0.2834460735321045, + "multi_right_index_PIP": 0.004706882406026125, + "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_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": 52.001832305819164, + "joint_effort_rms": 45.87704484807797, + "joint_jerk_rms": 5199.290481170376, + "joint_velocity_rms": 0.9310787848791414 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.5986438658066328, + "mean_kinematic_grasp_stability": 0.09959071487942486, + "per_object_best_kinematic_grasp_stability": { + "obj_326_piece_1": 0.0, + "obj_326_piece_2": 0.5986438658066328, + "obj_326_piece_3": 0.4443399458722104, + "obj_326_piece_4": 0.2427977058930761, + "obj_326_piece_5": 0.4299957884520333 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.017043143720802362, + "mean_hold_score": 0.0012420994778785366, + 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"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": 1820, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "multi_right_pinky_CMC", "role": "finger", "qpos": -0.006174234673380852, "hard_excess_rad": 0.006174234673380852, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "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", 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0.23999999463558197, 0.15000000596046448, 0.15000000596046448, 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": [-1.5700000524520874, -1.5700000524520874, 1.5336225032806396, 9.31874369336505e-13, -0.049002714455127716, -1.5700000524520874, 0.30422163009643555, -5.977571909676627e-11, -0.7324157953262329, -1.4030236972217836e-09, -1.7190093994140625, -4.272712739172846e-10, -1.2698838710784912, 0.8904822468757629, 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, 0.7152727246284485, 0.7152727246284485, 0.0, 0.7152727246284485, 0.10000000149011612, 0.0, 0.0, 2.7187993176247538e-11, 0.0, 1.0976708431087445e-10, 0.30000001192092896, 0.30000001192092896, 0.7152727246284485, 0.30000001192092896, 0.0, 1.2484119293887375e-10, 3.5834519379607244e-11, 0.0, 1.2947721887701658e-11, 0.0, 0.23999999463558197, 0.23999999463558197, 0.30000001192092896, 0.23999999463558197, 0.0, 4.084306504115176e-11, 1.1278734196595863e-10, 0.15000000596046448, 0.15000000596046448, 0.23999999463558197, 0.15000000596046448, 0.0, 0.15000000596046448, 0.0], "shielded_full_target": [-1.5700000524520874, -1.5700000524520874, 1.5336225032806396, 9.31874369336505e-13, -0.049002714455127716, -1.5700000524520874, 0.30422163009643555, -5.977571909676627e-11, -0.7324157953262329, -1.4030236972217836e-09, -1.7190093994140625, -4.272712739172846e-10, -1.2698838710784912, 0.8904822468757629, 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, 0.7152727246284485, 0.7152727246284485, 0.0, 0.7152727246284485, 0.10000000149011612, 0.0, 0.0, 2.7187993176247538e-11, 0.0, 1.0976708431087445e-10, 0.30000001192092896, 0.30000001192092896, 0.7152727246284485, 0.30000001192092896, 0.0, 1.2484119293887375e-10, 3.5834519379607244e-11, 0.0, 1.2947721887701658e-11, 0.0, 0.23999999463558197, 0.23999999463558197, 0.30000001192092896, 0.23999999463558197, 0.0, 4.084306504115176e-11, 1.1278734196595863e-10, 0.15000000596046448, 0.15000000596046448, 0.23999999463558197, 0.15000000596046448, 0.0, 0.15000000596046448, 0.0]}, "joint_limit_active_steps": 353, "joint_limit_hard_episode_events": 11, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 53, "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": 353, "joint_limit_active_step_rate": 0.09700467161308052, "finger_joint_limit_saturation_steps": 53, "finger_joint_limit_saturation_step_rate": 0.014564440780434186, "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": 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": null, "assemble_piece_3": 2976, "assemble_piece_4": 3181, "assemble_piece_5": null}, "violation_counts": {}, "policy_query_count": 17, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3639, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_73_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_73_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..a76fa86d2c7cf22f2786b7fbfe76d88728793db2 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_73_episode_06/summary.json @@ -0,0 +1,263 @@ +{ + "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": 3639, + "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": { + "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": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.09700467161308052, + "finger_joint_limit_saturation_step_rate": 0.014564440780434186, + "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_IP": 6, + "left_thumb_MCP_AA": 2, + "multi_right_pinky_CMC": 78, + "multi_right_pinky_DIP": 13, + "multi_right_pinky_MCP_FE": 78, + "multi_right_ring_DIP": 38, + "multi_right_ring_MCP_FE": 103 + }, + "joint_limit_hard_counts": { + "left_index_DIP": 2, + "left_index_MCP_AA": 1, + "left_index_MCP_FE": 4, + "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_IP": 1, + "left_thumb_MCP_AA": 1, + "multi_right_index_MCP_AA": 1, + "multi_right_middle_MCP_FE": 9, + "multi_right_pinky_CMC": 8, + "multi_right_pinky_DIP": 1, + "multi_right_pinky_MCP_FE": 2, + "multi_right_ring_DIP": 1, + "multi_right_ring_MCP_FE": 2 + }, + "joint_limit_hard_episode_events": 11, + "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, + "multi_right_ring_DIP": 20 + }, + "joint_limit_max_excess_by_joint": { + "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_IP": 0.04045915976166725, + "left_thumb_MCP_AA": 0.03789395093917847, + "multi_right_index_DIP": 3.6878423088637646e-06, + "multi_right_index_MCP_AA": 0.006550729274749756, + "multi_right_index_PIP": 2.4699780624359846e-05, + "multi_right_middle_DIP": 8.607155905338004e-05, + "multi_right_middle_MCP_FE": 0.009682953357696533, + "multi_right_middle_PIP": 0.0015869928756728768, + "multi_right_pinky_CMC": 0.09189368784427643, + "multi_right_pinky_DIP": 0.0646938756108284, + "multi_right_pinky_MCP_FE": 0.04269653558731079, + "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": 0.004912943113595247, + "multi_right_thumb_IP": 9.332722402177751e-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": 103.43661860775757, + "joint_effort_rms": 32.7384413594846, + "joint_jerk_rms": 10256.131460818231, + "joint_velocity_rms": 1.4322688502306742 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.6049123869452943, + "mean_kinematic_grasp_stability": 0.052734685426086406, + "per_object_best_kinematic_grasp_stability": { + "obj_326_piece_1": 0.0, + "obj_326_piece_2": 0.4818208490481732, + "obj_326_piece_3": 0.6049123869452943, + "obj_326_piece_4": 0.0, + "obj_326_piece_5": 0.059568201747748906 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.011919025373270789, + "mean_hold_score": 0.0014042319318494046, + "mean_kinematic_stability_score": 0.000379678141842117, + "mean_legacy_gsi": 0.2037289399752848, + "mean_lift_score": 0.007199780159384446, + "mean_motion_stability_score": 0.0013801250654854975 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3639, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_73_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_73_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..adb96e53ba6769dfcbcc8fdba58a31aeb398c637 --- /dev/null +++ b/gpt6_astra_1x_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": 3639, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207300006, "base_seed": 207300000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 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": 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"current_chain_depth": 0, "latched_stage_completion_rate": 0.25, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 1, "task_efficiency": null, "kinematic_grasp_stability_index": 0.0, "mean_kinematic_grasp_stability": null, "per_object_best_kinematic_grasp_stability": {"obj_326_piece_1": 0.0, "obj_326_piece_2": 0.0, "obj_326_piece_3": 0.0, "obj_326_piece_4": 0.0, "obj_326_piece_5": 0.0}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.1999999999999385, "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": 0.44372280411370973, "joint_acceleration_rms": 23.951518197442102, "joint_jerk_rms": 2481.2678780280266, "joint_effort_rms": 45.587981976438506}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, 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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": 565, "hard_limit_source": "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, 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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": 156, "joint_limit_hard_episode_events": 11, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 80, "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": 156, "joint_limit_active_step_rate": 0.04286892003297609, "finger_joint_limit_saturation_steps": 80, "finger_joint_limit_saturation_step_rate": 0.021984061555372355, "max_joint_limit_excess_rad": 0.3564506471157074, "max_joint_limit_excess_joint": "multi_right_ring_PIP", "stage_completion": {"assemble_piece_2": false, "assemble_piece_3": true, "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": null, "assemble_piece_3": 3155, "assemble_piece_4": null, "assemble_piece_5": null}, "violation_counts": {}, "policy_query_count": 29, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3639, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_73_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_73_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ebb8dce42c20912682e1fa0ba32f64133249c90d --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_73_episode_07/summary.json @@ -0,0 +1,240 @@ +{ + "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": 3639, + "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": { + "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": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.04286892003297609, + "finger_joint_limit_saturation_step_rate": 0.021984061555372355, + "max_joint_limit_excess_rad": 0.3564506471157074, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "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": 14, + "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": 1 + }, + "joint_limit_hard_counts": { + "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": 1, + "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": 1 + }, + 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0.0]}, "joint_limit_active_steps": 213, "joint_limit_hard_episode_events": 25, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 116, "max_joint_limit_excess_rad": 1.9653520584106445, "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": 213, "joint_limit_active_step_rate": 0.0585325638911789, "finger_joint_limit_saturation_steps": 116, "finger_joint_limit_saturation_step_rate": 0.03187688925528991, "max_joint_limit_excess_rad": 1.9653520584106445, "max_joint_limit_excess_joint": "multi_right_index_DIP", "stage_completion": {"assemble_piece_2": false, "assemble_piece_3": false, "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": null, "assemble_piece_3": null, "assemble_piece_4": 3605, "assemble_piece_5": null}, "violation_counts": {}, "policy_query_count": 40, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3639, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_73_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_73_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..d430d0ae2e767947c92c1fa92be069f152e5d0a5 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_73_episode_08/summary.json @@ -0,0 +1,233 @@ +{ + "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": 3639, + "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": { + "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": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.0585325638911789, + "finger_joint_limit_saturation_step_rate": 0.03187688925528991, + "max_joint_limit_excess_rad": 1.9653520584106445, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_DIP": 7, + "multi_right_index_DIP": 38, + "multi_right_index_MCP_AA": 27, + "multi_right_index_MCP_FE": 33, + "multi_right_middle_MCP_FE": 98, + "multi_right_middle_PIP": 1, + "multi_right_pinky_CMC": 62, + "multi_right_pinky_MCP_FE": 96, + "multi_right_ring_MCP_FE": 97, + "multi_right_ring_PIP": 24 + }, + "joint_limit_hard_counts": { + "left_index_DIP": 1, + "multi_right_index_DIP": 2, + "multi_right_index_MCP_AA": 1, + "multi_right_index_MCP_FE": 3, + "multi_right_index_PIP": 3, + "multi_right_middle_MCP_FE": 8, + "multi_right_middle_PIP": 3, + "multi_right_pinky_CMC": 17, + "multi_right_pinky_MCP_FE": 11, + "multi_right_pinky_PIP": 2, + "multi_right_ring_MCP_FE": 13, + "multi_right_ring_PIP": 7 + }, + "joint_limit_hard_episode_events": 25, + "finger_joint_limit_saturation_counts": { + "multi_right_index_DIP": 35, + "multi_right_index_MCP_AA": 23, + "multi_right_middle_MCP_FE": 34, + "multi_right_pinky_CMC": 47, + "multi_right_pinky_MCP_FE": 17, + "multi_right_ring_MCP_FE": 18 + }, + "joint_limit_max_excess_by_joint": { + "left_index_DIP": 0.013739585876464844, + "left_index_PIP": 1.8225318476616792e-10, + "left_middle_DIP": 8.329208503710106e-05, + "left_middle_PIP": 0.0004269286000635475, + "left_pinky_CMC": 0.0016834331909194589, + "left_pinky_DIP": 4.3389980419306085e-05, + "left_pinky_PIP": 0.0002286293456563726, + "left_ring_DIP": 3.460795051068999e-05, + "left_ring_PIP": 0.00018365126743447036, + "left_thumb_IP": 0.00017086273874156177, + "multi_right_index_DIP": 1.9653520584106445, + "multi_right_index_MCP_AA": 0.9065933227539062, + "multi_right_index_MCP_FE": 0.10391366481781006, + "multi_right_index_PIP": 0.005365632474422455, + "multi_right_middle_DIP": 0.00011507623275974765, + "multi_right_middle_MCP_FE": 0.5616170763969421, + "multi_right_middle_PIP": 0.012292742729187012, + "multi_right_pinky_CMC": 1.6296635866165161, + "multi_right_pinky_DIP": 0.00017889619630295783, + "multi_right_pinky_MCP_FE": 0.4806692600250244, + "multi_right_pinky_PIP": 0.006460616365075111, + "multi_right_ring_DIP": 0.00010984159598592669, + "multi_right_ring_MCP_FE": 0.25712621212005615, + "multi_right_ring_PIP": 0.11475742608308792, + "multi_right_thumb_IP": 0.00021076417760923505 + }, + "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": 55.270161189971134, + "joint_effort_rms": 35.240832825345336, + "joint_jerk_rms": 5622.26906685983, + "joint_velocity_rms": 0.8125929766658376 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.20867843469520994, + "mean_kinematic_grasp_stability": 0.03439211725787643, + "per_object_best_kinematic_grasp_stability": { + "obj_326_piece_1": 0.0, + "obj_326_piece_2": 0.18226983532402194, + "obj_326_piece_3": 0.20867843469520994, + "obj_326_piece_4": 0.0, + "obj_326_piece_5": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.0, + "mean_hold_score": 0.0006457818081890636, + "mean_kinematic_stability_score": 0.00013798431216405493, + "mean_legacy_gsi": 0.20070998337441448, + "mean_lift_score": 0.004012091233855455, + "mean_motion_stability_score": 0.0007607500211075155 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3639, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_73_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_73_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e61f2052a43091fc31d137f4f4d0ea2fd4490f46 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_73_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/73_jigsaw_puzzle_assembly.yaml", "episode_index": 9, "seed": 207300008, "success": false, "steps": 3639, "metric_schema_version": 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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": 51, "joint_limit_active_step_rate": 0.014014839241549877, "finger_joint_limit_saturation_steps": 20, "finger_joint_limit_saturation_step_rate": 0.005496015388843089, "max_joint_limit_excess_rad": 0.4473794102668762, "max_joint_limit_excess_joint": "multi_right_index_DIP", "stage_completion": {"assemble_piece_2": false, "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": null, "assemble_piece_3": null, "assemble_piece_4": null, "assemble_piece_5": null}, "violation_counts": {}, "policy_query_count": 37, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3639, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_73_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_73_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..abe3b40a85e454fcfe140cf523fbabcfd1bfcec4 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_73_episode_09/summary.json @@ -0,0 +1,200 @@ +{ + "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": 3639, + "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": { + "tetris_block_manipulation": 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": 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": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.014014839241549877, + "finger_joint_limit_saturation_step_rate": 0.005496015388843089, + "max_joint_limit_excess_rad": 0.4473794102668762, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_DIP": 17, + "multi_right_index_DIP": 28, + "multi_right_pinky_CMC": 6 + }, + "joint_limit_hard_counts": { + "left_index_DIP": 1, + "multi_right_index_DIP": 1, + "multi_right_pinky_CMC": 2 + }, + "joint_limit_hard_episode_events": 4, + "finger_joint_limit_saturation_counts": { + "multi_right_index_DIP": 20 + }, + "joint_limit_max_excess_by_joint": { + "left_index_DIP": 0.2322317361831665, + "left_index_PIP": 1.827626522343806e-10, + "left_middle_DIP": 4.5500436751666484e-11, + "left_middle_PIP": 1.7987904221694606e-10, + "left_pinky_CMC": 0.0037346482276916504, + "left_pinky_DIP": 2.7673002778172417e-11, + "left_pinky_PIP": 3.901088219820936e-12, + "left_ring_DIP": 8.079408669869892e-11, + "left_ring_PIP": 1.3213484473251214e-10, + "multi_right_index_DIP": 0.4473794102668762, + "multi_right_pinky_CMC": 0.028831928968429565, + "multi_right_pinky_DIP": 4.76837158203125e-06, + "multi_right_pinky_MCP_FE": 0.00027649104595184326 + }, + "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": 42.80847541659694, + "joint_effort_rms": 40.880259014769166, + "joint_jerk_rms": 4449.870576526826, + "joint_velocity_rms": 0.6240773908261928 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8822846535366079, + "mean_kinematic_grasp_stability": 0.11687750108050873, + "per_object_best_kinematic_grasp_stability": { + "obj_326_piece_1": 0.0, + "obj_326_piece_2": 0.47334280229804, + "obj_326_piece_3": 0.8822846535366079, + "obj_326_piece_4": 0.0, + "obj_326_piece_5": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9907300540441697, + "mean_duration_score": 0.02175322890904137, + "mean_hold_score": 0.002313822478702937, + "mean_kinematic_stability_score": 0.0009699644222674811, + "mean_legacy_gsi": 0.20438989975001343, + "mean_lift_score": 0.008298983237153064, + "mean_motion_stability_score": 0.0024181189207036578 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3639, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_73_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_73_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19e3a8e2fc1df4de3c8d01f060d1eb5f2fa25db1 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_73_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/73_jigsaw_puzzle_assembly.yaml", "episode_index": 10, "seed": 207300009, "success": false, "steps": 3639, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207300009, "base_seed": 207300000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 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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{"left_index_DIP": 1, "left_index_MCP_FE": 1, "left_pinky_CMC": 1, "multi_right_index_MCP_AA": 1}, "joint_limit_max_excess_by_joint": {"left_index_DIP": 0.22552764415740967, "left_index_MCP_AA": 5.036592483520508e-06, "left_index_MCP_FE": 0.07139764726161957, "left_index_PIP": 1.822806766638152e-10, "left_middle_DIP": 0.00042887000017799437, "left_middle_MCP_FE": 0.004388689994812012, "left_middle_PIP": 0.0021560632158070803, "left_pinky_CMC": 0.035546332597732544, "left_pinky_DIP": 7.329189247684553e-05, "left_pinky_MCP_FE": 0.0018376559019088745, "left_pinky_PIP": 0.0003830484638456255, "left_ring_DIP": 0.0001520067744422704, "left_ring_MCP_FE": 0.002988561987876892, "left_ring_PIP": 0.0007558392826467752, "left_thumb_CMC_AA": 0.0010698437690734863, "left_thumb_IP": 9.655952453613281e-06, "multi_right_index_MCP_AA": 0.01625281572341919, "multi_right_middle_DIP": 6.531714461743832e-05, "multi_right_middle_PIP": 0.00032108117011375725, "multi_right_pinky_CMC": 0.0028668001759797335, 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0.4812822639942169, 1.7000000476837158, 0.0, 1.7000000476837158, -0.13458216190338135, 0.0, 0.7549650073051453, 0.3177487254142761, 1.2999999523162842, 1.7000000476837158, 1.2999999523162842, 1.2999999523162842, 1.0357747077941895], "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": [-1.1406471729278564, -0.1823023408651352, 2.078735113143921, -0.41200345754623413, -0.794808030128479, -1.5155613422393799, -0.32954317331314087, 0.8859630227088928, -1.3999563455581665, -1.0186536312103271, 0.300525039434433, -0.2676824927330017, 0.30948296189308167, -0.008456606417894363, -0.03866253420710564, -0.17000000178813934, 0.0, -0.17000000178813934, 0.3290711045265198, -0.30558136105537415, 0.0, -0.17000000178813934, 0.0, 0.17846322059631348, 0.6098428964614868, 1.5, 0.0, 1.5, 0.8116517066955566, 0.8348414301872253, 0.0, 0.0, 0.0, 0.403722882270813, 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1.2671525478363037, 0.0, 0.0, 0.0, 0.0, 0.4812822639942169, 1.7000000476837158, 0.0, 1.7000000476837158, -0.13458216190338135, 0.0, 0.7549650073051453, 0.3177487254142761, 1.2999999523162842, 1.7000000476837158, 1.2999999523162842, 0.0, 1.2999999523162842, 1.0357747077941895]}, "joint_limit_active_steps": 49, "joint_limit_hard_episode_events": 4, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.22552764415740967, "max_joint_limit_excess_joint": "left_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": 49, "joint_limit_active_step_rate": 0.013465237702665568, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.22552764415740967, "max_joint_limit_excess_joint": "left_index_DIP", "stage_completion": {"assemble_piece_2": false, "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": null, "assemble_piece_3": null, "assemble_piece_4": null, "assemble_piece_5": null}, "violation_counts": {"drop_to_table_obj_326_piece_2": 1}, "policy_query_count": 27, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3639, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_73_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_73_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ae6bb2bd198fccdef6959d6374e39c688be6b7f8 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_73_episode_10/summary.json @@ -0,0 +1,215 @@ +{ + "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": 3639, + "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": 0.0002748007694421544 + }, + "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": 0.0, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 0 + }, + "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": 0.0002748007694421544, + "violation_counts": { + "drop_to_table_obj_326_piece_2": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.013465237702665568, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.22552764415740967, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_DIP": 10, + "left_index_MCP_FE": 10, + "left_pinky_CMC": 26, + "multi_right_index_MCP_AA": 3 + }, + "joint_limit_hard_counts": { + "left_index_DIP": 1, + "left_index_MCP_FE": 1, + "left_pinky_CMC": 1, + "multi_right_index_MCP_AA": 1 + }, + "joint_limit_hard_episode_events": 4, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_index_DIP": 0.22552764415740967, + "left_index_MCP_AA": 5.036592483520508e-06, + "left_index_MCP_FE": 0.07139764726161957, + "left_index_PIP": 1.822806766638152e-10, + "left_middle_DIP": 0.00042887000017799437, + "left_middle_MCP_FE": 0.004388689994812012, + "left_middle_PIP": 0.0021560632158070803, + "left_pinky_CMC": 0.035546332597732544, + "left_pinky_DIP": 7.329189247684553e-05, + "left_pinky_MCP_FE": 0.0018376559019088745, + "left_pinky_PIP": 0.0003830484638456255, + "left_ring_DIP": 0.0001520067744422704, + "left_ring_MCP_FE": 0.002988561987876892, + "left_ring_PIP": 0.0007558392826467752, + "left_thumb_CMC_AA": 0.0010698437690734863, + "left_thumb_IP": 9.655952453613281e-06, + "multi_right_index_MCP_AA": 0.01625281572341919, + "multi_right_middle_DIP": 6.531714461743832e-05, + "multi_right_middle_PIP": 0.00032108117011375725, + "multi_right_pinky_CMC": 0.0028668001759797335, + "multi_right_pinky_DIP": 3.905521225533448e-05, + "multi_right_pinky_MCP_FE": 3.14563512802124e-05, + "multi_right_pinky_PIP": 0.00021199592447374016, + "multi_right_ring_DIP": 3.1957857572706416e-05, + "multi_right_ring_PIP": 0.00015038544370327145, + "multi_right_thumb_CMC_AA": 0.0032047629356384277 + }, + "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": 25.884505848061888, + "joint_effort_rms": 34.562383126540944, + "joint_jerk_rms": 2681.5666467209894, + "joint_velocity_rms": 0.5168225408834626 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.7976525035564035, + "mean_kinematic_grasp_stability": 0.20868939086017615, + "per_object_best_kinematic_grasp_stability": { + "obj_326_piece_1": 0.0, + "obj_326_piece_2": 0.7976525035564035, + "obj_326_piece_3": 0.14587109000759463, + "obj_326_piece_4": 0.0, + "obj_326_piece_5": 0.027872733731432096 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9756160117248178, + "mean_duration_score": 0.08378675460291281, + "mean_hold_score": 0.011360263808738683, + "mean_kinematic_stability_score": 0.005149850865414625, + "mean_legacy_gsi": 0.21936399104862647, + "mean_lift_score": 0.02467710909590547, + "mean_motion_stability_score": 0.011820315766599518 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3639, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_73_episode_11/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_73_episode_11/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dab0096fe31f3f18dff34135ab87474219c2250f --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_73_episode_11/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/73_jigsaw_puzzle_assembly.yaml", "episode_index": 11, "seed": 207300010, "success": false, "steps": 3639, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207300010, "base_seed": 207300000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", 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b/gpt6_astra_1x_icl/source_runs/task_73_episode_11/summary.json @@ -0,0 +1,220 @@ +{ + "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": 3639, + "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": 0.0002748007694421544 + }, + "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": 0.0002748007694421544, + "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": 0.07034899697719153, + "finger_joint_limit_saturation_step_rate": 0.05083814234679857, + "max_joint_limit_excess_rad": 1.2303272485733032, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_DIP": 10, + "left_pinky_CMC": 19, + "left_pinky_DIP": 13, + "left_pinky_MCP_FE": 22, + "left_thumb_IP": 110, + "multi_right_middle_DIP": 68, + "multi_right_ring_DIP": 49, + "multi_right_thumb_IP": 41 + }, + "joint_limit_hard_counts": { + "left_index_DIP": 1, + "left_pinky_CMC": 4, + "left_pinky_DIP": 1, + "left_pinky_MCP_FE": 3, + "left_thumb_IP": 1, + "multi_right_middle_DIP": 1, + "multi_right_ring_DIP": 1, + "multi_right_thumb_IP": 1 + }, + "joint_limit_hard_episode_events": 4, + "finger_joint_limit_saturation_counts": { + "left_thumb_IP": 101, + "multi_right_middle_DIP": 64, + "multi_right_ring_DIP": 45, + "multi_right_thumb_IP": 20 + }, + "joint_limit_max_excess_by_joint": { + "left_index_DIP": 0.07928836345672607, + "left_index_PIP": 1.8236852306063867e-10, + "left_middle_DIP": 7.663311651917581e-11, + "left_middle_MCP_FE": 0.00019627809524536133, + "left_middle_PIP": 0.00015738021465949714, + "left_pinky_CMC": 0.22740252315998077, + "left_pinky_DIP": 0.12839090824127197, + "left_pinky_MCP_FE": 0.06376349925994873, + "left_ring_DIP": 8.080426605605595e-11, + "left_ring_MCP_FE": 0.000179290771484375, + "left_ring_PIP": 1.3208030502642742e-10, + "left_thumb_IP": 0.7950096726417542, + "multi_right_middle_DIP": 1.2303272485733032, + "multi_right_pinky_CMC": 0.001875774352811277, + "multi_right_pinky_DIP": 4.935264587402344e-05, + "multi_right_pinky_MCP_FE": 4.2185187339782715e-05, + "multi_right_ring_DIP": 0.80665522813797, + "multi_right_thumb_IP": 0.3309504985809326 + }, + "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": 43.97222557369971, + "joint_effort_rms": 31.99069813934021, + "joint_jerk_rms": 4403.250914646298, + "joint_velocity_rms": 0.7424295155225724 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.897354030227209, + "mean_kinematic_grasp_stability": 0.18305591619852565, + "per_object_best_kinematic_grasp_stability": { + "obj_326_piece_1": 0.0, + "obj_326_piece_2": 0.897354030227209, + "obj_326_piece_3": 0.6256960799044966, + "obj_326_piece_4": 0.0, + "obj_326_piece_5": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.16825135110378683, + "mean_hold_score": 0.00717504809013467, + "mean_kinematic_stability_score": 0.003903583153889967, + "mean_legacy_gsi": 0.23954582648198516, + "mean_lift_score": 0.021324539708711183, + "mean_motion_stability_score": 0.010016784082766985 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3639, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_73_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_73_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c98509bccccd54a9fbf0bdb35690d48d30f409a --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_73_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/73_jigsaw_puzzle_assembly.yaml", "episode_index": 12, "seed": 207300011, "success": false, "steps": 3639, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207300011, "base_seed": 207300000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 270.0, 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"multi_right_thumb_CMC_AA": 11, "multi_right_thumb_MCP_AA": 25, "multi_right_thumb_MCP_FE": 11}, "joint_limit_hard_counts": {"left_index_DIP": 2, "left_index_MCP_AA": 1, "left_index_MCP_FE": 2, "left_middle_DIP": 1, "left_middle_MCP_AA": 1, "left_middle_MCP_FE": 3, "left_middle_PIP": 1, "left_pinky_CMC": 1, "left_ring_MCP_AA": 1, "left_ring_PIP": 1, "multi_right_index_DIP": 2, "multi_right_index_MCP_AA": 1, "multi_right_index_MCP_FE": 5, "multi_right_middle_MCP_FE": 1, "multi_right_pinky_CMC": 3, "multi_right_pinky_MCP_FE": 1, "multi_right_ring_MCP_FE": 1, "multi_right_thumb_CMC_AA": 1, "multi_right_thumb_MCP_AA": 1, "multi_right_thumb_MCP_FE": 1}, "finger_joint_limit_saturation_counts": {"left_index_DIP": 12, "left_index_MCP_AA": 19, "left_index_MCP_FE": 8, "left_middle_MCP_AA": 11, "left_middle_PIP": 19, "left_pinky_CMC": 9, "left_ring_MCP_AA": 16, "left_ring_PIP": 16, "multi_right_index_DIP": 37, "multi_right_index_MCP_AA": 27, "multi_right_index_MCP_FE": 10, 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2.821469934133347e-05, "multi_right_middle_MCP_FE": 0.5367480516433716, "multi_right_middle_PIP": 0.0036223733332008123, "multi_right_pinky_CMC": 0.09778474271297455, "multi_right_pinky_DIP": 7.152557373046875e-07, "multi_right_pinky_MCP_FE": 0.08609485626220703, "multi_right_ring_DIP": 0.00011170774814672768, "multi_right_ring_MCP_FE": 0.3368939161300659, "multi_right_ring_PIP": 0.0036255493760108948, "multi_right_thumb_CMC_AA": 0.19755443930625916, "multi_right_thumb_IP": 8.343218360096216e-05, "multi_right_thumb_MCP_AA": 0.7556639909744263, "multi_right_thumb_MCP_FE": 0.7450425624847412}, "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": 1757, "hard_limit_source": "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": -0.006966469809412956, "hard_excess_rad": 0.006966469809412956, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3962998390197754, "operating_lower": 0.0, "operating_upper": 1.3962998390197754, "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": [-1.5700000524520874, -1.5700000524520874, 2.1758270263671875, 9.31874369336505e-13, -0.40150758624076843, -1.5700000524520874, -0.09260942041873932, -5.977571909676627e-11, -1.1216338872909546, -1.4030236972217836e-09, -0.6456359624862671, -4.272712739172846e-10, 0.40677860379219055, 1.132151484489441, 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, 0.0, 1.149999976158142, 1.149999976158142, 1.5, 0.0, 0.0, 2.7187993176247538e-11, 0.0, 1.0976708431087445e-10, 0.0, 0.0, 1.149999976158142, 0.0, 0.0, 1.2484119293887375e-10, 3.5834519379607244e-11, 0.0, 1.2947721887701658e-11, 0.0, 1.4500000476837158, 0.0, 1.4500000476837158, 0.800000011920929, 4.084306504115176e-11, 1.1278734196595863e-10, 0.0, 1.0499999523162842, 1.4500000476837158, 1.0499999523162842, 1.0499999523162842, 1.149999976158142], "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, 2.1758270263671875, 9.31874369336505e-13, -0.40150758624076843, -1.5700000524520874, -0.09260942041873932, -5.977571909676627e-11, -1.1216338872909546, -1.4030236972217836e-09, -0.6456359624862671, -4.272712739172846e-10, 0.40677860379219055, 1.132151484489441, 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, 1.149999976158142, 0.0, 1.149999976158142, 1.5, 0.0, 0.0, 2.7187993176247538e-11, 0.0, 1.0976708431087445e-10, 0.0, 0.0, 1.149999976158142, 0.0, 0.0, 1.2484119293887375e-10, 3.5834519379607244e-11, 0.0, 1.2947721887701658e-11, 0.0, 0.0, 1.4500000476837158, 0.0, 1.4500000476837158, 0.800000011920929, 4.084306504115176e-11, 1.1278734196595863e-10, 0.0, 1.0499999523162842, 1.4500000476837158, 1.0499999523162842, 0.0, 1.0499999523162842, 1.149999976158142], "shielded_full_target": [-1.5700000524520874, -1.5700000524520874, 2.1758270263671875, 9.31874369336505e-13, -0.40150758624076843, -1.5700000524520874, -0.09260942041873932, -5.977571909676627e-11, -1.1216338872909546, -1.4030236972217836e-09, -0.6456359624862671, -4.272712739172846e-10, 0.40677860379219055, 1.132151484489441, 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, 1.149999976158142, 0.0, 1.149999976158142, 1.5, 0.0, 0.0, 2.7187993176247538e-11, 0.0, 1.0976708431087445e-10, 0.0, 0.0, 1.149999976158142, 0.0, 0.0, 1.2484119293887375e-10, 3.5834519379607244e-11, 0.0, 1.2947721887701658e-11, 0.0, 0.0, 1.4500000476837158, 0.0, 1.4500000476837158, 0.800000011920929, 4.084306504115176e-11, 1.1278734196595863e-10, 0.0, 1.0499999523162842, 1.4500000476837158, 1.0499999523162842, 0.0, 1.0499999523162842, 1.149999976158142]}, "joint_limit_active_steps": 93, "joint_limit_hard_episode_events": 11, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 68, "max_joint_limit_excess_rad": 1.919779896736145, "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": 93, "joint_limit_active_step_rate": 0.025556471558120363, "finger_joint_limit_saturation_steps": 68, "finger_joint_limit_saturation_step_rate": 0.0186864523220665, "max_joint_limit_excess_rad": 1.919779896736145, "max_joint_limit_excess_joint": "multi_right_index_DIP", "stage_completion": {"assemble_piece_2": false, "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": null, "assemble_piece_3": null, "assemble_piece_4": null, "assemble_piece_5": null}, "violation_counts": {}, "policy_query_count": 30, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3639, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_73_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_73_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..a42d8ef6e0ac74a450f60f34b096d235331d9831 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_73_episode_12/summary.json @@ -0,0 +1,267 @@ +{ + "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": 3639, + "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": { + "tetris_block_manipulation": 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": 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": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.025556471558120363, + "finger_joint_limit_saturation_step_rate": 0.0186864523220665, + "max_joint_limit_excess_rad": 1.919779896736145, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_DIP": 22, + "left_index_MCP_AA": 22, + "left_index_MCP_FE": 18, + "left_middle_DIP": 4, + "left_middle_MCP_AA": 17, + "left_middle_MCP_FE": 1, + "left_middle_PIP": 21, + "left_pinky_CMC": 18, + "left_ring_MCP_AA": 20, + "left_ring_PIP": 18, + "multi_right_index_DIP": 54, + "multi_right_index_MCP_AA": 31, + "multi_right_index_MCP_FE": 13, + "multi_right_middle_MCP_FE": 21, + "multi_right_pinky_CMC": 15, + "multi_right_pinky_MCP_FE": 9, + "multi_right_ring_MCP_FE": 17, + "multi_right_thumb_CMC_AA": 11, + "multi_right_thumb_MCP_AA": 25, + "multi_right_thumb_MCP_FE": 11 + }, + "joint_limit_hard_counts": { + "left_index_DIP": 2, + "left_index_MCP_AA": 1, + "left_index_MCP_FE": 2, + "left_middle_DIP": 1, + "left_middle_MCP_AA": 1, + "left_middle_MCP_FE": 3, + "left_middle_PIP": 1, + "left_pinky_CMC": 1, + "left_ring_MCP_AA": 1, + "left_ring_PIP": 1, + "multi_right_index_DIP": 2, + "multi_right_index_MCP_AA": 1, + "multi_right_index_MCP_FE": 5, + "multi_right_middle_MCP_FE": 1, + "multi_right_pinky_CMC": 3, + "multi_right_pinky_MCP_FE": 1, + "multi_right_ring_MCP_FE": 1, + "multi_right_thumb_CMC_AA": 1, + "multi_right_thumb_MCP_AA": 1, + "multi_right_thumb_MCP_FE": 1 + }, + "joint_limit_hard_episode_events": 11, + "finger_joint_limit_saturation_counts": { + "left_index_DIP": 12, + "left_index_MCP_AA": 19, + "left_index_MCP_FE": 8, + "left_middle_MCP_AA": 11, + "left_middle_PIP": 19, + "left_pinky_CMC": 9, + "left_ring_MCP_AA": 16, + "left_ring_PIP": 16, + "multi_right_index_DIP": 37, + "multi_right_index_MCP_AA": 27, + "multi_right_index_MCP_FE": 10, + 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0.0, -5.290308191518989e-10, 1.5527841512597007e-10, 1.933086503369541e-12, -6.474144137458282e-13, -5.197141605961519e-10, -6.3017750739913225e-12, 5.870037789179605e-11, 0.795539140701294, 0.7821058630943298, 0.0, 0.767906129360199, 1.2000000476837158, 0.0, 0.0, 2.7187993176247538e-11, 0.0, 1.0976708431087445e-10, -0.154427170753479, -0.05395257845520973, 0.8244702219963074, 0.04924803599715233, 0.0, 1.2484119293887375e-10, 3.5834519379607244e-11, 0.0, 1.2947721887701658e-11, 0.0, 0.5650332570075989, 0.6517194509506226, 0.13822531700134277, 0.5682036876678467, 0.800000011920929, 4.084306504115176e-11, 1.1278734196595863e-10, 0.0, 0.0, 0.35672155022621155, 0.0, 0.0, 0.0, 1.2000000476837158]}, "joint_limit_active_steps": 325, "joint_limit_hard_episode_events": 10, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 189, "max_joint_limit_excess_rad": 1.6815930604934692, "max_joint_limit_excess_joint": "left_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": 325, "joint_limit_active_step_rate": 0.08931025006870019, "finger_joint_limit_saturation_steps": 189, "finger_joint_limit_saturation_step_rate": 0.05193734542456719, "max_joint_limit_excess_rad": 1.6815930604934692, "max_joint_limit_excess_joint": "left_index_DIP", "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": 2099, "assemble_piece_3": null, "assemble_piece_4": null, "assemble_piece_5": null}, "violation_counts": {}, "policy_query_count": 26, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3639, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_73_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_73_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0c9519c37690547ee4211d28e87fbe9edb0c72bb --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_73_episode_13/summary.json @@ -0,0 +1,221 @@ +{ + "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": 3639, + "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": { + "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": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.08931025006870019, + "finger_joint_limit_saturation_step_rate": 0.05193734542456719, + "max_joint_limit_excess_rad": 1.6815930604934692, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_DIP": 129, + "left_index_MCP_FE": 1, + "left_index_PIP": 36, + "multi_right_index_DIP": 64, + "multi_right_index_MCP_FE": 75, + "multi_right_index_PIP": 41, + "multi_right_middle_MCP_FE": 18 + }, + "joint_limit_hard_counts": { + "left_index_DIP": 4, + "left_index_MCP_FE": 1, + "left_index_PIP": 1, + "multi_right_index_DIP": 4, + "multi_right_index_MCP_FE": 1, + "multi_right_index_PIP": 3, + "multi_right_middle_MCP_FE": 1 + }, + "joint_limit_hard_episode_events": 10, + "finger_joint_limit_saturation_counts": { + "left_index_DIP": 110, + "left_index_PIP": 27, + "multi_right_index_DIP": 46, + "multi_right_index_PIP": 29 + }, + "joint_limit_max_excess_by_joint": { + "left_index_DIP": 1.6815930604934692, + "left_index_MCP_FE": 0.011101305484771729, + "left_index_PIP": 0.4581177234649658, + "left_middle_DIP": 7.663112505662539e-11, + "left_middle_PIP": 1.8237940324628e-10, + "left_pinky_CMC": 0.001308891107328236, + "left_pinky_DIP": 3.06851002940256e-11, + "left_ring_DIP": 8.080215663230916e-11, + "left_ring_PIP": 9.299152420316759e-11, + "left_thumb_IP": 4.746465442906356e-10, + "multi_right_index_DIP": 0.5022753477096558, + "multi_right_index_MCP_FE": 0.06470902264118195, + "multi_right_index_PIP": 0.4873863756656647, + "multi_right_middle_DIP": 4.812197289538744e-07, + "multi_right_middle_MCP_FE": 0.03830718994140625, + "multi_right_middle_PIP": 7.103216194082052e-05, + "multi_right_pinky_CMC": 0.002259814413264394, + "multi_right_pinky_DIP": 3.197445039404556e-05, + "multi_right_pinky_MCP_FE": 3.8817524909973145e-05, + "multi_right_pinky_PIP": 5.6169657909777015e-05, + "multi_right_ring_DIP": 4.261000140104443e-05, + "multi_right_ring_PIP": 0.00011441426613600925, + "multi_right_thumb_IP": 2.10685446866421e-09 + }, + "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": 31.410833833400254, + "joint_effort_rms": 35.96359060379789, + "joint_jerk_rms": 3208.7665714534687, + "joint_velocity_rms": 0.5491319041649905 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.5821521597206842, + "mean_kinematic_grasp_stability": 0.24907362588936946, + "per_object_best_kinematic_grasp_stability": { + "obj_326_piece_1": 0.0, + "obj_326_piece_2": 0.0, + "obj_326_piece_3": 0.5821521597206842, + "obj_326_piece_4": 0.0, + "obj_326_piece_5": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.003684162315654557, + "mean_hold_score": 0.0001731244847485573, + "mean_kinematic_stability_score": 9.582387365900446e-05, + "mean_legacy_gsi": 0.20085860456558796, + "mean_lift_score": 0.0003847210772190162, + "mean_motion_stability_score": 0.0002245168113821578 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3639, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_73_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_73_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..18e688c09b2f270a2525577c1a929f4031feb170 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_73_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/73_jigsaw_puzzle_assembly.yaml", "episode_index": 14, "seed": 207300013, "success": false, "steps": 3639, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207300013, "base_seed": 207300000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 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, 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"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, 1.7306362390518188, 9.31874369336505e-13, -0.4298977553844452, -1.5700000524520874, -0.008760408498346806, -5.977571909676627e-11, -1.448188304901123, -1.4030236972217836e-09, 0.28464680910110474, -4.272712739172846e-10, -0.7837592959403992, -0.04473569244146347, 2.4719001845419086e-10, 4.0406178403173953e-10, 0.0, -5.290308191518989e-10, 1.5527841512597007e-10, 1.933086503369541e-12, -6.474144137458282e-13, -5.197141605961519e-10, 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"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": 365, "joint_limit_active_step_rate": 0.10030228084638637, "finger_joint_limit_saturation_steps": 126, "finger_joint_limit_saturation_step_rate": 0.03462489694971146, "max_joint_limit_excess_rad": 1.706547737121582, "max_joint_limit_excess_joint": "multi_right_ring_DIP", "stage_completion": {"assemble_piece_2": false, "assemble_piece_3": false, "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": null, "assemble_piece_3": null, "assemble_piece_4": 2856, "assemble_piece_5": null}, "violation_counts": {"drop_to_table_obj_326_piece_5": 1, "drop_to_table_obj_326_piece_2": 1, "drop_to_table_obj_326_piece_3": 1}, "policy_query_count": 42, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3639, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_73_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_73_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4ac002208c2f56f10c3d17f6f9516db267d97e11 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_73_episode_14/summary.json @@ -0,0 +1,239 @@ +{ + "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": 3639, + "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": 0.0005496015388843089 + }, + "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": 0.0008244023083264633, + "violation_counts": { + "drop_to_table_obj_326_piece_2": 1, + "drop_to_table_obj_326_piece_3": 1, + "drop_to_table_obj_326_piece_5": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.10030228084638637, + "finger_joint_limit_saturation_step_rate": 0.03462489694971146, + "max_joint_limit_excess_rad": 1.706547737121582, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_pinky_CMC": 1, + "left_pinky_MCP_FE": 57, + "multi_A7": 172, + "multi_right_index_DIP": 66, + "multi_right_index_MCP_AA": 7, + "multi_right_index_MCP_FE": 36, + "multi_right_middle_PIP": 45, + "multi_right_pinky_CMC": 69, + "multi_right_pinky_PIP": 10, + "multi_right_ring_DIP": 95, + "multi_right_ring_PIP": 87, + "multi_right_thumb_IP": 1 + }, + "joint_limit_hard_counts": { + "left_pinky_CMC": 4, + "left_pinky_MCP_FE": 1, + "multi_A7": 1, + "multi_right_index_DIP": 2, + "multi_right_index_MCP_AA": 2, + "multi_right_index_MCP_FE": 2, + "multi_right_middle_PIP": 1, + "multi_right_pinky_CMC": 4, + "multi_right_pinky_PIP": 1, + "multi_right_ring_DIP": 1, + "multi_right_ring_PIP": 1, + "multi_right_thumb_IP": 5 + }, + "joint_limit_hard_episode_events": 12, + "finger_joint_limit_saturation_counts": { + "multi_right_index_DIP": 61, + "multi_right_index_MCP_FE": 4, + "multi_right_middle_PIP": 27, + "multi_right_pinky_CMC": 43, + "multi_right_ring_DIP": 93, + "multi_right_ring_PIP": 84 + }, + "joint_limit_max_excess_by_joint": { + "left_index_DIP": 4.550709115092033e-11, + "left_index_PIP": 1.827198670145691e-10, + "left_middle_DIP": 7.663001483360077e-11, + "left_middle_PIP": 1.8307963478569889e-10, + "left_pinky_CMC": 0.02068300172686577, + "left_pinky_DIP": 1.2040138244628906e-05, + "left_pinky_MCP_FE": 0.06663259863853455, + "left_pinky_PIP": 6.071430858067828e-11, + "left_ring_DIP": 8.089787173481966e-11, + "left_ring_PIP": 1.3809149657095787e-10, + "left_thumb_CMC_AA": 0.0009487569332122803, + "multi_A5": 0.0002841949462890625, + "multi_A7": 0.8324110507965088, + "multi_right_index_DIP": 0.757211446762085, + "multi_right_index_MCP_AA": 0.07114383578300476, + "multi_right_index_MCP_FE": 0.2156827449798584, + "multi_right_index_PIP": 1.5848001567064784e-05, + "multi_right_middle_PIP": 0.25944292545318604, + "multi_right_pinky_CMC": 0.5919658541679382, + "multi_right_pinky_DIP": 2.384185791015625e-07, + "multi_right_pinky_MCP_FE": 4.169344902038574e-05, + "multi_right_pinky_PIP": 0.13792896270751953, + "multi_right_ring_DIP": 1.706547737121582, + "multi_right_ring_PIP": 1.4780924320220947, + "multi_right_thumb_IP": 0.011028379201889038 + }, + "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": 80.67062626663076, + "joint_effort_rms": 40.18417700954503, + "joint_jerk_rms": 8277.867773687743, + "joint_velocity_rms": 1.1621082610183846 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9522649775868308, + "mean_kinematic_grasp_stability": 0.4073010154645482, + "per_object_best_kinematic_grasp_stability": { + "obj_326_piece_1": 0.0, + "obj_326_piece_2": 0.9497606827158123, + "obj_326_piece_3": 0.9522649775868308, + "obj_326_piece_4": 0.8998649552594358, + "obj_326_piece_5": 0.5839582614507501 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9270495557386953, + "mean_duration_score": 0.23849592378858317, + "mean_hold_score": 0.08027205276174884, + "mean_kinematic_stability_score": 0.04127854204543154, + "mean_legacy_gsi": 0.28120673435495663, + "mean_lift_score": 0.11222863424017587, + "mean_motion_stability_score": 0.07690714929022957 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3639, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_76_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_76_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e2dfc6553aa7a8913c7ba78f1b82a65b5be174dc --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_76_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/76_soup_serving.yaml", "episode_index": 5, "seed": 207600004, "success": false, "steps": 2958, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": 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{"position": [0.0, 0.24, 0.8435228614676085], "rpy_deg": [0.0, 0.0, 0.0]}, "obj_330_bowl_2": {"position": [-0.5, 0.2, 0.783395014198431], "rpy_deg": [0.0, 0.0, -3.6050033549090443]}, "obj_330_ladle_3": {"position": [0.07, 0.24, 1.0035228614676086], "rpy_deg": [0.0, 50.0, 186.73042139633753]}}, "_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": 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": 32.86666666666667, "expert_time_step": 1972, "success_hold_s": 0.0, "terminal_success_rate": 0.0, 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"robot_motion_metrics": {"joint_velocity_rms": 0.41832508556826176, "joint_acceleration_rms": 16.488790829849634, "joint_jerk_rms": 1620.9780614660378, "joint_effort_rms": 52.66110375429632}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0006761325219743278, "safety_violation_rate_time": 0.0006761325219743278, "safety_violation_rate_event": 0.000676132521974307, "safety_violation_step_rate": 0.000676132521974307, "safety_violation_events_per_step": 0.000676132521974307, "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": {"FFJ3": 4, "LFJ5": 11, "MFJ2": 12, "MFJ4": 11, "RFJ2": 8, "RFJ4": 51, "THJ4": 16, 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"soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "l_LFJ3", "role": "finger", "qpos": -0.2671580910682678, "hard_excess_rad": 0.005358695983886719, "hard_tolerance_rad": 0.005, "hard_lower": -0.2617993950843811, "hard_upper": 1.5707963705062866, "operating_lower": -0.2617994546890259, "operating_upper": 1.5707963705062866, "expanded_target": -0.2617993950843811, "shielded_target": -0.2617993950843811}, {"joint": "l_LFJ5", "role": "finger", "qpos": -0.005053549539297819, "hard_excess_rad": 0.005053549539297819, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.7853981852531433, "operating_lower": 0.0, "operating_upper": 0.7853981852531433, "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", "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": [1.5700000524520874, -1.5700000524520874, -1.3210277557373047, 1.5700000524520874, 1.9336280822753906, 1.0721430410143284e-09, -2.095618486404419, 1.5700000524520874, -0.34612712264060974, -9.683152196737765e-11, -1.2494010925292969, -0.6404486298561096, 3.5510916429615236e-10, 3.0414966545322386e-08, -0.300076961517334, -8.875740420410949e-12, 3.4417128869090874e-11, -4.387448043763342e-11, 8.496102710253695e-10, 0.02049003355205059, 6.914286920789436e-09, 1.1392499790763289e-11, 2.112597030645702e-08, 7.347890296216519e-09, 1.0035001274388833e-08, 0.17968305945396423, 0.1772112250328064, -0.20307689905166626, 0.6604824662208557, 8.037141507877266e-10, 5.4020290463085985e-09, 1.0242851011810217e-08, 5.809421388391911e-09, 0.07937503606081009, -0.31379854679107666, -0.013336320407688618, -0.08695317059755325, 0.4857690632343292, 0.0, 2.620497152605594e-10, 4.238224701746951e-11, 5.651679124696329e-10, -2.7069004589902468e-12, 5.187485658098012e-05, -0.2617993950843811, 0.0009666865225881338, 7.542873208876699e-05, 2.3211070652312538e-12, -1.7579490640962092e-10, 1.0390074749011546e-05, 0.22650334239006042, 0.00038345460779964924, 2.6897372663370334e-05, -0.0030117856804281473, 0.17986808717250824, -0.006622986868023872], "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": [1.5700000524520874, -1.5700000524520874, -1.3210277557373047, 1.5700000524520874, 1.9336280822753906, 1.0721430410143284e-09, -2.095618486404419, 1.5700000524520874, -0.34612712264060974, -9.683152196737765e-11, -1.2494010925292969, -0.6404486298561096, 3.5510916429615236e-10, 3.0414966545322386e-08, -0.300076961517334, -8.875740420410949e-12, 0.0, 3.4417128869090874e-11, -4.387448043763342e-11, 8.496102710253695e-10, 0.02049003355205059, 6.914286920789436e-09, 1.1392499790763289e-11, 2.112597030645702e-08, 7.347890296216519e-09, 1.0035001274388833e-08, 0.17968305945396423, 0.0, 0.1772112250328064, -0.20307689905166626, 0.6604824662208557, 8.037141507877266e-10, 5.4020290463085985e-09, 1.0242851011810217e-08, 5.809421388391911e-09, 0.0, 0.07937503606081009, -0.31379854679107666, -0.013336320407688618, -0.08695317059755325, 0.4857690632343292, 0.0, 2.620497152605594e-10, 4.238224701746951e-11, 5.651679124696329e-10, -2.7069004589902468e-12, 5.187485658098012e-05, -0.2617993950843811, 0.0009666865225881338, 7.542873208876699e-05, 0.0, 2.3211070652312538e-12, -1.7579490640962092e-10, 1.0390074749011546e-05, 0.22650334239006042, 0.00038345460779964924, 2.6897372663370334e-05, -0.0030117856804281473, 0.17986808717250824, -0.006622986868023872], "shielded_full_target": [1.5700000524520874, -1.5700000524520874, -1.3210277557373047, 1.5700000524520874, 1.9336280822753906, 1.0721430410143284e-09, -2.095618486404419, 1.5700000524520874, -0.34612712264060974, 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2.6897372663370334e-05, -0.0030117856804281473, 0.17986808717250824, -0.006622986868023872]}, "joint_limit_active_steps": 860, "joint_limit_hard_episode_events": 13, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 652, "max_joint_limit_excess_rad": 1.776158094406128, "max_joint_limit_excess_joint": "l_LFJ5", "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": 860, "joint_limit_active_step_rate": 0.290736984448952, "finger_joint_limit_saturation_steps": 652, "finger_joint_limit_saturation_step_rate": 0.22041920216362407, "max_joint_limit_excess_rad": 1.776158094406128, "max_joint_limit_excess_joint": "l_LFJ5", "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": {"drop_to_table_obj_330_bowl_2": 1, "drop_to_table_obj_330_ladle_3": 1}, "policy_query_count": 34, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2958, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_76_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_76_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..6a2bec04a358c4d934ec6fa64599ddc849ecda5b --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_76_episode_05/summary.json @@ -0,0 +1,255 @@ +{ + "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": 2958, + "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": 0.000676132521974307 + }, + "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": 0.000676132521974307, + "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": 0.290736984448952, + "finger_joint_limit_saturation_step_rate": 0.22041920216362407, + "max_joint_limit_excess_rad": 1.776158094406128, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "FFJ3": 4, + "LFJ5": 11, + "MFJ2": 12, + "MFJ4": 11, + "RFJ2": 8, + "RFJ4": 51, + "THJ4": 16, + "THJ5": 45, + "WRJ1": 16, + "WRJ2": 43, + "l_LFJ1": 9, + "l_LFJ2": 456, + "l_LFJ3": 130, + "l_LFJ4": 49, + "l_LFJ5": 280, + "l_RFJ2": 23 + }, + "joint_limit_hard_counts": { + "FFJ3": 1, + "LFJ4": 4, + "LFJ5": 1, + "MFJ2": 1, + "MFJ4": 4, + "RFJ2": 1, + "RFJ4": 3, + "THJ4": 2, + "THJ5": 2, + "WRJ1": 1, + "WRJ2": 1, + "l_LFJ1": 3, + "l_LFJ2": 3, + "l_LFJ3": 7, + "l_LFJ4": 1, + "l_LFJ5": 8, + "l_MFJ4": 2, + "l_RFJ2": 2, + "l_THJ5": 1 + }, + "joint_limit_hard_episode_events": 13, + "finger_joint_limit_saturation_counts": { + "MFJ2": 8, + "RFJ4": 21, + "THJ5": 40, + "l_LFJ2": 443, + "l_LFJ3": 36, + "l_LFJ4": 45, + "l_LFJ5": 206 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 1.833695023378823e-06, + "FFJ2": 0.0002073181385640055, + "FFJ3": 0.07996663451194763, + "LFJ1": 1.0791102340590442e-06, + "LFJ2": 0.00017069268506020308, + "LFJ4": 0.008709490299224854, + "LFJ5": 0.17337949573993683, + "MFJ1": 1.4983304026827682e-05, + "MFJ2": 0.6190674304962158, + "MFJ4": 0.06168559193611145, + "RFJ1": 2.4887651306926273e-05, + "RFJ2": 0.17116332054138184, + "RFJ4": 0.28328296542167664, + "THJ4": 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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": 349, "joint_limit_hard_episode_events": 16, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 263, "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": 349, "joint_limit_active_step_rate": 0.11798512508451657, "finger_joint_limit_saturation_steps": 263, "finger_joint_limit_saturation_step_rate": 0.08891142663962137, "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": 25, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2958, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_76_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_76_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..22a78ebab90b508718cd1391c102d27326f46252 --- /dev/null +++ b/gpt6_astra_1x_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": 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": 2958, + "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": 0.11798512508451657, + "finger_joint_limit_saturation_step_rate": 0.08891142663962137, + "max_joint_limit_excess_rad": 0.7413767576217651, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "FFJ2": 16, + "LFJ4": 33, + "LFJ5": 41, + "MFJ2": 7, + "RFJ2": 5, + "THJ4": 5, + "l_FFJ2": 182, + "l_FFJ3": 8, + "l_LFJ3": 253, + "l_MFJ2": 219, + "l_RFJ2": 266, + "l_RFJ3": 123 + }, + "joint_limit_hard_counts": { + "FFJ2": 3, + "LFJ4": 3, + "LFJ5": 5, + "MFJ2": 1, + "RFJ2": 1, + "THJ4": 3, + "l_FFJ2": 1, + "l_FFJ3": 1, + "l_LFJ2": 3, + "l_LFJ3": 3, + "l_LFJ5": 8, + "l_MFJ2": 2, + "l_RFJ2": 5, + "l_RFJ3": 1 + }, + "joint_limit_hard_episode_events": 16, + "finger_joint_limit_saturation_counts": { + "LFJ5": 33, + "l_FFJ2": 155, + "l_LFJ3": 166, + "l_MFJ2": 198, + "l_RFJ2": 216, + "l_RFJ3": 83 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 1.270906886929879e-05, + "FFJ2": 0.11799594759941101, + "FFJ4": 4.622340202331543e-05, + "LFJ1": 9.591578873369144e-07, + "LFJ2": 0.0008050206233747303, + "LFJ4": 0.09603530168533325, + "LFJ5": 0.3535561263561249, + "MFJ1": 0.001182546722702682, + "MFJ2": 0.09930302202701569, + "MFJ4": 0.001310586929321289, + "RFJ1": 0.00012061482993885875, + "RFJ2": 0.07743553072214127, + "RFJ4": 0.0012260079383850098, + "THJ4": 0.041213080286979675, + "THJ5": 0.0032352209091186523, + "WRJ2": 0.0006874948740005493, + "l_FFJ1": 0.0042280275374650955, + "l_FFJ2": 0.7413767576217651, + "l_FFJ3": 0.02469545602798462, + "l_FFJ4": 2.4944543838500977e-05, + "l_LFJ1": 0.0023225571494549513, + "l_LFJ2": 0.008270923979580402, + "l_LFJ3": 0.4319917559623718, + "l_LFJ4": 0.0026252269744873047, + "l_LFJ5": 0.008233853615820408, + "l_MFJ1": 0.004029175732284784, + "l_MFJ2": 0.5718809962272644, + "l_RFJ1": 0.004298340063542128, + "l_RFJ2": 0.5161045789718628, + "l_RFJ3": 0.1928497850894928, + "l_THJ4": 6.066381286196076e-10, + "l_THJ5": 0.0019621849060058594, + "l_WRJ1": 0.0005391836166381836, + "l_WRJ2": 0.00022095441818237305 + }, + "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": 13.979452043671772, + "joint_effort_rms": 39.703390867414306, + "joint_jerk_rms": 1399.9255901794777, + "joint_velocity_rms": 0.3391313574986126 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9999045928364637, + "mean_kinematic_grasp_stability": 0.8243284957876148, + "per_object_best_kinematic_grasp_stability": { + "obj_330_bowl_2": 0.9999045928364637, + "obj_330_ladle_3": 0.9645497366711291 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.7916779355420327, + "mean_hold_score": 0.3932640297498333, + "mean_kinematic_stability_score": 0.35628937858839266, + "mean_legacy_gsi": 0.5854358148934263, + "mean_lift_score": 0.4322177146720757, + "mean_motion_stability_score": 0.372359308724822 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2958, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_76_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_76_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6cdb6cf95fbebec47235658e047bc0fc9c21fdc1 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_76_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/76_soup_serving.yaml", "episode_index": 7, "seed": 207600006, "success": false, "steps": 2958, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207600006, "base_seed": 207600000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, 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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": 340, "joint_limit_hard_episode_events": 31, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 179, "max_joint_limit_excess_rad": 1.4879580736160278, "max_joint_limit_excess_joint": "FFJ1", "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": 340, "joint_limit_active_step_rate": 0.11494252873563218, "finger_joint_limit_saturation_steps": 179, "finger_joint_limit_saturation_step_rate": 0.06051386071670047, "max_joint_limit_excess_rad": 1.4879580736160278, "max_joint_limit_excess_joint": "FFJ1", "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": false, "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}, "policy_query_count": 33, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2958, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_76_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_76_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..43d1d9fbc68f2f7e24e7e1d20fb385f65faeabf5 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_76_episode_07/summary.json @@ -0,0 +1,258 @@ +{ + "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": 2958, + "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": 0.0003380662609871535 + }, + "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": { + 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"l_THJ4", "FFJ1", "LFJ2", "MFJ1", "RFJ1", "THJ2", "l_FFJ2", "l_LFJ3", "l_MFJ2", "l_RFJ2", "LFJ1", "THJ1", "l_FFJ1", "l_LFJ2", "l_MFJ1", "l_RFJ1", "l_THJ2", "l_LFJ1", "l_THJ1"], "raw_active_action": [2.145390510559082, -1.3668136596679688, -1.9537596702575684, 2.092172145843506, 1.7786822319030762, -0.7894384264945984, -2.294788122177124, 1.954001784324646, 0.7768548727035522, 0.3441392481327057, -1.7264407873153687, -0.04645304009318352, -0.054608460515737534, 0.16160067915916443, -0.3925917148590088, -0.06936580687761307, -0.03553890809416771, 0.09074945747852325, 0.07876735925674438, 0.014428410679101944, 0.23154249787330627, 0.1725182980298996, 0.2405778020620346, 0.16245505213737488, 0.11897724866867065, 0.1014396995306015, 0.1647646576166153, -0.12096105515956879, -0.35500022768974304, 0.24546760320663452, -0.09079509228467941, 0.3190639913082123, 0.25894349813461304, 0.2300700843334198, -0.23775243759155273, 0.029574329033493996, -0.030648505315184593, 0.16264590620994568, 0.17973469197750092, 0.3608146011829376, 0.2018892914056778, 0.16887971758842468, 0.4974963068962097, 0.01823534443974495, -0.028109943494200706, 0.23250773549079895, 0.25971466302871704, 0.26391324400901794, 0.06916307657957077, 0.0006141905905678868, 0.21340319514274597, 0.15908360481262207, 0.19063685834407806, 0.36470773816108704, 0.13820868730545044, 0.028888041153550148], "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": [2.145390510559082, -1.3668136596679688, -1.9537596702575684, 2.092172145843506, 1.7786822319030762, -0.7894384264945984, -2.294788122177124, 1.954001784324646, 0.7768548727035522, 0.3441392481327057, -1.7264407873153687, -0.04645304009318352, -0.054608460515737534, 0.16160067915916443, -0.3925917148590088, -0.06936580687761307, 0.0, -0.03553890809416771, 0.09074945747852325, 0.07876735925674438, 0.014428410679101944, 0.23154249787330627, 0.1725182980298996, 0.2405778020620346, 0.16245505213737488, 0.11897724866867065, 0.1014396995306015, 0.0, 0.1647646576166153, -0.12096105515956879, -0.35500022768974304, 0.24546760320663452, -0.09079509228467941, 0.3190639913082123, 0.25894349813461304, 0.0, 0.2300700843334198, -0.23775243759155273, 0.029574329033493996, -0.030648505315184593, 0.16264590620994568, 0.17973469197750092, 0.3608146011829376, 0.2018892914056778, 0.16887971758842468, 0.4974963068962097, 0.01823534443974495, -0.028109943494200706, 0.23250773549079895, 0.25971466302871704, 0.0, 0.26391324400901794, 0.06916307657957077, 0.0006141905905678868, 0.21340319514274597, 0.15908360481262207, 0.19063685834407806, 0.36470773816108704, 0.13820868730545044, 0.028888041153550148], "shielded_full_target": [2.145390510559082, -1.3668136596679688, -1.9537596702575684, 2.092172145843506, 1.7786822319030762, -0.7894384264945984, -2.294788122177124, 1.954001784324646, 0.7768548727035522, 0.3441392481327057, -1.7264407873153687, -0.04645304009318352, -0.054608460515737534, 0.16160067915916443, -0.3925917148590088, -0.06936580687761307, 0.0, -0.03553890809416771, 0.09074945747852325, 0.07876735925674438, 0.014428410679101944, 0.23154249787330627, 0.1725182980298996, 0.2405778020620346, 0.16245505213737488, 0.11897724866867065, 0.1014396995306015, 0.0, 0.1647646576166153, -0.12096105515956879, -0.35500022768974304, 0.24546760320663452, -0.09079509228467941, 0.3190639913082123, 0.25894349813461304, 0.0, 0.2300700843334198, -0.23775243759155273, 0.029574329033493996, -0.030648505315184593, 0.16264590620994568, 0.17973469197750092, 0.3608146011829376, 0.2018892914056778, 0.16887971758842468, 0.4974963068962097, 0.01823534443974495, -0.028109943494200706, 0.23250773549079895, 0.25971466302871704, 0.0, 0.26391324400901794, 0.06916307657957077, 0.0006141905905678868, 0.21340319514274597, 0.15908360481262207, 0.19063685834407806, 0.36470773816108704, 0.13820868730545044, 0.028888041153550148]}, "joint_limit_active_steps": 735, "joint_limit_hard_episode_events": 34, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 468, "max_joint_limit_excess_rad": 1.1017582416534424, "max_joint_limit_excess_joint": "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": 735, "joint_limit_active_step_rate": 0.2484787018255578, "finger_joint_limit_saturation_steps": 468, "finger_joint_limit_saturation_step_rate": 0.15821501014198783, "max_joint_limit_excess_rad": 1.1017582416534424, "max_joint_limit_excess_joint": "THJ5", "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": {"drop_to_table_obj_330_ladle_3": 1, "drop_to_table_obj_330_bowl_2": 1}, "policy_query_count": 29, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2958, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_76_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_76_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..807ae008ff55650b4dca3bb1ec26f2254c06e1aa --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_76_episode_08/summary.json @@ -0,0 +1,268 @@ +{ + "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": 2958, + "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": 0.000676132521974307 + }, + "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": 0.000676132521974307, + "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": 0.2484787018255578, + "finger_joint_limit_saturation_step_rate": 0.15821501014198783, + "max_joint_limit_excess_rad": 1.1017582416534424, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "FFJ2": 29, + "FFJ3": 16, + "LFJ2": 5, + "LFJ4": 17, + "LFJ5": 12, + "MFJ2": 46, + "RFJ2": 20, + "RFJ4": 4, + "THJ4": 128, + "THJ5": 111, + "l_FFJ1": 38, + "l_FFJ2": 141, + "l_FFJ3": 44, + "l_LFJ3": 241, + "l_LFJ5": 106, + "l_MFJ2": 226, + "l_RFJ2": 242, + "l_RFJ3": 59, + "l_RFJ4": 4 + }, + "joint_limit_hard_counts": { + "FFJ2": 2, + "FFJ3": 1, + "LFJ1": 1, + "LFJ2": 2, + "LFJ4": 3, + "LFJ5": 2, + "MFJ1": 2, + "MFJ2": 3, + "RFJ2": 5, + "RFJ4": 2, + "THJ4": 1, + "THJ5": 8, + "l_FFJ1": 2, + "l_FFJ2": 5, + "l_FFJ3": 1, + "l_LFJ2": 4, + "l_LFJ3": 5, + "l_LFJ5": 28, + "l_MFJ2": 2, + "l_RFJ1": 3, + "l_RFJ2": 2, + "l_RFJ3": 1, + "l_RFJ4": 2, + "l_THJ5": 1 + }, + "joint_limit_hard_episode_events": 34, + "finger_joint_limit_saturation_counts": { + "FFJ2": 15, + "FFJ3": 6, + "LFJ4": 1, + "MFJ2": 7, + "THJ4": 100, + "THJ5": 91, + "l_FFJ1": 34, + "l_FFJ2": 99, + "l_LFJ3": 107, + "l_LFJ5": 6, + "l_MFJ2": 182, + "l_RFJ2": 199, + "l_RFJ3": 32 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 4.656177407014184e-05, + "FFJ2": 0.43703046441078186, + "FFJ3": 0.31893205642700195, + "LFJ1": 0.00720801530405879, + "LFJ2": 0.15244019031524658, + "LFJ4": 0.2500416338443756, + "LFJ5": 0.2377367615699768, + "MFJ1": 0.00927172601222992, + "MFJ2": 0.2559487223625183, + "MFJ4": 0.0012699365615844727, + "RFJ1": 0.003748498857021332, + "RFJ2": 0.16108599305152893, + "RFJ4": 0.022169023752212524, + "THJ4": 0.17190967500209808, + "THJ5": 1.1017582416534424, + "l_FFJ1": 1.0587438344955444, + "l_FFJ2": 0.6416422128677368, + "l_FFJ3": 0.06664037704467773, + "l_FFJ4": 0.0037686824798583984, + "l_LFJ1": 0.0032085401471704245, + "l_LFJ2": 0.008326830342411995, + "l_LFJ3": 0.4188380837440491, + "l_LFJ4": 0.002806723117828369, + "l_LFJ5": 0.1679394394159317, + "l_MFJ1": 0.004602539353072643, + "l_MFJ2": 0.6492921113967896, + "l_RFJ1": 0.007370336446911097, + "l_RFJ2": 0.8992290496826172, + "l_RFJ3": 0.1984896957874298, + "l_RFJ4": 0.0432412326335907, + "l_THJ4": 0.0011224080808460712, + "l_THJ5": 0.007911086082458496 + }, + "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": 23.033810457082403, + "joint_effort_rms": 49.920083212786594, + "joint_jerk_rms": 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b/gpt6_astra_1x_icl/source_runs/task_76_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3035177cb9f3b02d61f79d5082ac036fc84d85e3 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_76_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/76_soup_serving.yaml", "episode_index": 9, "seed": 207600008, "success": false, "steps": 2958, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207600008, "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": 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", 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"runtime.joint_pos_limits"}, "joint_limit_active_steps": 437, "joint_limit_active_step_rate": 0.14773495605138606, "finger_joint_limit_saturation_steps": 354, "finger_joint_limit_saturation_step_rate": 0.11967545638945233, "max_joint_limit_excess_rad": 1.0129104852676392, "max_joint_limit_excess_joint": "l_MFJ2", "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": 1691, "scoop_2": 2344, "ladle_returned": 2587, "bowl_placed": null}, "violation_counts": {"drop_to_table_obj_330_ladle_3": 1, "drop_to_table_obj_330_bowl_2": 1}, "policy_query_count": 29, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2958, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_76_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_76_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e9e40c45abe6e1ba11d8c212230a9f9672d20e00 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_76_episode_09/summary.json @@ -0,0 +1,244 @@ +{ + "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": 2958, + "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": 0.000676132521974307 + }, + "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": 0.000676132521974307, + "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": 0.14773495605138606, + "finger_joint_limit_saturation_step_rate": 0.11967545638945233, + "max_joint_limit_excess_rad": 1.0129104852676392, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "FFJ2": 10, + "MFJ1": 1, + "MFJ2": 10, + "MFJ4": 6, + "RFJ2": 4, + "THJ4": 1, + "l_FFJ2": 129, + "l_FFJ3": 63, + "l_LFJ3": 198, + "l_LFJ5": 31, + "l_MFJ2": 354, + "l_RFJ2": 369 + }, + "joint_limit_hard_counts": { + "FFJ2": 1, + "LFJ5": 1, + "MFJ1": 1, + "MFJ2": 3, + "MFJ4": 2, + "RFJ2": 1, + "THJ4": 3, + "THJ5": 8, + "l_FFJ1": 1, + "l_FFJ2": 2, + "l_FFJ3": 3, + "l_LFJ2": 3, + "l_LFJ3": 3, + "l_LFJ5": 20, + "l_MFJ2": 2, + "l_RFJ1": 1, + "l_RFJ2": 2 + }, + "joint_limit_hard_episode_events": 21, + "finger_joint_limit_saturation_counts": { + "l_FFJ2": 105, + "l_LFJ3": 127, + "l_LFJ5": 16, + "l_MFJ2": 318, + "l_RFJ2": 329 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 2.3046919523039833e-05, + "FFJ2": 0.1421772986650467, + "LFJ1": 4.698575594375143e-06, + "LFJ2": 0.0007763348403386772, + "LFJ4": 0.0015885531902313232, + "LFJ5": 0.005691310856491327, + "MFJ1": 0.0374506413936615, + "MFJ2": 0.07130953669548035, + "MFJ4": 0.05401003360748291, + "RFJ1": 0.0037578444462269545, + "RFJ2": 0.021027695387601852, + "RFJ4": 0.0008404254913330078, + "THJ4": 0.014709562994539738, + "THJ5": 0.006647586822509766, + "WRJ2": 0.00017720460891723633, + "l_FFJ1": 0.006682842504233122, + "l_FFJ2": 0.7768445611000061, + "l_FFJ3": 0.0787908136844635, + "l_FFJ4": 6.645917892456055e-06, + "l_LFJ1": 0.0036974281538277864, + "l_LFJ2": 0.008205721154808998, + "l_LFJ3": 0.3232133388519287, + "l_LFJ5": 0.3265717029571533, + "l_MFJ1": 0.00465457933023572, + "l_MFJ2": 1.0129104852676392, + "l_RFJ1": 0.007142907474189997, + "l_RFJ2": 0.9370302557945251, + "l_RFJ4": 0.003350585699081421, + "l_THJ4": 0.00315965642221272, + "l_THJ5": 0.0002968311309814453 + }, + "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": 40.30724272944245, + "joint_effort_rms": 49.06660207627101, + "joint_jerk_rms": 4307.040316706275, + "joint_velocity_rms": 0.4940066064998057 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9783234391840662, + "mean_kinematic_grasp_stability": 0.6670214509546057, + "per_object_best_kinematic_grasp_stability": { + "obj_330_bowl_2": 0.9783234391840662, + "obj_330_ladle_3": 0.8358117603540909 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8161482983998036, + "mean_duration_score": 0.7184302456614815, + "mean_hold_score": 0.45496957403651367, + "mean_kinematic_stability_score": 0.29528890805444763, + "mean_legacy_gsi": 0.5634415315583654, + "mean_lift_score": 0.5373563218390804, + "mean_motion_stability_score": 0.38578107476637835 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2958, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_76_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_76_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..13ddb2d779451bcd60c25bf3a51dba67aff0f709 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_76_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/76_soup_serving.yaml", "episode_index": 10, "seed": 207600009, "success": false, "steps": 2958, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207600009, 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-0.002516524475396058], "distance_offset_m": 0.016898979731936742, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.17979570431954817, 0.6559315457401007, 0.8967558732654177], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.004958993527986819, -0.004329444162630134, -2.3681262049514255e-05], "target_offset_m": [0.00048223438561010093, -0.001151481866239833, 0.0030881838246447227], "distance_offset_m": -0.018203793969489887, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.6736768576267385, 0.8047240740519501, -0.654741298940563], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [0.0028465444702487257, 0.0009726832697410752, 0.004553217530452325], "target_offset_m": [0.0017073778099590473, 0.003875540314590603, -0.004795921983002974], "distance_offset_m": -0.014473092169263978, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.08894832651896767, -0.12262072597750318, 0.07229858477188311], 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"asset_id": "clutter_028_skillet_lid", "asset_split": "unseen", "spawn_position": [0.6631488641380294, 0.20890551136802624, 0.7386188052084719], "spawn_yaw_deg": 262.92113197881696, "obj_id": "distractor_01_clutter_028_skillet_lid"}]}}, "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, 0.7437748790396438], "rpy_deg": [90.0, 0.0, 0.0]}, "obj_330_pot_1": {"position": [0.0, 0.24, 0.7941117628527865], "rpy_deg": [0.0, 0.0, 0.0]}, "obj_330_bowl_2": {"position": [-0.5, 0.2, 0.7339839155836091], "rpy_deg": [0.0, 0.0, 3.3626597975994006]}, "obj_330_ladle_3": {"position": [0.07, 0.24, 0.9541117628527865], "rpy_deg": [0.0, 50.0, 180.66816333832892]}}, "_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": 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": 32.86666666666667, "expert_time_step": 1972, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.75, "normalized_progress_score": 1.0, "chain_depth_progress_score": 1.0, "current_stage_completion_rate": 0.5, "current_normalized_progress_score": 0.6666666666666666, "current_chain_depth_progress_score": 0.6666666666666666, "current_chain_depth": 2, "latched_stage_completion_rate": 0.75, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 3, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9987945872084008, "mean_kinematic_grasp_stability": 0.6477889028200513, "per_object_best_kinematic_grasp_stability": {"obj_330_bowl_2": 0.9987945872084008, "obj_330_ladle_3": 0.9455046584379464}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.6356181300113017, "mean_kinematic_stability_score": 0.37590589982779515, "mean_lift_score": 0.704868154158215, "mean_hold_score": 0.5899087221095388, "mean_motion_stability_score": 0.4964690233589532, "mean_duration_score": 0.7581868379535721, "mean_anti_slip_score": 0.7910187063330951}, "robot_motion_metrics": {"joint_velocity_rms": 0.26289374288885775, "joint_acceleration_rms": 10.692733560663946, "joint_jerk_rms": 1073.7284167581927, "joint_effort_rms": 46.210315591611675}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0006761325219743278, "safety_violation_rate_time": 0.0006761325219743278, 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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": 4, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "THJ4", "role": "finger", "qpos": -0.005505685228854418, "hard_excess_rad": 0.005505685228854418, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 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, 1.5951192378997803, -0.09502499550580978, -1.657243013381958, 1.6162225008010864, 0.09351030737161636, 0.04142417013645172, -1.588830828666687, -0.005591569468379021, -0.006573240738362074, 0.019451932981610298, -0.047256410121917725, -0.008349587209522724, -0.00427783140912652, 0.010923545807600021, 0.009481255896389484, 0.0017367531545460224, 0.02787085622549057, 0.020766090601682663, 0.028958439826965332, 0.019554775208234787, 0.014321335591375828, 0.012210334651172161, 0.019832782447338104, -0.014560126699507236, -0.04273150861263275, 0.02954702638089657, -0.010929038748145103, 0.038405850529670715, 0.03116912581026554, 0.027693621814250946, -0.028618348762392998, 0.0035598729737102985, -0.0036891719792038202, 0.0195777490735054, 0.02163473144173622, 0.04343138635158539, 0.02430148981511593, 0.020328113809227943, 0.05988381430506706, 0.002194995293393731, -0.0033836043439805508, 0.02798704244196415, 0.031261950731277466, 0.031767334789037704, 0.008325185626745224, 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, -0.09502499550580978, -1.657243013381958, 1.6162225008010864, 0.09351030737161636, 0.04142417013645172, -1.588830828666687, -0.005591569468379021, -0.006573240738362074, 0.019451932981610298, -0.047256410121917725, -0.008349587209522724, 0.0, -0.00427783140912652, 0.010923545807600021, 0.009481255896389484, 0.0017367531545460224, 0.02787085622549057, 0.020766090601682663, 0.028958439826965332, 0.019554775208234787, 0.014321335591375828, 0.012210334651172161, 0.0, 0.019832782447338104, -0.014560126699507236, -0.04273150861263275, 0.02954702638089657, -0.010929038748145103, 0.038405850529670715, 0.03116912581026554, 0.0, 0.027693621814250946, -0.028618348762392998, 0.0035598729737102985, -0.0036891719792038202, 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], "shielded_full_target": [1.6392600536346436, -1.5455424785614014, -1.6161932945251465, 1.6328541040420532, 1.5951192378997803, -0.09502499550580978, -1.657243013381958, 1.6162225008010864, 0.09351030737161636, 0.04142417013645172, -1.588830828666687, -0.005591569468379021, -0.006573240738362074, 0.019451932981610298, -0.047256410121917725, -0.008349587209522724, 0.0, -0.00427783140912652, 0.010923545807600021, 0.009481255896389484, 0.0017367531545460224, 0.02787085622549057, 0.020766090601682663, 0.028958439826965332, 0.019554775208234787, 0.014321335591375828, 0.012210334651172161, 0.0, 0.019832782447338104, -0.014560126699507236, -0.04273150861263275, 0.02954702638089657, -0.010929038748145103, 0.038405850529670715, 0.03116912581026554, 0.0, 0.027693621814250946, -0.028618348762392998, 0.0035598729737102985, -0.0036891719792038202, 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": 365, "joint_limit_hard_episode_events": 9, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 293, "max_joint_limit_excess_rad": 1.611231803894043, "max_joint_limit_excess_joint": "l_FFJ1", "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": 365, "joint_limit_active_step_rate": 0.12339418526031103, "finger_joint_limit_saturation_steps": 293, "finger_joint_limit_saturation_step_rate": 0.09905341446923598, "max_joint_limit_excess_rad": 1.611231803894043, "max_joint_limit_excess_joint": "l_FFJ1", "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": false, "bowl_placed": false}, "stage_first_completion_step": {"scoop_1": 1403, "scoop_2": 2009, "ladle_returned": 2524, "bowl_placed": null}, "violation_counts": {"drop_to_table_obj_330_bowl_2": 1, "drop_to_table_obj_330_ladle_3": 1}, "policy_query_count": 30, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2958, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_76_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_76_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..7720643b17d66238bbf6c7ba0b9653e72a5a295e --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_76_episode_10/summary.json @@ -0,0 +1,241 @@ +{ + "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": 2958, + "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": 0.000676132521974307 + }, + "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": 0.5, + "current_chain_depth_progress_score": 0.6666666666666666, + "latched_chain_depth_progress_score": 1.0, + "avg_current_chain_depth": 2, + "avg_latched_chain_depth": 3 + }, + 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0.027816083282232285, 0.05584035441279411, 0.03124477155506611, 0.02613614685833454, 0.07699347287416458, 0.002822136739268899, -0.004350361414253712, 0.03598334267735481, 0.040193937718868256, 0.040843717753887177, 0.010703809559345245, 9.505335037829354e-05, 0.03302668407559395, 0.02462008222937584, 0.02950332500040531, 0.05644286423921585, 0.021389439702033997, 0.0044707683846354485], "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": [1.6590485572814941, -1.5385545492172241, -1.6293914318084717, 1.6508123874664307, 1.6022961139678955, -0.12217499315738678, -1.6821696758270264, 1.6294288635253906, 0.12022754549980164, 0.05325964465737343, -1.5942111015319824, -0.007189161144196987, -0.00845130905508995, 0.025009654462337494, -0.06075824424624443, -0.010735183954238892, 0.0, -0.0055000693537294865, 0.014044558629393578, 0.012190187349915504, 0.002232915023341775, 0.03583396598696709, 0.026699259877204895, 0.03723229840397835, 0.02514186128973961, 0.018413154408335686, 0.015699001029133797, 0.0, 0.025499293580651283, -0.01872016303241253, -0.054940514266490936, 0.03798903524875641, -0.014051617123186588, 0.04937896132469177, 0.04007459431886673, 0.0, 0.03560607135295868, -0.03679502010345459, 0.004576977342367172, -0.004743221681565046, 0.025171389803290367, 0.027816083282232285, 0.05584035441279411, 0.03124477155506611, 0.02613614685833454, 0.07699347287416458, 0.002822136739268899, -0.004350361414253712, 0.03598334267735481, 0.040193937718868256, 0.0, 0.040843717753887177, 0.010703809559345245, 9.505335037829354e-05, 0.03302668407559395, 0.02462008222937584, 0.02950332500040531, 0.05644286423921585, 0.021389439702033997, 0.0044707683846354485], "shielded_full_target": [1.6590485572814941, -1.5385545492172241, -1.6293914318084717, 1.6508123874664307, 1.6022961139678955, -0.12217499315738678, -1.6821696758270264, 1.6294288635253906, 0.12022754549980164, 0.05325964465737343, -1.5942111015319824, -0.007189161144196987, -0.00845130905508995, 0.025009654462337494, -0.06075824424624443, -0.010735183954238892, 0.0, -0.0055000693537294865, 0.014044558629393578, 0.012190187349915504, 0.002232915023341775, 0.03583396598696709, 0.026699259877204895, 0.03723229840397835, 0.02514186128973961, 0.018413154408335686, 0.015699001029133797, 0.0, 0.025499293580651283, 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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": 0.0821501014198783, "finger_joint_limit_saturation_steps": 131, "finger_joint_limit_saturation_step_rate": 0.044286680189317106, "max_joint_limit_excess_rad": 0.8899854421615601, "max_joint_limit_excess_joint": "l_RFJ2", "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": {"drop_to_table_obj_330_bowl_2": 1, "drop_to_table_obj_330_ladle_3": 1, "drop_obj_330_bowl_2": 1, "high_speed_obj_330_bowl_2": 1}, "policy_query_count": 32, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2958, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_76_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_76_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..d183ed6c58e0b4ed80121bc4ad1b2cdeb975aff8 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_76_episode_11/summary.json @@ -0,0 +1,256 @@ +{ + "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": 2958, + "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": 0.012846517917511832 + }, + "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": 0.001352265043948614, + "violation_counts": { + "drop_obj_330_bowl_2": 1, + "drop_to_table_obj_330_bowl_2": 1, + "drop_to_table_obj_330_ladle_3": 1, + "high_speed_obj_330_bowl_2": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.0821501014198783, + "finger_joint_limit_saturation_step_rate": 0.044286680189317106, + "max_joint_limit_excess_rad": 0.8899854421615601, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "FFJ2": 8, + "LFJ4": 1, + "LFJ5": 1, + "MFJ2": 10, + "MFJ4": 1, + "RFJ2": 9, + "RFJ4": 1, + "THJ2": 3, + "THJ3": 12, + "l_FFJ2": 74, + "l_LFJ3": 104, + "l_LFJ5": 17, + "l_MFJ2": 70, + "l_RFJ2": 164, + "l_RFJ3": 79, + "l_THJ5": 23, + "l_WRJ2": 1 + }, + "joint_limit_hard_counts": { + "FFJ2": 2, + "LFJ4": 2, + "LFJ5": 4, + "MFJ2": 1, + "MFJ4": 1, + "RFJ2": 1, + "RFJ4": 1, + "THJ2": 1, + "THJ3": 1, + "THJ4": 3, + "THJ5": 1, + "l_FFJ1": 1, + "l_FFJ2": 6, + "l_LFJ2": 1, + "l_LFJ3": 1, + "l_LFJ5": 9, + "l_MFJ2": 1, + "l_RFJ2": 3, + "l_RFJ3": 2, + "l_THJ5": 3, + "l_WRJ2": 1 + }, + "joint_limit_hard_episode_events": 22, + "finger_joint_limit_saturation_counts": { + "THJ3": 6, + "l_FFJ2": 29, + "l_LFJ3": 75, + "l_MFJ2": 49, + "l_RFJ2": 121, + "l_RFJ3": 30 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 5.67363485970418e-06, + "FFJ2": 0.03727754205465317, + "LFJ1": 7.140239631553413e-06, + "LFJ2": 0.0006305708666332066, + "LFJ4": 0.01950967311859131, + "LFJ5": 0.05579673498868942, + "MFJ1": 6.47258639219217e-05, + "MFJ2": 0.13841484487056732, + "MFJ4": 0.035642802715301514, + "RFJ1": 0.00010565890988800675, + "RFJ2": 0.11693089455366135, + "RFJ4": 0.03844881057739258, + "THJ2": 0.09219378232955933, + "THJ3": 0.4389112591743469, + "THJ4": 0.0060948715545237064, + "THJ5": 0.008873224258422852, + "l_FFJ1": 0.0054144528694450855, + "l_FFJ2": 0.27764877676963806, + "l_FFJ4": 0.00014570355415344238, + "l_LFJ2": 0.009044164791703224, + "l_LFJ3": 0.3860672116279602, + "l_LFJ4": 0.0027314424514770508, + "l_LFJ5": 0.06151750683784485, + "l_MFJ1": 0.004197909031063318, + "l_MFJ2": 0.46225783228874207, + "l_RFJ1": 0.0033550483640283346, + "l_RFJ2": 0.8899854421615601, + "l_RFJ3": 0.20714181661605835, + "l_THJ5": 0.023091793060302734, + "l_WRJ2": 0.010103315114974976 + }, + "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": 17.59567963964484, + "joint_effort_rms": 41.84251587842711, + "joint_jerk_rms": 1791.2144006449917, + "joint_velocity_rms": 0.34102803831235895 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9944754929116434, + "mean_kinematic_grasp_stability": 0.6384264467677068, + "per_object_best_kinematic_grasp_stability": { + "obj_330_bowl_2": 0.9944754929116434, + "obj_330_ladle_3": 0.9922057351168102 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8058372774397207, + "mean_duration_score": 0.7144072571557362, + "mean_hold_score": 0.3878127112914192, + "mean_kinematic_stability_score": 0.2626656476390464, + "mean_legacy_gsi": 0.5346810055365753, + "mean_lift_score": 0.5136916835699797, + "mean_motion_stability_score": 0.3630780122889363 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2958, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_76_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_76_episode_12/per_episode.jsonl new file mode 100644 index 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0.7978523969650269, "max_joint_limit_excess_joint": "l_RFJ2", "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": 1284, "scoop_2": 1663, "ladle_returned": 1903, "bowl_placed": null}, "violation_counts": {"drop_to_table_obj_330_bowl_2": 1}, "policy_query_count": 27, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2958, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_76_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_76_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..7a0e7ed959bcc07c11b1b788542ac0d17667583a --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_76_episode_12/summary.json @@ -0,0 +1,230 @@ +{ + "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": 2958, + "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": 0.0003380662609871535 + }, + "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": 0.0003380662609871535, + "violation_counts": { + "drop_to_table_obj_330_bowl_2": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.08553076402974984, + "finger_joint_limit_saturation_step_rate": 0.0486815415821501, + "max_joint_limit_excess_rad": 0.7978523969650269, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "LFJ5": 1, + "MFJ2": 2, + "l_LFJ5": 119, + "l_MFJ2": 77, + "l_RFJ1": 2, + "l_RFJ2": 129, + "l_THJ5": 1 + }, + "joint_limit_hard_counts": { + "LFJ5": 2, + "MFJ2": 1, + "THJ4": 2, + "l_FFJ2": 1, + "l_LFJ2": 2, + "l_LFJ3": 2, + "l_LFJ5": 9, + "l_MFJ2": 2, + "l_RFJ1": 4, + "l_RFJ2": 3, + "l_THJ4": 1, + "l_THJ5": 1 + }, + "joint_limit_hard_episode_events": 18, + "finger_joint_limit_saturation_counts": { + "l_LFJ5": 52, + "l_MFJ2": 60, + "l_RFJ2": 92 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 3.7214256281004054e-06, + "FFJ2": 0.004014045465737581, + "FFJ4": 0.00024202466011047363, + "LFJ1": 3.928747446479974e-06, + "LFJ2": 0.0007835896103642881, + "LFJ4": 0.0013096332550048828, + "LFJ5": 0.01026160828769207, + "MFJ1": 0.004427444655448198, + "MFJ2": 0.0367305763065815, + "MFJ4": 0.0008217096328735352, + "RFJ1": 0.00012348130985628814, + "RFJ2": 0.003623409429565072, + "RFJ4": 0.0007406175136566162, + "THJ4": 0.005810839124023914, + "THJ5": 0.0015900135040283203, + "l_FFJ1": 0.0010361397871747613, + "l_FFJ2": 0.005431206431239843, + "l_FFJ4": 3.3974647521972656e-06, + "l_LFJ1": 0.004395077005028725, + "l_LFJ2": 0.006893230136483908, + "l_LFJ3": 0.008471250534057617, + "l_LFJ5": 0.41156619787216187, + "l_MFJ1": 0.004610372241586447, + "l_MFJ2": 0.5195598006248474, + "l_RFJ1": 0.01165816467255354, + "l_RFJ2": 0.7978523969650269, + "l_RFJ4": 0.0007030963897705078, + "l_THJ4": 0.005173674318939447, + "l_THJ5": 0.010351181030273438 + }, + "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": 14.940542455353794, + "joint_effort_rms": 37.200756092834446, + "joint_jerk_rms": 1485.9787368298971, + "joint_velocity_rms": 0.32022340186571663 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9997712372367131, + "mean_kinematic_grasp_stability": 0.6288699348986323, + "per_object_best_kinematic_grasp_stability": { + "obj_330_bowl_2": 0.9997712372367131, + "obj_330_ladle_3": 0.939641588952137 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.72261663286004, + "mean_duration_score": 0.737998647734956, + "mean_hold_score": 0.42127281947262024, + "mean_kinematic_stability_score": 0.295407293624628, + "mean_legacy_gsi": 0.5234955426988092, + "mean_lift_score": 0.48208248816768084, + "mean_motion_stability_score": 0.3531950243051957 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2958, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_76_episode_13/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_76_episode_13/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6549e19850590658926cd6bb1cf51cdc923e572d --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_76_episode_13/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/76_soup_serving.yaml", "episode_index": 13, "seed": 207600012, "success": false, "steps": 2958, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207600012, "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": 270.0, "base_yaw_deg": -90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan315", "asset_split": "unseen", 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"asset_split": "unseen", "spawn_position": [0.5341141096502665, 0.30416174530585627, 0.7762580518007121], "spawn_yaw_deg": 325.1202252671738, "obj_id": "distractor_00_clutter_006_mustard_bottle"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_333_stove_1": {"position": [0.0, 0.2, 0.78229400722005], "rpy_deg": [90.0, 0.0, 0.0]}, "obj_330_pot_1": {"position": [0.0, 0.24, 0.8326308910331928], "rpy_deg": [0.0, 0.0, 0.0]}, "obj_330_bowl_2": {"position": [-0.5, 0.2, 0.7725030437640154], "rpy_deg": [0.0, 0.0, 5.149377331794673]}, "obj_330_ladle_3": {"position": [0.07, 0.24, 0.9926308910331928], "rpy_deg": [0.0, 50.0, 189.09803871046188]}}, "_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": 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": 32.86666666666667, "expert_time_step": 1972, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.75, "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": 3, "latched_stage_completion_rate": 0.75, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 3, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9913332614358754, "mean_kinematic_grasp_stability": 0.49094882678948965, "per_object_best_kinematic_grasp_stability": {"obj_330_bowl_2": 0.962816469389126, "obj_330_ladle_3": 0.9913332614358754}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4041003542531317, "mean_kinematic_stability_score": 0.1154343843921873, "mean_lift_score": 0.31304935767410413, "mean_hold_score": 0.19700811359026593, "mean_motion_stability_score": 0.17048921650307725, "mean_duration_score": 0.5557809330628803, "mean_anti_slip_score": 0.8835925174667842}, "robot_motion_metrics": {"joint_velocity_rms": 0.3760434593874361, "joint_acceleration_rms": 16.878391842731713, "joint_jerk_rms": 1696.998006403349, "joint_effort_rms": 41.27012445912841}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0006761325219743278, "safety_violation_rate_time": 0.0006761325219743278, "safety_violation_rate_event": 0.000676132521974307, "safety_violation_step_rate": 0.000676132521974307, "safety_violation_events_per_step": 0.000676132521974307, "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": {"l_LFJ3": 15, "l_LFJ5": 21, "l_MFJ3": 2, "l_RFJ3": 12, "l_RFJ4": 11, "l_THJ4": 88}, "joint_limit_hard_counts": {"l_LFJ3": 1, "l_LFJ5": 4, "l_MFJ3": 1, "l_RFJ3": 1, "l_RFJ4": 1, "l_THJ4": 1}, "finger_joint_limit_saturation_counts": {"l_RFJ4": 1, "l_THJ4": 49}, "joint_limit_max_excess_by_joint": {"FFJ1": 1.2465349065460263e-11, "FFJ2": 9.507472896075342e-06, "LFJ1": 2.1250772409137086e-12, "LFJ2": 2.3107031665858813e-06, "LFJ4": 0.00459173321723938, "LFJ5": 0.0040464685298502445, "MFJ1": 7.2352185007118486e-12, "MFJ2": 0.0018143653869628906, "MFJ4": 0.004672616720199585, "RFJ2": 1.99543410417391e-06, "RFJ4": 0.004075497388839722, "WRJ1": 0.0007034242153167725, "l_FFJ1": 2.3757400413160212e-05, "l_FFJ2": 0.0015424125595018268, "l_FFJ3": 0.00016105175018310547, "l_FFJ4": 3.68654727935791e-05, "l_LFJ1": 1.0608473301199073e-11, "l_LFJ2": 0.0005180835723876953, "l_LFJ3": 0.23478913307189941, "l_LFJ4": 0.0007623136043548584, "l_LFJ5": 0.03713737428188324, "l_MFJ1": 0.00045013427734375, "l_MFJ2": 0.001283407211303711, "l_MFJ3": 0.01969921588897705, "l_MFJ4": 0.0012389719486236572, "l_RFJ1": 0.0005277395248413086, "l_RFJ2": 0.001372218132019043, "l_RFJ3": 0.21871352195739746, "l_RFJ4": 0.2540991008281708, "l_THJ1": 3.4332275390625e-05, "l_THJ2": 7.450580596923828e-06, "l_THJ4": 0.5626354217529297, "l_THJ5": 0.0008199214935302734}, "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": 687, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "l_LFJ5", "role": "finger", "qpos": -0.007347834296524525, "hard_excess_rad": 0.007347834296524525, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.7853981852531433, "operating_lower": 0.0, "operating_upper": 0.7853981852531433, "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", "WRJ2", "WRJ1", "l_WRJ2", "FFJ4", "MFJ4", "RFJ4", "THJ5", 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8.037141507877266e-10, 5.4020290463085985e-09, 1.0242851011810217e-08, 5.809421388391911e-09, 0.8349999785423279, -0.06223411113023758, 0.5383865833282471, 0.5853850245475769, 0.7674999833106995, 0.0, 2.620497152605594e-10, 4.238224701746951e-11, 5.651679124696329e-10, -2.7069004589902468e-12, 0.29040470719337463, 0.23564015328884125, 1.061936855316162, 0.8067535161972046, 2.3211070652312538e-12, -1.7579490640962092e-10, 0.10789456218481064, 0.2684035003185272, 0.7499210238456726, 0.5371412634849548, 0.08089491724967957, 0.16211968660354614, -0.000841075845528394], "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": [1.5700000524520874, -1.5700000524520874, -1.834115982055664, 1.5700000524520874, 1.776522159576416, 1.0721430410143284e-09, -1.9104692935943604, 1.5700000524520874, -0.4286010265350342, -9.683152196737765e-11, -1.6062558889389038, -0.9850724339485168, 3.5510916429615236e-10, 3.0414966545322386e-08, -0.1986795961856842, -8.875740420410949e-12, 0.0, 3.4417128869090874e-11, -4.387448043763342e-11, 8.496102710253695e-10, -0.004870177712291479, 6.914286920789436e-09, 1.1392499790763289e-11, 2.112597030645702e-08, 7.347890296216519e-09, 1.0035001274388833e-08, 0.24018293619155884, 0.0, 0.027791939675807953, 0.3216235935688019, 1.0471975803375244, 8.037141507877266e-10, 5.4020290463085985e-09, 1.0242851011810217e-08, 5.809421388391911e-09, 0.0, 0.8349999785423279, -0.06223411113023758, 0.5383865833282471, 0.5853850245475769, 0.7674999833106995, 0.0, 2.620497152605594e-10, 4.238224701746951e-11, 5.651679124696329e-10, -2.7069004589902468e-12, 0.29040470719337463, 0.23564015328884125, 1.061936855316162, 0.8067535161972046, 0.0, 2.3211070652312538e-12, -1.7579490640962092e-10, 0.10789456218481064, 0.2684035003185272, 0.7499210238456726, 0.5371412634849548, 0.08089491724967957, 0.16211968660354614, -0.000841075845528394], "shielded_full_target": [1.5700000524520874, -1.5700000524520874, -1.834115982055664, 1.5700000524520874, 1.776522159576416, 1.0721430410143284e-09, -1.9104692935943604, 1.5700000524520874, -0.4286010265350342, -9.683152196737765e-11, -1.6062558889389038, -0.9850724339485168, 3.5510916429615236e-10, 3.0414966545322386e-08, -0.1986795961856842, -8.875740420410949e-12, 0.0, 3.4417128869090874e-11, -4.387448043763342e-11, 8.496102710253695e-10, -0.004870177712291479, 6.914286920789436e-09, 1.1392499790763289e-11, 2.112597030645702e-08, 7.347890296216519e-09, 1.0035001274388833e-08, 0.24018293619155884, 0.0, 0.027791939675807953, 0.3216235935688019, 1.0471975803375244, 8.037141507877266e-10, 5.4020290463085985e-09, 1.0242851011810217e-08, 5.809421388391911e-09, 0.0, 0.8349999785423279, -0.06223411113023758, 0.5383865833282471, 0.5853850245475769, 0.7674999833106995, 0.0, 2.620497152605594e-10, 4.238224701746951e-11, 5.651679124696329e-10, -2.7069004589902468e-12, 0.29040470719337463, 0.23564015328884125, 1.061936855316162, 0.8067535161972046, 0.0, 2.3211070652312538e-12, -1.7579490640962092e-10, 0.10789456218481064, 0.2684035003185272, 0.7499210238456726, 0.5371412634849548, 0.08089491724967957, 0.16211968660354614, -0.000841075845528394]}, "joint_limit_active_steps": 129, "joint_limit_hard_episode_events": 6, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 50, "max_joint_limit_excess_rad": 0.5626354217529297, "max_joint_limit_excess_joint": "l_THJ4", "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": 129, "joint_limit_active_step_rate": 0.0436105476673428, "finger_joint_limit_saturation_steps": 50, "finger_joint_limit_saturation_step_rate": 0.016903313049357674, "max_joint_limit_excess_rad": 0.5626354217529297, "max_joint_limit_excess_joint": "l_THJ4", "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": 2518, "scoop_2": 2804, "ladle_returned": 2909, "bowl_placed": null}, "violation_counts": {"drop_to_table_obj_330_bowl_2": 1, "drop_to_table_obj_330_ladle_3": 1}, "policy_query_count": 32, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2958, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_76_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_76_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..96c673ab89ee35baaa6120b1155c77c431042422 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_76_episode_13/summary.json @@ -0,0 +1,227 @@ +{ + "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": 2958, + "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": 0.000676132521974307 + }, + "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": 0.000676132521974307, + "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": 0.0436105476673428, + "finger_joint_limit_saturation_step_rate": 0.016903313049357674, + "max_joint_limit_excess_rad": 0.5626354217529297, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "l_LFJ3": 15, + "l_LFJ5": 21, + "l_MFJ3": 2, + "l_RFJ3": 12, + "l_RFJ4": 11, + "l_THJ4": 88 + }, + "joint_limit_hard_counts": { + "l_LFJ3": 1, + "l_LFJ5": 4, + "l_MFJ3": 1, + "l_RFJ3": 1, + "l_RFJ4": 1, + "l_THJ4": 1 + }, + "joint_limit_hard_episode_events": 6, + "finger_joint_limit_saturation_counts": { + "l_RFJ4": 1, + "l_THJ4": 49 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 1.2465349065460263e-11, + "FFJ2": 9.507472896075342e-06, + "LFJ1": 2.1250772409137086e-12, + "LFJ2": 2.3107031665858813e-06, + "LFJ4": 0.00459173321723938, + "LFJ5": 0.0040464685298502445, + "MFJ1": 7.2352185007118486e-12, + "MFJ2": 0.0018143653869628906, + "MFJ4": 0.004672616720199585, + "RFJ2": 1.99543410417391e-06, + "RFJ4": 0.004075497388839722, + "WRJ1": 0.0007034242153167725, + "l_FFJ1": 2.3757400413160212e-05, + "l_FFJ2": 0.0015424125595018268, + "l_FFJ3": 0.00016105175018310547, + "l_FFJ4": 3.68654727935791e-05, + "l_LFJ1": 1.0608473301199073e-11, + "l_LFJ2": 0.0005180835723876953, + "l_LFJ3": 0.23478913307189941, + "l_LFJ4": 0.0007623136043548584, + "l_LFJ5": 0.03713737428188324, + "l_MFJ1": 0.00045013427734375, + "l_MFJ2": 0.001283407211303711, + "l_MFJ3": 0.01969921588897705, + "l_MFJ4": 0.0012389719486236572, + "l_RFJ1": 0.0005277395248413086, + "l_RFJ2": 0.001372218132019043, + "l_RFJ3": 0.21871352195739746, + "l_RFJ4": 0.2540991008281708, + "l_THJ1": 3.4332275390625e-05, + "l_THJ2": 7.450580596923828e-06, + "l_THJ4": 0.5626354217529297, + "l_THJ5": 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3.4417128869090874e-11, -4.387448043763342e-11, 8.496102710253695e-10, 0.05204213783144951, 6.914286920789436e-09, 1.1392499790763289e-11, 2.112597030645702e-08, 7.347890296216519e-09, 1.0035001274388833e-08, 0.17345181107521057, 0.0, 0.18008661270141602, -0.21191877126693726, 0.6728730797767639, 8.037141507877266e-10, 5.4020290463085985e-09, 1.0242851011810217e-08, 5.809421388391911e-09, 0.0, 0.08210855722427368, -0.3171459436416626, -0.013045771978795528, -0.0838378518819809, 0.46964213252067566, 0.0, 2.620497152605594e-10, 4.238224701746951e-11, 5.651679124696329e-10, -2.7069004589902468e-12, 0.0, -0.2609437108039856, 0.00016037432942539454, 0.0, 0.0, 2.3211070652312538e-12, -1.7579490640962092e-10, 0.0, 0.24319231510162354, 0.0, 0.0, 0.011489767581224442, 0.18695975840091705, -0.00413168128579855]}, "joint_limit_active_steps": 588, "joint_limit_hard_episode_events": 11, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 500, "max_joint_limit_excess_rad": 1.320223331451416, "max_joint_limit_excess_joint": "l_LFJ2", "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": 588, "joint_limit_active_step_rate": 0.19878296146044624, "finger_joint_limit_saturation_steps": 500, "finger_joint_limit_saturation_step_rate": 0.16903313049357674, "max_joint_limit_excess_rad": 1.320223331451416, "max_joint_limit_excess_joint": "l_LFJ2", "stage_completion": {"scoop_1": true, "scoop_2": true, "ladle_returned": false, "bowl_placed": false}, "current_stage_completion": {"scoop_1": true, "scoop_2": true, "ladle_returned": false, "bowl_placed": false}, "stage_first_completion_step": {"scoop_1": 1451, "scoop_2": 2133, "ladle_returned": null, "bowl_placed": null}, "violation_counts": {"high_speed_distractor_00_clutter_019_pitcher_base": 1, "drop_to_table_obj_330_ladle_3": 1, "drop_to_table_obj_330_bowl_2": 1}, "policy_query_count": 35, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2958, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_76_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_76_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..f7e80b505205f281137070fb0bf7d5bcca2dcc69 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_76_episode_14/summary.json @@ -0,0 +1,264 @@ +{ + "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": 2958, + "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": 0.0010141987829614604 + }, + "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": 0.5, + "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": 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": 0.0010141987829614604, + "violation_counts": { + "drop_to_table_obj_330_bowl_2": 1, + "drop_to_table_obj_330_ladle_3": 1, + "high_speed_distractor_00_clutter_019_pitcher_base": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.19878296146044624, + "finger_joint_limit_saturation_step_rate": 0.16903313049357674, + "max_joint_limit_excess_rad": 1.320223331451416, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "FFJ2": 3, + "LFJ2": 2, + "LFJ5": 8, + "MFJ2": 18, + "RFJ2": 13, + "THJ4": 2, + "l_FFJ2": 193, + "l_FFJ3": 77, + "l_LFJ2": 91, + "l_LFJ3": 284, + "l_LFJ4": 33, + "l_LFJ5": 101, + "l_MFJ1": 60, + "l_MFJ2": 435, + "l_MFJ4": 53, + "l_RFJ2": 399, + "l_RFJ4": 21, + "l_THJ4": 72 + }, + "joint_limit_hard_counts": { + "FFJ2": 3, + "LFJ2": 2, + "LFJ3": 1, + "LFJ5": 4, + "MFJ1": 1, + "MFJ2": 4, + "RFJ2": 3, + "THJ4": 2, + "l_FFJ1": 4, + "l_FFJ2": 3, + "l_FFJ3": 2, + "l_LFJ2": 6, + "l_LFJ3": 5, + "l_LFJ4": 1, + "l_LFJ5": 27, + "l_MFJ1": 1, + "l_MFJ2": 2, + "l_MFJ4": 1, + "l_RFJ2": 4, + "l_RFJ4": 4, + "l_THJ4": 1 + }, + "joint_limit_hard_episode_events": 11, + "finger_joint_limit_saturation_counts": { + "l_FFJ2": 119, + "l_FFJ3": 15, + "l_LFJ2": 58, + "l_LFJ3": 180, + "l_LFJ4": 22, + "l_LFJ5": 59, + "l_MFJ1": 41, + "l_MFJ2": 375, + "l_MFJ4": 50, + "l_RFJ2": 345, + "l_THJ4": 58 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 0.0033138194121420383, + "FFJ2": 0.052805762737989426, + "FFJ4": 1.7642974853515625e-05, + "LFJ1": 0.0024757739156484604, + "LFJ2": 0.014292256906628609, + "LFJ3": 0.007392942905426025, + "LFJ4": 0.002617865800857544, + "LFJ5": 0.025142265483736992, + "MFJ1": 0.005856098607182503, + "MFJ2": 0.17717401683330536, + "MFJ4": 0.0013633966445922852, + "RFJ1": 0.003974391613155603, + "RFJ2": 0.0842578113079071, + "RFJ4": 0.0012465715408325195, + "THJ4": 0.027935396879911423, + "THJ5": 0.004101276397705078, + "l_FFJ1": 0.008095870725810528, + "l_FFJ2": 0.7729089260101318, + "l_FFJ3": 0.15824297070503235, + "l_FFJ4": 0.0006666183471679688, + "l_LFJ1": 0.003499421523883939, + "l_LFJ2": 1.320223331451416, + "l_LFJ3": 0.3397219181060791, + "l_LFJ4": 0.2816174328327179, + "l_LFJ5": 0.6483936905860901, + "l_MFJ1": 0.689359724521637, + "l_MFJ2": 1.197654128074646, + "l_MFJ4": 0.7579835653305054, + "l_RFJ1": 0.004825817886739969, + "l_RFJ2": 1.1910874843597412, + "l_RFJ4": 0.09696894884109497, + "l_THJ4": 0.8159288167953491, + "l_THJ5": 0.00048410892486572266 + }, + "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": 31.105464208665364, + "joint_effort_rms": 59.65191407029015, + "joint_jerk_rms": 3372.440277011139, + "joint_velocity_rms": 0.4967425988363729 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9910251985302065, + "mean_kinematic_grasp_stability": 0.6668366005108451, + "per_object_best_kinematic_grasp_stability": { + "obj_330_bowl_2": 0.9910251985302065, + "obj_330_ladle_3": 0.9723607353710217 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8086544962812712, + "mean_duration_score": 0.7546653144016227, + "mean_hold_score": 0.5848546315077852, + "mean_kinematic_stability_score": 0.3764763768942229, + "mean_legacy_gsi": 0.6439452686690632, + "mean_lift_score": 0.7521974306964165, + "mean_motion_stability_score": 0.5016914052859318 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2958, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_79_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_79_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..251490c8deea481e159d258ade569909b39d2be5 --- /dev/null +++ b/gpt6_astra_1x_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": "", 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"multi_xarm7_with_ability", "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": 1690, "stable_success_step": 1719, "first_stable_success_step": 1719, "steps_to_stable_success": 1720, "policy_steps_to_stable_success": 574, "policy_queries_to_stable_success": 21, "time_to_stable_success_s": 28.66666666666632, "expert_time_s": 22.7, "expert_time_step": 1362, "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": 1, "latched_stage_completion_rate": 1.0, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 1, "task_efficiency": 0.7918604651162886, "kinematic_grasp_stability_index": null, "mean_kinematic_grasp_stability": null, "per_object_best_kinematic_grasp_stability": {}, "grasp_gsi_diagnostics": {}, "robot_motion_metrics": {"joint_velocity_rms": 0.2737177438042374, "joint_acceleration_rms": 5.9474847670253, "joint_jerk_rms": 596.2454245880796, "joint_effort_rms": 71.43985298828474}, "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": 0.0008162621525116265, "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_1x_icl/source_runs/task_79_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_79_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..c2e6be413c230ecf87c6aa15f1c40ba3f1583683 --- /dev/null +++ b/gpt6_astra_1x_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_1x_icl/source_runs/task_79_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_79_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60b163a553d081a3c533ee529fb23846fefb4633 --- /dev/null +++ b/gpt6_astra_1x_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": 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"spawn_yaw_deg": 46.01492532080982, "obj_id": "distractor_01_clutter_055_baseball"}, {"name": "clutter_053_mini_soccer_ball", "uri": "dex2bench_dataset/Objects/053_mini_soccer_ball/usd_decomposition_linux/textured.usd", "scale": [1.0492819702278728, 1.0492819702278728, 1.0492819702278728], "body_type": "dynamic", "category": "ball", "asset_code": "053", "asset_id": "clutter_053_mini_soccer_ball", "asset_split": "unseen", "spawn_position": [0.6840366238000413, 0.32002642617016985, 0.7739496717101607], "spawn_yaw_deg": 346.80276522724733, "obj_id": "distractor_02_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_325_piano_1": {"position": [0.0, 0.24, 0.840603787506087], "rpy_deg": [0.0, 0.0, 0.0]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "piano_melody", "robot_key": "multi_xarm7_with_ability", "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": 1865, "stable_success_step": 1894, "first_stable_success_step": 1894, "steps_to_stable_success": 1895, "policy_steps_to_stable_success": 632, "policy_queries_to_stable_success": 22, "time_to_stable_success_s": 31.58333333333282, "expert_time_s": 22.7, "expert_time_step": 1362, "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": 1, "latched_stage_completion_rate": 1.0, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 1, "task_efficiency": 0.7187335092348401, "kinematic_grasp_stability_index": null, "mean_kinematic_grasp_stability": null, "per_object_best_kinematic_grasp_stability": {}, "grasp_gsi_diagnostics": {}, "robot_motion_metrics": {"joint_velocity_rms": 0.23474586776120215, "joint_acceleration_rms": 4.140626168392558, "joint_jerk_rms": 427.613395696507, "joint_effort_rms": 64.79761234118051}, "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_1x_icl/source_runs/task_79_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_79_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..546582a951c20ee6d47dc5ee9fdee67732c7db01 --- /dev/null +++ b/gpt6_astra_1x_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_1x_icl/source_runs/task_79_episode_07/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_79_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3cc3a0f7bb1c75c955571ddff79fb71865b3232 --- /dev/null +++ b/gpt6_astra_1x_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": false, "steps": 2043, "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": {"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_rust_rust0052_jpg", "asset_uri": 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{"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_325_piano_1": {"position": [0.0, 0.24, 0.8389594369511022], "rpy_deg": [0.0, 0.0, 0.0]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "piano_melody", "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": 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": 22.7, "expert_time_step": 1362, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.5, "normalized_progress_score": 1.0, 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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": 6.184857920743525e-05, "multi_middle_q2": 1.4860402188787702e-05, "multi_pinky_q1": 0.00042462607962079346, "multi_pinky_q2": 0.00022827231441624463, "multi_ring_q1": 0.0001799588353605941, "multi_ring_q2": 0.0004502870433498174, "pinky_q2": 1.6261989003396593e-05, "ring_q2": 9.852656512521207e-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": 0.0004502870433498174, "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": 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": 0.0004502870433498174, "max_joint_limit_excess_joint": "multi_ring_q2", "stage_completion": {"play_left_melody": true, "play_right_melody": false}, "current_stage_completion": {"play_left_melody": true, "play_right_melody": false}, "stage_first_completion_step": {"play_left_melody": 1826, "play_right_melody": null}, "violation_counts": {}, "policy_query_count": 22, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2043, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_79_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_79_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..24507881ebac4d1aee96f6f83f2c08155184db6e --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_79_episode_07/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": 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": 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": 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": { + "piano_melody": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.5, + "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": 22.7, + "expert_time_step": 1362, + "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": 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": 0.0004502870433498174, + "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": 6.184857920743525e-05, + "multi_middle_q2": 1.4860402188787702e-05, + "multi_pinky_q1": 0.00042462607962079346, + "multi_pinky_q2": 0.00022827231441624463, + "multi_ring_q1": 0.0001799588353605941, + "multi_ring_q2": 0.0004502870433498174, + "pinky_q2": 1.6261989003396593e-05, + "ring_q2": 9.852656512521207e-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": 3.4417379583109926, + "joint_effort_rms": 70.24911778845083, + "joint_jerk_rms": 343.9170248116426, + "joint_velocity_rms": 0.28143247652839365 + }, + "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": 2043, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_79_episode_08/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_79_episode_08/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52a7052758b3ef6aee0a0d91ad236626378a45d5 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_79_episode_08/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/79_bimanual_piano_melody.yaml", "episode_index": 8, "seed": 207900007, "success": true, "steps": 1893, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207900007, "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": 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", 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"dynamic", "category": "kitchen", "asset_code": "028", "asset_id": "clutter_028_skillet_lid", "asset_split": "unseen", "spawn_position": [0.7429336089432639, 0.22187834321319327, 0.7551266618331219], "spawn_yaw_deg": 41.8883560625486, "obj_id": "distractor_00_clutter_028_skillet_lid"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_325_piano_1": {"position": [0.0, 0.24, 0.8177609282213911], "rpy_deg": [0.0, 0.0, 0.0]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "piano_melody", "robot_key": "multi_xarm7_with_ability", "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": 1863, "stable_success_step": 1892, "first_stable_success_step": 1892, "steps_to_stable_success": 1893, "policy_steps_to_stable_success": 631, "policy_queries_to_stable_success": 22, "time_to_stable_success_s": 31.54999999999949, "expert_time_s": 22.7, "expert_time_step": 1362, "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": 1, "latched_stage_completion_rate": 1.0, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 1, "task_efficiency": 0.7194928684627692, "kinematic_grasp_stability_index": null, "mean_kinematic_grasp_stability": null, "per_object_best_kinematic_grasp_stability": {}, "grasp_gsi_diagnostics": {}, "robot_motion_metrics": {"joint_velocity_rms": 0.373894449081744, "joint_acceleration_rms": 3.566694862008362, "joint_jerk_rms": 356.29448049070896, "joint_effort_rms": 72.86163786465482}, "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": 0.0001608360471436754}, "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": 0.0001608360471436754, "max_joint_limit_excess_joint": "index_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": 0.0001608360471436754, "max_joint_limit_excess_joint": "index_q1", "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": 1863, "play_right_melody": 1849}, "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_1x_icl/source_runs/task_79_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_79_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..37e566b811a88081bc185ab2e662825d881ec016 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_79_episode_08/summary.json @@ -0,0 +1,164 @@ +{ + "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": 31.54999999999949 + }, + "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": 0.7194928684627692, + "expert_time_s": 22.7, + "expert_time_step": 1362, + "avg_steps_to_success": 1893, + "avg_policy_steps_to_success": 631, + "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": 0.0001608360471436754, + "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": 0.0001608360471436754 + }, + "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": 3.566694862008362, + "joint_effort_rms": 72.86163786465482, + "joint_jerk_rms": 356.29448049070896, + "joint_velocity_rms": 0.373894449081744 + }, + "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": 1893, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_79_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_79_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d10a456cbba5b1ff81f03b879fa9802476e8a83b --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_79_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/79_bimanual_piano_melody.yaml", "episode_index": 9, "seed": 207900008, "success": false, "steps": 2043, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207900008, "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": "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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"unseen", "profile_name": "eval_default_camera", "profile_split": "unseen", "profile_pool_size": 1, "cameras": {"cam_chest": {"enabled": true, "position_offset_m": [0.004189139932674024, 0.004148110107830938, 0.0010686969875762196], "target_offset_m": [0.001684019658417647, 0.0002840519487216321, -0.0030091979872275154], "distance_offset_m": -0.02609800512324835, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.7708476508495081, -0.45201013288593384, -0.21107295997444964], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [0.0026949625879956352, -0.0027009005442628965, -0.002900773265195672], "target_offset_m": [0.0013250440042447973, -0.0008382050693727886, -0.003633430476285584], "distance_offset_m": 0.011872836287419808, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.26881475450615855, 0.8721684516377919, -0.6145930801370914], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [-0.002020601165199012, 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"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": 1, "robot_constraint_diagnostics": {"joint_limit_hard_counts": {"multi_middle_q1": 1}, "joint_limit_max_excess_by_joint": {"index_q1": 8.171817898983136e-05, "multi_index_q1": 0.003139698412269354, "multi_index_q2": 8.251378469381621e-10, "multi_middle_q1": 0.005591555964201689, "multi_middle_q2": 0.0036404377315193415, "multi_pinky_q1": 0.004564215894788504, "multi_pinky_q2": 0.002715907758101821, "multi_ring_q1": 0.0042898464016616344, "multi_ring_q2": 0.003228679532185197, "multi_thumb_q2": 0.0003139312320854515}, "joint_limit_baseline_checks": [{"phase": "post_reset", "checked": true, "hard_violation": false, "hard_limit_source": 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"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": [-2.203519105911255, 1.3018306493759155, -1.127658724784851, -1.1548384428024292, -0.1398696005344391, -0.01832961104810238, -2.244804620742798, -2.58827805519104, 0.6482219696044922, 1.1652534008026123, 1.313055396080017, 1.7377773523330688, -1.3824976682662964, -1.7741342782974243, 0.07568570971488953, 0.6442263126373291, 0.14239095151424408, 0.26109829545021057, -0.11751850694417953, 0.7999398708343506, 6.505470651063661e-07, 3.0185162813722854e-06, 3.86717101719114e-06, -0.06668300926685333, 0.9176324605941772, 1.239308318190524e-07], "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": [-2.203519105911255, 1.3018306493759155, -1.127658724784851, -1.1548384428024292, -0.1398696005344391, -0.01832961104810238, -2.244804620742798, -2.58827805519104, 0.6482219696044922, 1.1652534008026123, 1.313055396080017, 1.7377773523330688, -1.3824976682662964, -1.7741342782974243, 0.07568570971488953, 0.6442263126373291, 0.14239095151424408, 0.26109829545021057, -0.11751850694417953, 0.7999398708343506, 6.505470651063661e-07, 3.0185162813722854e-06, 3.86717101719114e-06, -0.06668300926685333, 0.08011432737112045, 0.6819220781326294, 0.1507227122783661, 0.27637600898742676, 0.9176324605941772, 0.8467469811439514, 6.88612715293857e-07, 3.1951394703355618e-06, 4.093451934750192e-06, 1.239308318190524e-07], "shielded_full_target": [-2.203519105911255, 1.3018306493759155, -1.127658724784851, -1.1548384428024292, -0.1398696005344391, -0.01832961104810238, -2.244804620742798, -2.58827805519104, 0.6482219696044922, 1.1652534008026123, 1.313055396080017, 1.7377773523330688, -1.3824976682662964, -1.7741342782974243, 0.07568570971488953, 0.6442263126373291, 0.14239095151424408, 0.26109829545021057, -0.11751850694417953, 0.7999398708343506, 6.505470651063661e-07, 3.0185162813722854e-06, 3.86717101719114e-06, -0.06668300926685333, 0.08011432737112045, 0.6819220781326294, 0.1507227122783661, 0.27637600898742676, 0.9176324605941772, 0.8467469811439514, 6.88612715293857e-07, 3.1951394703355618e-06, 4.093451934750192e-06, 1.239308318190524e-07]}, "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": 0.005591555964201689, "max_joint_limit_excess_joint": "multi_middle_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": 0.005591555964201689, "max_joint_limit_excess_joint": "multi_middle_q1", "stage_completion": {"play_left_melody": true, "play_right_melody": false}, "current_stage_completion": {"play_left_melody": true, "play_right_melody": false}, "stage_first_completion_step": {"play_left_melody": 1989, "play_right_melody": null}, "violation_counts": {}, "policy_query_count": 28, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2043, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_79_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_79_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8ae19baedfdd66da579617140b371f9966457f99 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_79_episode_09/summary.json @@ -0,0 +1,175 @@ +{ + "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": 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": 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": 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": { + "piano_melody": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.5, + "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": 22.7, + "expert_time_step": 1362, + "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": 0.0, + "joint_limit_active_step_rate": 0.0, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.005591555964201689, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": { + "multi_middle_q1": 1 + }, + "joint_limit_hard_episode_events": 1, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "index_q1": 8.171817898983136e-05, + "multi_index_q1": 0.003139698412269354, + "multi_index_q2": 8.251378469381621e-10, + "multi_middle_q1": 0.005591555964201689, + "multi_middle_q2": 0.0036404377315193415, + "multi_pinky_q1": 0.004564215894788504, + "multi_pinky_q2": 0.002715907758101821, + "multi_ring_q1": 0.0042898464016616344, + "multi_ring_q2": 0.003228679532185197, + "multi_thumb_q2": 0.0003139312320854515 + }, + "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": 4.679050252210621, + "joint_effort_rms": 70.94282330943628, + "joint_jerk_rms": 445.29561581428334, + "joint_velocity_rms": 0.3496914646153079 + }, + "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": 2043, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_79_episode_10/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_79_episode_10/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef51521b51649297b4836fb31db4fca8be4bb8c6 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_79_episode_10/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/79_bimanual_piano_melody.yaml", "episode_index": 10, "seed": 207900009, "success": false, "steps": 2043, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207900009, "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": 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{"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": 0.045635332450378444, "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": [-0.0030505866648825033, -0.0012364714051853122, 0.0005262811100756907], "target_offset_m": [0.0011884006037008498, -0.0034504737541428757, -0.0027289627663293447], "distance_offset_m": 0.00950880714283027, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.9852346349366741, -0.4727252263701609, 0.3787194394343325], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.0047607610697439715, -0.00024134411324904827, 0.0024577194841031505], "target_offset_m": [-0.0010426415080425945, -0.0007415275468783877, 0.004515269642277793], 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{"position": [0.0, 0.24, 0.8628382227421885], "rpy_deg": [0.0, 0.0, 0.0]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "piano_melody", "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": 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": 22.7, "expert_time_step": 1362, "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": 0.5, "current_normalized_progress_score": 1.0, "current_chain_depth_progress_score": 1.0, "current_chain_depth": 1, "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": null, "mean_kinematic_grasp_stability": null, "per_object_best_kinematic_grasp_stability": {}, "grasp_gsi_diagnostics": {}, "robot_motion_metrics": {"joint_velocity_rms": 0.38198793659942964, "joint_acceleration_rms": 11.150409736004814, "joint_jerk_rms": 1072.6693556195019, "joint_effort_rms": 76.42654052650727}, "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": 1, "robot_constraint_diagnostics": {"joint_limit_hard_counts": {"multi_middle_q2": 2}, "joint_limit_max_excess_by_joint": {"index_q1": 0.0009121668408624828, "index_q2": 1.7250352257747181e-09, "middle_q1": 0.004521103575825691, "middle_q2": 0.001723127206787467, "multi_index_q1": 0.0006213648011907935, "multi_index_q2": 2.5761461852624734e-09, "multi_middle_q1": 0.0034435070119798183, "multi_middle_q2": 0.005763597320765257, "multi_pinky_q1": 0.0005744695663452148, "multi_pinky_q2": 0.001878499984741211, "multi_ring_q1": 0.0009744167327880859, "multi_ring_q2": 0.0014624595642089844, "pinky_q1": 0.0036687073297798634, "pinky_q2": 0.0012522354954853654, "ring_q1": 0.0031567069236189127, "ring_q2": 0.001352360239252448}, "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": 1437, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "multi_middle_q2", "role": "finger_mimic", "qpos": -0.005763597320765257, "hard_excess_rad": 0.005763597320765257, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.8439998626708984, "operating_lower": 0.0, "operating_upper": 1.8439998626708984, "expanded_target": 0.0, "shielded_target": 0.0, "mimic_source_joint": "multi_middle_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": [-2.425445556640625, 1.899445652961731, -1.1597687005996704, -1.3225679397583008, 0.14454466104507446, -0.37961989641189575, -2.311915874481201, -2.632401943206787, 0.6634637713432312, 1.5379745960235596, 1.2385083436965942, 1.2951598167419434, -1.4909873008728027, -1.2699049711227417, 0.0, 0.10000000149011612, 0.0, 0.0, -0.11747579276561737, 0.42500001192092896, 0.0, 1.7399998903274536, 1.7399998903274536, -0.06664462387561798, 0.9176526069641113, 0.47364869713783264], "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": [-2.425445556640625, 1.899445652961731, -1.1597687005996704, -1.3225679397583008, 0.14454466104507446, -0.37961989641189575, -2.311915874481201, -2.632401943206787, 0.6634637713432312, 1.5379745960235596, 1.2385083436965942, 1.2951598167419434, -1.4909873008728027, -1.2699049711227417, 0.0, 0.10000000149011612, 0.0, 0.0, -0.11747579276561737, 0.42500001192092896, 0.0, 1.7399998903274536, 1.7399998903274536, -0.06664462387561798, 0.0, 0.10585132986307144, 0.0, 0.0, 0.9176526069641113, 0.4498681426048279, 0.0, 1.8418129682540894, 1.8418129682540894, 0.47364869713783264], "shielded_full_target": [-2.425445556640625, 1.899445652961731, -1.1597687005996704, -1.3225679397583008, 0.14454466104507446, -0.37961989641189575, -2.311915874481201, -2.632401943206787, 0.6634637713432312, 1.5379745960235596, 1.2385083436965942, 1.2951598167419434, -1.4909873008728027, -1.2699049711227417, 0.0, 0.10000000149011612, 0.0, 0.0, -0.11747579276561737, 0.42500001192092896, 0.0, 1.7399998903274536, 1.7399998903274536, -0.06664462387561798, 0.0, 0.10585132986307144, 0.0, 0.0, 0.9176526069641113, 0.4498681426048279, 0.0, 1.8418129682540894, 1.8418129682540894, 0.47364869713783264]}, "joint_limit_active_steps": 0, "joint_limit_hard_episode_events": 2, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.005763597320765257, "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": 0.005763597320765257, "max_joint_limit_excess_joint": "multi_middle_q2", "stage_completion": {"play_left_melody": true, "play_right_melody": false}, "current_stage_completion": {"play_left_melody": true, "play_right_melody": false}, "stage_first_completion_step": {"play_left_melody": 1994, "play_right_melody": null}, "violation_counts": {}, "policy_query_count": 29, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2043, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_79_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_79_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ee2084b18824b6efc740c9d7d2cb8face1ae49e6 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_79_episode_10/summary.json @@ -0,0 +1,181 @@ +{ + "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": 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": 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": 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": { + "piano_melody": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.5, + "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": 22.7, + "expert_time_step": 1362, + "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": 0.0, + "joint_limit_active_step_rate": 0.0, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.005763597320765257, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": { + "multi_middle_q2": 2 + }, + "joint_limit_hard_episode_events": 2, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "index_q1": 0.0009121668408624828, + "index_q2": 1.7250352257747181e-09, + "middle_q1": 0.004521103575825691, + "middle_q2": 0.001723127206787467, + "multi_index_q1": 0.0006213648011907935, + "multi_index_q2": 2.5761461852624734e-09, + "multi_middle_q1": 0.0034435070119798183, + "multi_middle_q2": 0.005763597320765257, + "multi_pinky_q1": 0.0005744695663452148, + "multi_pinky_q2": 0.001878499984741211, + "multi_ring_q1": 0.0009744167327880859, + "multi_ring_q2": 0.0014624595642089844, + "pinky_q1": 0.0036687073297798634, + "pinky_q2": 0.0012522354954853654, + "ring_q1": 0.0031567069236189127, + "ring_q2": 0.001352360239252448 + }, + "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": 11.150409736004814, + "joint_effort_rms": 76.42654052650727, + "joint_jerk_rms": 1072.6693556195019, + "joint_velocity_rms": 0.38198793659942964 + }, + "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": 2043, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_79_episode_11/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_79_episode_11/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3566555563286e72e97fb341547995743f1777de --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_79_episode_11/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/79_bimanual_piano_melody.yaml", "episode_index": 11, "seed": 207900010, "success": true, "steps": 1900, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207900010, "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": 0.0, "base_yaw_deg": 0.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan207", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan207_physics/scene.usda", "scene_offset": [0.0, 0.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_metal_metal0031_jpg", "asset_uri": "dex2bench_dataset/textures/metal/metal0031.jpg", "asset_category": "metal", "asset_id": "metal/metal0031.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1415.2136941273054, "color": [0.970444064445764, 0.9623861842067122, 0.9091230759172889], "pitch_deg": -8.524898414819706, "yaw_deg": 21.6941092224084, "angle_deg": 0.5069175718330736}, "dome": {"intensity": 333.82961142178283, "color": [0.8008887582583496, 0.8585737319627714, 0.7257075979719649], "exposure": -0.13728029906682793}, "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": 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[0.7549172881845437, -0.025317348656713617, 0.7351671865951815], "spawn_yaw_deg": 11.469322639394758, "obj_id": "distractor_02_clutter_054_softball"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_325_piano_1": {"position": [0.0, 0.24, 0.8020677546677148], "rpy_deg": [0.0, 0.0, 0.0]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "piano_melody", "robot_key": "multi_xarm7_with_ability", "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": 1870, "stable_success_step": 1899, "first_stable_success_step": 1899, "steps_to_stable_success": 1900, "policy_steps_to_stable_success": 634, "policy_queries_to_stable_success": 23, "time_to_stable_success_s": 31.66666666666615, "expert_time_s": 22.7, "expert_time_step": 1362, "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": 1, "latched_stage_completion_rate": 1.0, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 1, "task_efficiency": 0.7168421052631696, "kinematic_grasp_stability_index": null, "mean_kinematic_grasp_stability": null, "per_object_best_kinematic_grasp_stability": {}, "grasp_gsi_diagnostics": {}, "robot_motion_metrics": {"joint_velocity_rms": 0.3273965954049984, "joint_acceleration_rms": 3.7779611166607374, "joint_jerk_rms": 378.42153493693974, "joint_effort_rms": 69.39216896425661}, "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": 0.00032688258215785027, "index_q2": 5.619677501123022e-10, "middle_q1": 0.0005714540020562708, "middle_q2": 0.0010367556242272258, "multi_index_q1": 0.00104843033477664, "multi_index_q2": 3.8828765203113846e-10, "multi_middle_q1": 0.0006937310681678355, "multi_middle_q2": 0.0015301733510568738, "multi_pinky_q1": 0.00022254347277339548, "multi_pinky_q2": 0.0011241920292377472, "multi_ring_q1": 0.0002366853441344574, "multi_ring_q2": 0.0017667145002633333, "pinky_q1": 0.00013924954691901803, "pinky_q2": 0.0007855066796764731, "ring_q1": 0.00022774846001993865, "ring_q2": 0.0009005185565911233}, "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": 0.0017667145002633333, "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": 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": 0.0017667145002633333, "max_joint_limit_excess_joint": "multi_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": 1866, "play_right_melody": 1870}, "violation_counts": {}, "policy_query_count": 23, "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_1x_icl/source_runs/task_79_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_79_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..919877a26b974ae98c0ebb2ac40920ac5ef8c043 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_79_episode_11/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": 31.66666666666615 + }, + "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": 0.7168421052631696, + "expert_time_s": 22.7, + "expert_time_step": 1362, + "avg_steps_to_success": 1900, + "avg_policy_steps_to_success": 634, + "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": 0.0017667145002633333, + "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": 0.00032688258215785027, + "index_q2": 5.619677501123022e-10, + "middle_q1": 0.0005714540020562708, + "middle_q2": 0.0010367556242272258, + "multi_index_q1": 0.00104843033477664, + "multi_index_q2": 3.8828765203113846e-10, + "multi_middle_q1": 0.0006937310681678355, + "multi_middle_q2": 0.0015301733510568738, + "multi_pinky_q1": 0.00022254347277339548, + "multi_pinky_q2": 0.0011241920292377472, + "multi_ring_q1": 0.0002366853441344574, + "multi_ring_q2": 0.0017667145002633333, + "pinky_q1": 0.00013924954691901803, + "pinky_q2": 0.0007855066796764731, + "ring_q1": 0.00022774846001993865, + "ring_q2": 0.0009005185565911233 + }, + "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": 3.7779611166607374, + "joint_effort_rms": 69.39216896425661, + "joint_jerk_rms": 378.42153493693974, + "joint_velocity_rms": 0.3273965954049984 + }, + "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": 1900, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_79_episode_12/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_79_episode_12/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7788dbd2b74d0cf2d172ef9927f695345fcc7512 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_79_episode_12/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/79_bimanual_piano_melody.yaml", "episode_index": 12, "seed": 207900011, "success": true, "steps": 1897, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207900011, "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": 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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{"enabled": true, "height_offset_m": 0.018309842597154374, "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": [-0.004168876023324276, -0.0006656934408841653, 0.0014209807682403182], "target_offset_m": [-0.0035270834303739677, -0.0036856619474292954, 0.004055047186104267], "distance_offset_m": -0.02026838004346991, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.9880921430255978, 0.7548118895835951, -0.09721006692720535], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [0.0033106492292336335, 0.001424608925404287, 0.0005257207505399595], "target_offset_m": [0.002323075002075916, 0.0027434133911089058, 0.0033693606350163217], "distance_offset_m": -0.0009903983872294152, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.11788307413421895, 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[0.7635884201904565, 0.39455696432061804, 0.7686758642747518], "spawn_yaw_deg": 60.6420768974052, "obj_id": "distractor_00_clutter_054_softball"}, {"name": "clutter_033_spatula", "uri": "dex2bench_dataset/Objects/033_spatula/usd_decomposition_linux/textured.usd", "scale": [0.9442558079730428, 0.9442558079730428, 0.9442558079730428], "body_type": "dynamic", "category": "kitchen", "asset_code": "033", "asset_id": "clutter_033_spatula", "asset_split": "unseen", "spawn_position": [-0.6461919718113142, 0.09523985559396031, 0.7689594905931172], "spawn_yaw_deg": 136.04017216280107, "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_325_piano_1": {"position": [0.0, 0.24, 0.8355127328889644], "rpy_deg": [0.0, 0.0, 0.0]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "piano_melody", "robot_key": "multi_xarm7_with_ability", "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": 1867, "stable_success_step": 1896, "first_stable_success_step": 1896, "steps_to_stable_success": 1897, "policy_steps_to_stable_success": 633, "policy_queries_to_stable_success": 23, "time_to_stable_success_s": 31.616666666666152, "expert_time_s": 22.7, "expert_time_step": 1362, "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": 1, "latched_stage_completion_rate": 1.0, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 1, "task_efficiency": 0.7179757511860949, "kinematic_grasp_stability_index": null, "mean_kinematic_grasp_stability": null, "per_object_best_kinematic_grasp_stability": {}, "grasp_gsi_diagnostics": {}, "robot_motion_metrics": {"joint_velocity_rms": 0.31887948814552974, "joint_acceleration_rms": 4.3047056575542175, "joint_jerk_rms": 429.6272657480647, "joint_effort_rms": 70.57921277529651}, "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": 7.801693573128432e-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": 7.801693573128432e-05, "max_joint_limit_excess_joint": "index_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": 7.801693573128432e-05, "max_joint_limit_excess_joint": "index_q1", "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": 1867, "play_right_melody": 1856}, "violation_counts": {}, "policy_query_count": 23, "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_1x_icl/source_runs/task_79_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_79_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..a3acbf01e19c04c794e85fbd98bc6ec25fc3576e --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_79_episode_12/summary.json @@ -0,0 +1,164 @@ +{ + "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": 31.616666666666152 + }, + "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": 0.7179757511860949, + "expert_time_s": 22.7, + "expert_time_step": 1362, + "avg_steps_to_success": 1897, + "avg_policy_steps_to_success": 633, + "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": 7.801693573128432e-05, + "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": 7.801693573128432e-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": 4.3047056575542175, + "joint_effort_rms": 70.57921277529651, + "joint_jerk_rms": 429.6272657480647, + "joint_velocity_rms": 0.31887948814552974 + }, + "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": 1897, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_79_episode_13/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_79_episode_13/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f04198c6363af11cad7e7a77c6b71a984d66b7e --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_79_episode_13/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/79_bimanual_piano_melody.yaml", "episode_index": 13, "seed": 207900012, "success": true, "steps": 1848, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207900012, "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, 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"grasp_gsi_diagnostics": {}, "robot_motion_metrics": {"joint_velocity_rms": 0.2476441339792959, "joint_acceleration_rms": 2.4148226547216276, "joint_jerk_rms": 225.62891523320368, "joint_effort_rms": 68.03194844210493}, "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": 8.207340579247102e-05, "multi_pinky_q2": 3.701245987031143e-06, "pinky_q1": 0.00010161026875721291, "pinky_q2": 0.0005059726536273956, "ring_q2": 5.93751719861757e-05, "thumb_q1": 0.00011398585047572851}, "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": 0.0005059726536273956, "max_joint_limit_excess_joint": "pinky_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": 0.0005059726536273956, "max_joint_limit_excess_joint": "pinky_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": 1818, "play_right_melody": 1804}, "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_1x_icl/source_runs/task_79_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_79_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..f4689904cc76a7fd5e391674e24f21ef4720c03c --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_79_episode_13/summary.json @@ -0,0 +1,169 @@ +{ + "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": 30.79999999999953 + }, + "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": 0.7370129870129982, + "expert_time_s": 22.7, + "expert_time_step": 1362, + "avg_steps_to_success": 1848, + "avg_policy_steps_to_success": 616, + "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": 0.0005059726536273956, + "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": 8.207340579247102e-05, + "multi_pinky_q2": 3.701245987031143e-06, + "pinky_q1": 0.00010161026875721291, + "pinky_q2": 0.0005059726536273956, + "ring_q2": 5.93751719861757e-05, + "thumb_q1": 0.00011398585047572851 + }, + "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": 2.4148226547216276, + "joint_effort_rms": 68.03194844210493, + "joint_jerk_rms": 225.62891523320368, + "joint_velocity_rms": 0.2476441339792959 + }, + "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": 1848, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_79_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_79_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..107fef0b1c230580d72aa15e779332aad9230162 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_79_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/79_bimanual_piano_melody.yaml", "episode_index": 14, "seed": 207900013, "success": true, "steps": 1764, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207900013, "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": "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_wood_wood1005_jpg", "asset_uri": "dex2bench_dataset/textures/wood/wood1005.jpg", "asset_category": "wood", "asset_id": "wood/wood1005.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1154.193779202568, "color": [0.7047492397595427, 0.7160332251817467, 0.9068025162158525], "pitch_deg": -8.503447867513685, "yaw_deg": -25.141321416736986, "angle_deg": 0.5336324036504709}, "dome": {"intensity": 157.5121461361215, "color": [0.9699717654356836, 0.8640484759571548, 0.8891591144530137], "exposure": 0.09628030639561902}, "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": 0.031546703249956676, "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": [-0.0038109548711371347, 0.0037614681097663414, -0.00206803033955798], "target_offset_m": [0.0037116846075991644, -0.0019149648142554698, -0.00014939304857158366], "distance_offset_m": 0.004018292479511944, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.8336473223159047, 0.4806325767745303, -0.6293649551595388], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.0002201177583880951, 0.004225157548041303, 0.00033281928675366144], "target_offset_m": [0.002009554746031353, 0.0029724735459795886, 0.003376872010220686], "distance_offset_m": 0.02225828517192973, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.7478479887380425, -0.05539001830639845, 0.3512998037897139], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [-0.0027325267929291276, 0.0023791807344750292, 0.003250654111281952], "target_offset_m": [0.003487672313626175, -0.003600708270581565, 0.0015151512744615491], "distance_offset_m": 0.017892376677967496, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.2969251465556231, 0.626275969925334, 0.41507770005859235], "has_offset": true}, "cam_stereo_right": {"enabled": true, "position_offset_m": [-0.0027325267929291276, 0.0023791807344750292, 0.003250654111281952], 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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": [1.0429155913285153, 1.0429155913285153, 1.0429155913285153], "body_type": "dynamic", "category": "kitchen", "asset_code": "033", "asset_id": "clutter_033_spatula", "asset_split": "unseen", "spawn_position": [0.7775051860102217, 0.20633202186925892, 0.7822642291768762], "spawn_yaw_deg": 243.91234484788333, "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_325_piano_1": {"position": [0.0, 0.24, 0.8487495935417667], "rpy_deg": [0.0, 0.0, 0.0]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "piano_melody", "robot_key": "multi_xarm7_with_ability", "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": 1734, "stable_success_step": 1763, "first_stable_success_step": 1763, "steps_to_stable_success": 1764, "policy_steps_to_stable_success": 588, "policy_queries_to_stable_success": 19, "time_to_stable_success_s": 29.39999999999961, "expert_time_s": 22.7, "expert_time_step": 1362, "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": 1, "latched_stage_completion_rate": 1.0, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 1, "task_efficiency": 0.7721088435374251, "kinematic_grasp_stability_index": null, "mean_kinematic_grasp_stability": null, "per_object_best_kinematic_grasp_stability": {}, "grasp_gsi_diagnostics": {}, "robot_motion_metrics": {"joint_velocity_rms": 0.3099344061201853, "joint_acceleration_rms": 3.3689955191147902, "joint_jerk_rms": 338.4509847773871, "joint_effort_rms": 68.88575326417258}, "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": 0.0002977045951411128, "index_q2": 1.1823154677514935e-09, "multi_middle_q1": 0.0012519279262050986, "multi_middle_q2": 0.0019416501745581627, "multi_pinky_q1": 0.0006237353663891554, "multi_pinky_q2": 0.0015375696821138263, "multi_ring_q1": 0.00012282142415642738, "multi_ring_q2": 0.0017715019639581442, "pinky_q1": 0.00011703777272487059, "pinky_q2": 0.0004928084090352058, "ring_q1": 0.00012586051889229566, "ring_q2": 0.0005366959958337247}, "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": 0.0019416501745581627, "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": 0.0019416501745581627, "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": 1730, "play_right_melody": 1734}, "violation_counts": {}, "policy_query_count": 19, "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_1x_icl/source_runs/task_79_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_79_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..3f3eeb16bb137ed0d3d6f5429de0b1bc14ed1449 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_79_episode_14/summary.json @@ -0,0 +1,175 @@ +{ + "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": 29.39999999999961 + }, + "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": 0.7721088435374251, + "expert_time_s": 22.7, + "expert_time_step": 1362, + "avg_steps_to_success": 1764, + "avg_policy_steps_to_success": 588, + "avg_policy_queries_to_success": 19 + }, + "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": 0.0019416501745581627, + "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": 0.0002977045951411128, + "index_q2": 1.1823154677514935e-09, + "multi_middle_q1": 0.0012519279262050986, + "multi_middle_q2": 0.0019416501745581627, + "multi_pinky_q1": 0.0006237353663891554, + "multi_pinky_q2": 0.0015375696821138263, + "multi_ring_q1": 0.00012282142415642738, + "multi_ring_q2": 0.0017715019639581442, + "pinky_q1": 0.00011703777272487059, + "pinky_q2": 0.0004928084090352058, + "ring_q1": 0.00012586051889229566, + "ring_q2": 0.0005366959958337247 + }, + "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": 3.3689955191147902, + "joint_effort_rms": 68.88575326417258, + "joint_jerk_rms": 338.4509847773871, + "joint_velocity_rms": 0.3099344061201853 + }, + "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": 1764, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_80_episode_05/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_80_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ff91c98a72ce4fde2fc2b9f9516b80012300d4a --- /dev/null +++ b/gpt6_astra_1x_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": 1779, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 208000004, "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": "FloorPlan203", "asset_split": "unseen", 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"yaw_jitter_deg": 10.0}, "table_height": {"enabled": true, "height_offset_m": 0.010650735412358683, "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": [0.003452048991180735, 0.0010379563488759, 0.003841835234001123], "target_offset_m": [-0.003197447210976401, 0.0041528385870567295, 0.004096711071538522], "distance_offset_m": -0.007463594601493127, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.20960718336931983, 0.8419564527980163, 0.14793557063149287], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [0.0008533293846184498, -0.0028690527669354895, 0.002159575807160011], "target_offset_m": [-0.002791755053824039, -0.003125316825960979, -0.00250678193569877], "distance_offset_m": 0.024468158104157416, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": 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{"obj_300_mouse_3": 0.0}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.19999999999999346, "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": 0.5289215372423964, "joint_acceleration_rms": 24.409547574559138, "joint_jerk_rms": 2474.4291543735967, "joint_effort_rms": 33.634386969290915}, "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_joint5_2": 20, "r_f_joint1_2": 55, "r_f_joint2_1": 50, "r_f_joint2_2": 18, "r_f_joint3_1": 51, "r_f_joint3_2": 17}, "joint_limit_hard_counts": {"l_f_joint5_2": 2, "r_f_joint1_2": 3, "r_f_joint2_1": 1, "r_f_joint2_2": 1, "r_f_joint3_1": 2, "r_f_joint3_2": 1}, "finger_joint_limit_saturation_counts": {"r_f_joint1_2": 28, "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": 2.8598167318705237e-06, "l_f_joint2_1": 0.00013807718642055988, "l_f_joint3_1": 0.0013551082229241729, "l_f_joint3_3": 0.00020771028357557952, "l_f_joint4_3": 2.9854478270863183e-05, "l_f_joint5_1": 0.0034653544425964355, "l_f_joint5_2": 0.06679988652467728, "l_f_joint5_3": 0.0029938817024230957, "r_f_joint1_1": 3.809434474533191e-07, "r_f_joint1_2": 0.5880715847015381, "r_f_joint2_1": 1.5117734670639038, "r_f_joint2_2": 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0.08601083606481552, 0.11316635459661484, 0.11672550439834595, 0.05118343606591225, 0.05578787252306938, 0.001766933943144977]}, "joint_limit_active_steps": 95, "joint_limit_hard_episode_events": 5, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 53, "max_joint_limit_excess_rad": 1.5117734670639038, "max_joint_limit_excess_joint": "r_f_joint2_1", "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": 95, "joint_limit_active_step_rate": 0.05340078695896571, "finger_joint_limit_saturation_steps": 53, "finger_joint_limit_saturation_step_rate": 0.029792017987633503, "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": 25, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1779, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_80_episode_05/summary.json b/gpt6_astra_1x_icl/source_runs/task_80_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..2ed07b0fe13e75503d58e95487ef26554ea2d244 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_80_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": 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": 1779, + "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": 0.05340078695896571, + "finger_joint_limit_saturation_step_rate": 0.029792017987633503, + "max_joint_limit_excess_rad": 1.5117734670639038, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "l_f_joint5_2": 20, + "r_f_joint1_2": 55, + "r_f_joint2_1": 50, + "r_f_joint2_2": 18, + "r_f_joint3_1": 51, + "r_f_joint3_2": 17 + }, + "joint_limit_hard_counts": { + "l_f_joint5_2": 2, + "r_f_joint1_2": 3, + "r_f_joint2_1": 1, + "r_f_joint2_2": 1, + "r_f_joint3_1": 2, + "r_f_joint3_2": 1 + }, + "joint_limit_hard_episode_events": 5, + "finger_joint_limit_saturation_counts": { + "r_f_joint1_2": 28, + "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": 2.8598167318705237e-06, + "l_f_joint2_1": 0.00013807718642055988, + "l_f_joint3_1": 0.0013551082229241729, + "l_f_joint3_3": 0.00020771028357557952, + "l_f_joint4_3": 2.9854478270863183e-05, + "l_f_joint5_1": 0.0034653544425964355, + "l_f_joint5_2": 0.06679988652467728, + "l_f_joint5_3": 0.0029938817024230957, + "r_f_joint1_1": 3.809434474533191e-07, + "r_f_joint1_2": 0.5880715847015381, + "r_f_joint2_1": 1.5117734670639038, + "r_f_joint2_2": 0.26798737049102783, + "r_f_joint2_3": 0.001087862066924572, + "r_f_joint3_1": 1.4735122919082642, + "r_f_joint3_2": 0.251870334148407, + "r_f_joint4_1": 0.0014663703041151166, + "r_f_joint4_3": 0.0008533523068763316 + }, + "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": 24.409547574559138, + "joint_effort_rms": 33.634386969290915, + "joint_jerk_rms": 2474.4291543735967, + "joint_velocity_rms": 0.5289215372423964 + }, + "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": 0.19999999999999346, + "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": 1779, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_80_episode_06/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_80_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2adfce81c95aa56421f1a7177147c73348541c5 --- /dev/null +++ b/gpt6_astra_1x_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": 1779, "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", 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"finger_joint_limit_saturation": true, "impact_metric_available": false, "chain_depth": 0, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"l_f_joint3_2": 4, "r_f_joint2_1": 2, "r_f_joint2_2": 44, "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_joint3_2": 1, "l_f_joint5_2": 1, "r_f_joint2_1": 2, "r_f_joint2_2": 5, "r_f_joint2_3": 2, "r_f_joint2_4": 3, "r_f_joint3_1": 2, "r_f_joint3_2": 3}, "finger_joint_limit_saturation_counts": {"r_f_joint2_2": 9, "r_f_joint3_2": 1}, "joint_limit_max_excess_by_joint": {"l_f_joint1_1": 3.188082189353736e-07, "l_f_joint2_1": 0.0002782099472824484, "l_f_joint2_3": 0.00036626221844926476, "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": 48, "joint_limit_hard_episode_events": 7, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 9, "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": 48, "joint_limit_active_step_rate": 0.026981450252951095, "finger_joint_limit_saturation_steps": 9, "finger_joint_limit_saturation_step_rate": 0.00505902192242833, "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": 27, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1779, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_80_episode_06/summary.json b/gpt6_astra_1x_icl/source_runs/task_80_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0094b5e5d01db04cc8c0d9a2ae97410f76d3f66f --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_80_episode_06/summary.json @@ -0,0 +1,220 @@ +{ + "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": 1779, + "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": 0.026981450252951095, + "finger_joint_limit_saturation_step_rate": 0.00505902192242833, + "max_joint_limit_excess_rad": 0.23547814786434174, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "l_f_joint3_2": 4, + "r_f_joint2_1": 2, + 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0.007061525247991085, -0.0010000000474974513, 0.44554847478866577, 0.5087335705757141, 0.6844443678855896, 0.20000000298023224, 1.2899999618530273, 1.2899999618530273, 1.2899999618530273, 0.603851854801178, 0.20000000298023224, 1.2899999618530273, 1.2899999618530273, 1.2899999618530273, 0.013297745026648045, 0.019999999552965164, 1.2899999618530273, 1.2899999618530273, 1.2899999618530273, 0.0007637649541720748, 0.019999999552965164, 1.2899999618530273, 1.2899999618530273, 1.2899999618530273, 0.11145897954702377, 0.10000000149011612, 1.2899999618530273, 1.2899999618530273, 1.2899999618530273, 0.11349291354417801, 0.10000000149011612, 1.2899999618530273, 1.2899999618530273, 1.2899999618530273], "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": [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, 0.24804608523845673, 0.4228728413581848, 0.0, 0.007061525247991085, -0.0010000000474974513, 0.44554847478866577, 0.5087335705757141, 0.6844443678855896, 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"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": 236, "joint_limit_active_step_rate": 0.13265879707700956, "finger_joint_limit_saturation_steps": 181, "finger_joint_limit_saturation_step_rate": 0.1017425519955031, "max_joint_limit_excess_rad": 0.7600282430648804, "max_joint_limit_excess_joint": "r_f_joint4_3", "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": 27, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1779, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_80_episode_07/summary.json b/gpt6_astra_1x_icl/source_runs/task_80_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..255506f1bb2b6130fd67d153e1587b80ce6c6e8c --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_80_episode_07/summary.json @@ -0,0 +1,264 @@ +{ + "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": 1779, + "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": 0.13265879707700956, + "finger_joint_limit_saturation_step_rate": 0.1017425519955031, + "max_joint_limit_excess_rad": 0.7600282430648804, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "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": 4, + "r_f_joint1_3": 53, + "r_f_joint1_4": 47, + "r_f_joint2_1": 45, + "r_f_joint2_2": 4, + "r_f_joint2_3": 19, + "r_f_joint2_4": 9, + "r_f_joint3_1": 12, + "r_f_joint3_2": 26, + "r_f_joint3_3": 86, + "r_f_joint4_1": 1, + "r_f_joint4_2": 26, + "r_f_joint4_3": 89, + "r_f_joint5_1": 1, + "r_f_joint5_2": 73, + "r_f_joint5_3": 109 + }, + "joint_limit_hard_counts": { + "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": 1, + "r_f_joint1_3": 5, + "r_f_joint1_4": 2, + "r_f_joint2_1": 2, + "r_f_joint2_2": 1, + "r_f_joint2_3": 3, + "r_f_joint2_4": 1, + "r_f_joint3_1": 6, + "r_f_joint3_2": 1, + "r_f_joint3_3": 3, + "r_f_joint4_1": 2, + "r_f_joint4_2": 1, + "r_f_joint4_3": 2, + "r_f_joint5_1": 4, + "r_f_joint5_2": 3, + "r_f_joint5_3": 1 + }, + "joint_limit_hard_episode_events": 9, + "finger_joint_limit_saturation_counts": { + "l_f_joint5_1": 20, + "r_f_joint1_1": 23, + "r_f_joint1_3": 32, + "r_f_joint1_4": 29, + "r_f_joint2_1": 12, + "r_f_joint2_3": 5, + "r_f_joint3_1": 6, + "r_f_joint3_2": 21, + "r_f_joint3_3": 72, + "r_f_joint4_2": 3, + "r_f_joint4_3": 80, + "r_f_joint5_2": 34, + "r_f_joint5_3": 102 + }, + "joint_limit_max_excess_by_joint": { + "l_f_joint1_1": 1.8447893523898529e-07, + "l_f_joint2_1": 0.00017553452926222235, + "l_f_joint3_1": 0.0011609300272539258, + "l_f_joint3_2": 7.373910921160132e-05, + "l_f_joint3_3": 1.5199085282802116e-05, + "l_f_joint3_4": 1.3663688491760695e-07, + "l_f_joint4_1": 0.0002909760514739901, + "l_f_joint4_2": 0.00011163353337906301, + "l_f_joint4_3": 2.1691430447390303e-05, + "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": 0.020064115524291992, + "r_f_joint1_3": 0.3678777813911438, + "r_f_joint1_4": 0.5744991898536682, + "r_f_joint2_1": 0.25723811984062195, + "r_f_joint2_2": 0.205322727560997, + "r_f_joint2_3": 0.32256555557250977, + "r_f_joint2_4": 0.16117382049560547, + "r_f_joint3_1": 0.6440406441688538, + "r_f_joint3_2": 0.43396759033203125, + "r_f_joint3_3": 0.7460843324661255, + "r_f_joint3_4": 4.861054669902387e-09, + "r_f_joint4_1": 0.03139758110046387, + "r_f_joint4_2": 0.26321911811828613, + "r_f_joint4_3": 0.7600282430648804, + "r_f_joint5_1": 0.010152008384466171, + "r_f_joint5_2": 0.34837377071380615, + "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": 41.136564912654016, + "joint_effort_rms": 42.00004718784708, + "joint_jerk_rms": 4221.742026566884, + "joint_velocity_rms": 0.8275604519732275 + }, + "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": 0.19999999999999346, 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"runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 11, "joint_limit_active_step_rate": 0.006183249016301293, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.029660530388355255, "max_joint_limit_excess_joint": "r_f_joint3_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": 23, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1779, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_80_episode_08/summary.json b/gpt6_astra_1x_icl/source_runs/task_80_episode_08/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4f33b32a0822adf7ab1a8449edb9f8049e3eca8d --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_80_episode_08/summary.json @@ -0,0 +1,208 @@ +{ + "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": 1779, + "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": 0.0, + "joint_limit_active_step_rate": 0.006183249016301293, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.029660530388355255, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "r_f_joint1_2": 1, + "r_f_joint3_2": 10, + "r_f_joint4_2": 1 + }, + "joint_limit_hard_counts": { + "r_f_joint1_2": 2, + "r_f_joint2_3": 1, + "r_f_joint3_2": 2, + "r_f_joint4_2": 1 + }, + "joint_limit_hard_episode_events": 4, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "l_f_joint1_1": 2.56724888458848e-07, + "l_f_joint1_3": 4.3970905494461476e-07, + "l_f_joint2_1": 0.00018998445011675358, + "l_f_joint2_3": 6.808214720877004e-07, + "l_f_joint3_1": 0.001288734725676477, + "l_f_joint3_2": 7.6159267337061465e-06, + "l_f_joint4_2": 7.737337000435218e-06, + "l_f_joint4_3": 6.699632422169088e-07, + "l_f_joint5_2": 0.0001615362853044644, + "l_f_joint5_3": 4.8602083552395925e-05, + "r_f_joint1_1": 0.00017983840371016413, + "r_f_joint1_2": 0.010979175567626953, + "r_f_joint1_3": 0.0003594857989810407, + "r_f_joint2_3": 0.007536529563367367, + "r_f_joint3_1": 0.002164070028811693, + "r_f_joint3_2": 0.029660530388355255, + "r_f_joint3_3": 0.0013368232175707817, + "r_f_joint3_4": 6.590623524971306e-05, + "r_f_joint4_1": 0.00227150646969676, + "r_f_joint4_2": 0.014756090939044952, + "r_f_joint4_3": 0.001163023174740374, + "r_f_joint4_4": 7.791303505655378e-05, + "r_f_joint5_1": 0.0019293244695290923, + "r_f_joint5_2": 0.0013555696932598948, + "r_f_joint5_3": 0.0003354922810103744, + "r_f_joint5_4": 8.926382724894211e-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": 14.621213585527931, + "joint_effort_rms": 32.77888394378107, + "joint_jerk_rms": 1491.1192869937647, + "joint_velocity_rms": 0.31379750753234154 + }, + "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": 0.19999999999999346, + "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": 1779, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_80_episode_09/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_80_episode_09/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2930bea2d7db60a849fed13acb1c1ae2e996ed9d --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_80_episode_09/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/80_gaming_desk_setup.yaml", "episode_index": 9, "seed": 208000008, "success": false, "steps": 1779, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 208000008, "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": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan1", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan1_physics/scene.usda", "scene_offset": [0.0, 0.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_fabric_fabric0333_jpg", "asset_uri": "dex2bench_dataset/textures/fabric/fabric0333.jpg", "asset_category": "fabric", "asset_id": "fabric/fabric0333.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1019.1819299966758, "color": [0.7141030901499341, 0.915360822429933, 0.9389409619431727], "pitch_deg": -18.670748226487486, "yaw_deg": 75.66460036730297, "angle_deg": 0.9576215337459812}, "dome": {"intensity": 252.53492589256615, "color": [0.8317285972389763, 0.9251192464214232, 0.9656564175968215], "exposure": 0.1753845568686947}, "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": 0.003168794067291522, "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": [-0.003652006189754851, -0.0025906529440093886, -0.0018490346540853942], "target_offset_m": [0.0020138724234112218, -0.004898814855743311, 0.004295290345491617], "distance_offset_m": 0.011353489458401422, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.3880615360554074, 0.15984226452387285, -0.5613775668920862], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [0.00020262941498326234, -0.004386374204312372, 0.00064598292036421], "target_offset_m": [-0.0008518069345038451, -0.004136394369664746, 0.0011197744904337835], "distance_offset_m": 0.026979543895612128, "offset_xyz_offset_m": [0.0, 0.0, 0.0], 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"clutter_033_spatula", "asset_split": "unseen", "spawn_position": [-0.6381855689172038, 0.2579720220193439, 0.75394173069203], "spawn_yaw_deg": 17.565648311393094, "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_090_display_1": {"position": [-0.009504459518254965, 0.3188948774735106, 0.7531687871624287], "rpy_deg": [90.0, 0.0, 21.993347667196556]}, "obj_098_keyboard_2": {"position": [0.0, 0.05, 0.762550709724693], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_300_mouse_3": {"position": [0.3859224919428664, 0.14616355614083515, 0.767147984069706], "rpy_deg": [0.0, 0.0, -85.93021757868411]}}, "_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": 0.0, "mean_kinematic_grasp_stability": null, "per_object_best_kinematic_grasp_stability": {"obj_300_mouse_3": 0.0}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.19999999999999346, "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": 1.6502170433763057, "joint_acceleration_rms": 142.41408679792673, "joint_jerk_rms": 15119.264856826267, "joint_effort_rms": 29.80388272324951}, "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": {"r_f_joint2_3": 17, "r_f_joint2_4": 11, "r_f_joint3_1": 47, "r_f_joint3_2": 23, "r_f_joint3_3": 22, "r_f_joint3_4": 13, "r_f_joint4_1": 44, "r_f_joint4_2": 11, "r_f_joint4_3": 14, "r_f_joint4_4": 8, "r_f_joint5_1": 24, "r_f_joint5_3": 10, "r_f_joint5_4": 5}, "joint_limit_hard_counts": {"r_f_joint2_3": 6, "r_f_joint2_4": 7, "r_f_joint3_1": 10, "r_f_joint3_2": 1, "r_f_joint3_3": 8, "r_f_joint3_4": 13, "r_f_joint4_1": 4, "r_f_joint4_2": 6, "r_f_joint4_3": 7, "r_f_joint4_4": 9, "r_f_joint5_1": 4, "r_f_joint5_3": 6, "r_f_joint5_4": 4}, "finger_joint_limit_saturation_counts": {"r_f_joint3_1": 22, "r_f_joint3_2": 2, "r_f_joint4_1": 30}, "joint_limit_max_excess_by_joint": {"l_f_joint2_1": 8.756063607506803e-07, "l_f_joint3_1": 6.916094571352005e-05, "l_f_joint3_3": 5.874033490727015e-07, "l_f_joint4_3": 0.0001223225553985685, "l_f_joint5_2": 0.0036092204973101616, "l_f_joint5_3": 0.0009095104178413749, "r_f_joint2_1": 0.0023029963485896587, "r_f_joint2_3": 0.03861282020807266, "r_f_joint2_4": 0.029204271733760834, "r_f_joint3_1": 0.31786224246025085, "r_f_joint3_2": 0.21591651439666748, "r_f_joint3_3": 0.0630587711930275, "r_f_joint3_4": 0.0429314449429512, "r_f_joint4_1": 0.366235613822937, "r_f_joint4_2": 0.16087913513183594, "r_f_joint4_3": 0.05090346187353134, "r_f_joint4_4": 0.038693878799676895, "r_f_joint5_1": 0.17190712690353394, "r_f_joint5_3": 0.05211738869547844, "r_f_joint5_4": 0.03452067822217941}, "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": 1392, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "r_f_joint3_1", "role": "finger", "qpos": -0.042849019169807434, "hard_excess_rad": 0.04184902086853981, "hard_tolerance_rad": 0.005, "hard_lower": -0.0010000000474974513, "hard_upper": 0.0010000000474974513, "operating_lower": -0.0010000000474974513, "operating_upper": 0.0010000000474974513, "expanded_target": 0.0, "shielded_target": 0.0}, {"joint": "r_f_joint4_1", "role": "finger", "qpos": -0.019008049741387367, "hard_excess_rad": 0.019008049741387367, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.6000000238418579, "operating_lower": 0.0, "operating_upper": 0.6000000238418579, "expanded_target": 0.0, "shielded_target": 0.0}], "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": [0.5706389546394348, -1.5718344449996948, 1.270274043083191, -1.571782112121582, -2.1930606365203857, 1.5847758054733276, 0.9227865934371948, 5.5991455155890435e-05, -1.000157356262207, -1.574838638305664, 3.773743539881025e-09, -0.02483196184039116, 1.600000023841858, 0.0, 0.0, 0.0, 0.0, 0.0007846072549000382, 5.498041952267663e-11, -2.519781446608249e-05, 0.007866746746003628, 0.013444886542856693, 1.100000023841858, 1.149999976158142, 1.149999976158142, 1.149999976158142, 1.149999976158142, 0.014047387056052685, 0.014468075707554817, 0.005028710700571537, 0.003002224722877145, 1.859161216088978e-07, 1.100000023841858, 0.0, 0.0, 0.0, 0.0, 1.8246311810798943e-05, 0.0006179106421768665, 1.6368712749681436e-05, 2.3700127712800168e-05, 2.305153975612484e-05, 1.100000023841858, 0.0, 0.0, 0.0, 0.0, 0.0028115359600633383, 0.0028387655038386583, 0.0027719871141016483, 0.002810743171721697, 0.022228721529245377], "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": [0.5706389546394348, -1.5718344449996948, 1.270274043083191, -1.571782112121582, -2.1930606365203857, 1.5847758054733276, 0.9227865934371948, 5.5991455155890435e-05, -1.000157356262207, -1.574838638305664, 3.773743539881025e-09, -0.02483196184039116, 1.600000023841858, 0.0, 0.0, 0.0, 0.0, 0.0007846072549000382, 5.498041952267663e-11, -2.519781446608249e-05, 0.007866746746003628, 0.013444886542856693, 1.100000023841858, 1.149999976158142, 1.149999976158142, 1.149999976158142, 1.149999976158142, 0.014047387056052685, 0.014468075707554817, 0.005028710700571537, 0.003002224722877145, 1.859161216088978e-07, 1.100000023841858, 0.0, 0.0, 0.0, 0.0, 1.8246311810798943e-05, 0.0006179106421768665, 1.6368712749681436e-05, 2.3700127712800168e-05, 2.305153975612484e-05, 1.100000023841858, 0.0, 0.0, 0.0, 0.0, 0.0028115359600633383, 0.0028387655038386583, 0.0027719871141016483, 0.002810743171721697, 0.022228721529245377], "shielded_full_target": [0.5706389546394348, -1.5718344449996948, 1.270274043083191, -1.571782112121582, -2.1930606365203857, 1.5847758054733276, 0.9227865934371948, 5.5991455155890435e-05, -1.000157356262207, -1.574838638305664, 3.773743539881025e-09, -0.02483196184039116, 1.600000023841858, 0.0, 0.0, 0.0, 0.0, 0.0007846072549000382, 5.498041952267663e-11, -2.519781446608249e-05, 0.007866746746003628, 0.013444886542856693, 1.100000023841858, 1.149999976158142, 1.149999976158142, 1.149999976158142, 1.149999976158142, 0.014047387056052685, 0.014468075707554817, 0.005028710700571537, 0.003002224722877145, 1.859161216088978e-07, 1.100000023841858, 0.0, 0.0, 0.0, 0.0, 1.8246311810798943e-05, 0.0006179106421768665, 1.6368712749681436e-05, 2.3700127712800168e-05, 2.305153975612484e-05, 1.100000023841858, 0.0, 0.0, 0.0, 0.0, 0.0028115359600633383, 0.0028387655038386583, 0.0027719871141016483, 0.002810743171721697, 0.022228721529245377]}, "joint_limit_active_steps": 87, "joint_limit_hard_episode_events": 19, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 33, "max_joint_limit_excess_rad": 0.366235613822937, "max_joint_limit_excess_joint": "r_f_joint4_1", "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": 87, "joint_limit_active_step_rate": 0.048903878583473864, "finger_joint_limit_saturation_steps": 33, "finger_joint_limit_saturation_step_rate": 0.01854974704890388, "max_joint_limit_excess_rad": 0.366235613822937, "max_joint_limit_excess_joint": "r_f_joint4_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": 29, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1779, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_80_episode_09/summary.json b/gpt6_astra_1x_icl/source_runs/task_80_episode_09/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..dbfa92b26a7cdc64a350c4a735b0d311876beab5 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_80_episode_09/summary.json @@ -0,0 +1,225 @@ +{ + "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": 1779, + "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": 0.048903878583473864, + "finger_joint_limit_saturation_step_rate": 0.01854974704890388, + "max_joint_limit_excess_rad": 0.366235613822937, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "r_f_joint2_3": 17, + "r_f_joint2_4": 11, + "r_f_joint3_1": 47, + "r_f_joint3_2": 23, + "r_f_joint3_3": 22, + "r_f_joint3_4": 13, + "r_f_joint4_1": 44, + "r_f_joint4_2": 11, + "r_f_joint4_3": 14, + "r_f_joint4_4": 8, + "r_f_joint5_1": 24, + "r_f_joint5_3": 10, + "r_f_joint5_4": 5 + }, + "joint_limit_hard_counts": { + "r_f_joint2_3": 6, + "r_f_joint2_4": 7, + "r_f_joint3_1": 10, + "r_f_joint3_2": 1, + "r_f_joint3_3": 8, + "r_f_joint3_4": 13, + "r_f_joint4_1": 4, + "r_f_joint4_2": 6, + "r_f_joint4_3": 7, + "r_f_joint4_4": 9, + "r_f_joint5_1": 4, + "r_f_joint5_3": 6, + "r_f_joint5_4": 4 + }, + "joint_limit_hard_episode_events": 19, + "finger_joint_limit_saturation_counts": { + "r_f_joint3_1": 22, + "r_f_joint3_2": 2, + "r_f_joint4_1": 30 + }, + "joint_limit_max_excess_by_joint": { + "l_f_joint2_1": 8.756063607506803e-07, + "l_f_joint3_1": 6.916094571352005e-05, + "l_f_joint3_3": 5.874033490727015e-07, + "l_f_joint4_3": 0.0001223225553985685, + "l_f_joint5_2": 0.0036092204973101616, + "l_f_joint5_3": 0.0009095104178413749, + "r_f_joint2_1": 0.0023029963485896587, + "r_f_joint2_3": 0.03861282020807266, + "r_f_joint2_4": 0.029204271733760834, + "r_f_joint3_1": 0.31786224246025085, + "r_f_joint3_2": 0.21591651439666748, + "r_f_joint3_3": 0.0630587711930275, + "r_f_joint3_4": 0.0429314449429512, + "r_f_joint4_1": 0.366235613822937, + "r_f_joint4_2": 0.16087913513183594, + "r_f_joint4_3": 0.05090346187353134, + "r_f_joint4_4": 0.038693878799676895, + "r_f_joint5_1": 0.17190712690353394, + "r_f_joint5_3": 0.05211738869547844, + "r_f_joint5_4": 0.03452067822217941 + }, + "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": 142.41408679792673, + 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0.02479243278503418, 0.009243288077414036, 3.3433154840167845e-06, 0.11380589008331299, 0.09936653077602386, 0.10973560810089111, 0.11229892820119858, 0.0878949761390686, 0.11359798163175583, 0.10353827476501465, 0.0902114063501358, 0.10638831555843353, 0.6691268086433411]}, "joint_limit_active_steps": 175, "joint_limit_hard_episode_events": 4, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 140, "max_joint_limit_excess_rad": 2.43459415435791, "max_joint_limit_excess_joint": "r_f_joint2_3", "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": 175, "joint_limit_active_step_rate": 0.0983698707138842, "finger_joint_limit_saturation_steps": 140, "finger_joint_limit_saturation_step_rate": 0.07869589657110736, "max_joint_limit_excess_rad": 2.43459415435791, "max_joint_limit_excess_joint": "r_f_joint2_3", "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": {"drop_to_table_obj_300_mouse_3": 1}, "policy_query_count": 27, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1779, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_80_episode_10/summary.json b/gpt6_astra_1x_icl/source_runs/task_80_episode_10/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0ee31257585962e8646b8573735a3544de095b69 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_80_episode_10/summary.json @@ -0,0 +1,249 @@ +{ + "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": 1779, + "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": 0.0005621135469364812 + }, + "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": 0.0005621135469364812, + "violation_counts": { + "drop_to_table_obj_300_mouse_3": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.0983698707138842, + "finger_joint_limit_saturation_step_rate": 0.07869589657110736, + "max_joint_limit_excess_rad": 2.43459415435791, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "l_f_joint5_2": 48, + "r_f_joint1_2": 2, + "r_f_joint1_3": 32, + "r_f_joint1_4": 39, + "r_f_joint2_1": 26, + "r_f_joint2_2": 21, + "r_f_joint2_3": 71, + "r_f_joint2_4": 60, + "r_f_joint3_1": 8, + "r_f_joint3_2": 23, + "r_f_joint3_4": 3, + "r_f_joint4_2": 40, + "r_f_joint4_3": 16, + "r_f_joint5_1": 20, + "r_f_joint5_2": 68, + "r_f_joint5_3": 1 + }, + "joint_limit_hard_counts": { + "l_f_joint5_2": 1, + "r_f_joint1_2": 1, + "r_f_joint1_3": 2, + "r_f_joint1_4": 1, + "r_f_joint2_1": 2, + "r_f_joint2_2": 1, + "r_f_joint2_3": 2, + "r_f_joint2_4": 2, + "r_f_joint3_1": 6, + "r_f_joint3_2": 1, + "r_f_joint3_4": 1, + "r_f_joint4_2": 1, + "r_f_joint4_3": 2, + "r_f_joint5_1": 2, + "r_f_joint5_2": 2, + "r_f_joint5_3": 1, + "r_f_joint5_4": 1 + }, + "joint_limit_hard_episode_events": 4, + "finger_joint_limit_saturation_counts": { + "l_f_joint5_2": 26, + "r_f_joint1_4": 34, + "r_f_joint2_1": 3, + "r_f_joint2_2": 16, + "r_f_joint2_3": 54, + "r_f_joint2_4": 50, + "r_f_joint3_2": 8, + "r_f_joint4_2": 33, + "r_f_joint5_2": 55 + }, + "joint_limit_max_excess_by_joint": { + "l_f_joint1_1": 2.5287346261393395e-07, + "l_f_joint1_3": 4.7035493366820447e-07, + "l_f_joint2_1": 0.00016530649736523628, + "l_f_joint2_3": 0.0002249681856483221, + "l_f_joint3_1": 0.00014454592019319534, + "l_f_joint3_2": 8.883689588401467e-06, + "l_f_joint4_2": 9.020434845297132e-06, + "l_f_joint4_3": 7.141448463698907e-07, + "l_f_joint5_2": 0.15367697179317474, + "l_f_joint5_3": 0.004357367753982544, + "r_f_joint1_1": 6.78099752349226e-07, + "r_f_joint1_2": 0.029496073722839355, + "r_f_joint1_3": 0.23698315024375916, + "r_f_joint1_4": 1.0647231340408325, + "r_f_joint2_1": 0.36969155073165894, + "r_f_joint2_2": 0.5671442747116089, + "r_f_joint2_3": 2.43459415435791, + "r_f_joint2_4": 1.2155752182006836, + "r_f_joint3_1": 0.031216135248541832, + "r_f_joint3_2": 0.3828119933605194, + "r_f_joint3_3": 0.0006136269075796008, + "r_f_joint3_4": 0.046552181243896484, + "r_f_joint4_2": 0.8752442002296448, + "r_f_joint4_3": 0.2153688669204712, + "r_f_joint4_4": 0.003935311920940876, + "r_f_joint5_1": 0.21962296962738037, + "r_f_joint5_2": 0.9931058883666992, + "r_f_joint5_3": 0.011170199140906334, + "r_f_joint5_4": 0.005268129054456949 + }, + "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": 32.768243571525595, + "joint_effort_rms": 33.589059519003385, + "joint_jerk_rms": 3394.181036184862, + "joint_velocity_rms": 0.5976337608059001 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.43730864829502764, + "mean_kinematic_grasp_stability": 0.044462081081896025, + "per_object_best_kinematic_grasp_stability": { + "obj_300_mouse_3": 0.43730864829502764 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.0034476297545437446, + "mean_hold_score": 0.01318156267566046, + "mean_kinematic_stability_score": 0.003299041429348103, + "mean_legacy_gsi": 0.21550527870967257, + "mean_lift_score": 0.07419898819561552, + "mean_motion_stability_score": 0.016131669318465137 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1779, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_80_episode_11/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_80_episode_11/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8332cc5054e62658852c4b1257b8aee58cd01a90 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_80_episode_11/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/80_gaming_desk_setup.yaml", "episode_index": 11, "seed": 208000010, "success": false, "steps": 1779, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 208000010, "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": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan20", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan20_physics/scene.usda", "scene_offset": [0.08, 1.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_metal_metal0237_jpg", "asset_uri": "dex2bench_dataset/textures/metal/metal0237.jpg", "asset_category": "metal", "asset_id": "metal/metal0237.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1045.3983641375232, "color": [0.9737950348832922, 0.9748116655750494, 0.5652884450869172], "pitch_deg": -7.838563363131623, "yaw_deg": -70.68681772635354, "angle_deg": 0.5448089875122863}, "dome": {"intensity": 322.68644716029223, "color": [0.8177734822267803, 0.9897176727678909, 0.7641880469159676], "exposure": 0.4753450412669634}, "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": 0.026413572780452463, "offset_m_range": [-0.05, 0.05]}, "camera": {"enabled": true, "asset_split": "unseen", "profile_name": 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"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": [0.011605635862730373, 0.3097853066143981, 0.7764135658755896], "rpy_deg": [90.0, 0.0, 31.871068912400553]}, "obj_098_keyboard_2": {"position": [0.0, 0.05, 0.7857954884378539], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_300_mouse_3": {"position": [0.38638398135400126, 0.1710884521237003, 0.7903927627828669], "rpy_deg": [0.0, 0.0, -89.5404186460569]}}, "_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, 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"runtime.joint_pos_limits", "violating_joints": []}], "first_joint_limit_hard_event": {"sim_step": 838, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "l_f_joint5_2", "role": "finger", "qpos": -0.006405882071703672, "hard_excess_rad": 0.006405882071703672, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.2999998331069946, "operating_lower": 0.0, "operating_upper": 1.2999998331069946, "expanded_target": 0.0001084918767446652, "shielded_target": 0.0001084918767446652}], "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", 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0.2736189067363739, 0.27734315395355225, 0.6045758128166199, 0.5757049322128296, 0.03147583827376366, 0.04006200283765793, 0.0001084918767446652, 0.012364125810563564, 0.0006126106018200517, 0.0009626176906749606, 0.007770513650029898, 0.012329754419624805, 0.0009117666631937027, 0.0028339114505797625, 0.02479325234889984, 0.009252972900867462, 1.5578214515699074e-05, 0.11038684099912643, 0.11005304008722305, 0.11036043614149094, 0.11195182055234909, 0.08583645522594452, 0.11359404772520065, 0.10354015231132507, 0.09023670107126236, 0.10641327500343323, 0.6693845987319946], "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": [2.0890350341796875, -2.399088144302368, 1.3387608528137207, -1.076890468597412, -1.8228249549865723, 1.7255841493606567, 0.4423913359642029, -0.41805097460746765, 2.223862648010254, -2.421811819076538, 0.3764544129371643, -0.7214775681495667, 0.11723963916301727, 0.17461754381656647, 0.0009999945759773254, 0.23823297023773193, 0.42458537220954895, 0.00016727934416849166, 3.6748190268554026e-07, -0.0009999803733080626, 0.4435978829860687, 0.5898250937461853, 0.7017554044723511, 0.3481602370738983, 0.210707426071167, 0.2736189067363739, 0.27734315395355225, 0.6045758128166199, 0.5757049322128296, 0.03147583827376366, 0.04006200283765793, 0.0001084918767446652, 0.012364125810563564, 0.0006126106018200517, 0.0009626176906749606, 0.007770513650029898, 0.012329754419624805, 0.0009117666631937027, 0.0028339114505797625, 0.02479325234889984, 0.009252972900867462, 1.5578214515699074e-05, 0.11038684099912643, 0.11005304008722305, 0.11036043614149094, 0.11195182055234909, 0.08583645522594452, 0.11359404772520065, 0.10354015231132507, 0.09023670107126236, 0.10641327500343323, 0.6693845987319946], "shielded_full_target": [2.0890350341796875, -2.399088144302368, 1.3387608528137207, -1.076890468597412, -1.8228249549865723, 1.7255841493606567, 0.4423913359642029, -0.41805097460746765, 2.223862648010254, -2.421811819076538, 0.3764544129371643, -0.7214775681495667, 0.11723963916301727, 0.17461754381656647, 0.0009999945759773254, 0.23823297023773193, 0.42458537220954895, 0.00016727934416849166, 3.6748190268554026e-07, -0.0009999803733080626, 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"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": 191, "joint_limit_active_step_rate": 0.10736368746486791, "finger_joint_limit_saturation_steps": 88, "finger_joint_limit_saturation_step_rate": 0.04946599213041034, "max_joint_limit_excess_rad": 1.6026040315628052, "max_joint_limit_excess_joint": "r_f_joint4_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": 23, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1779, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_80_episode_11/summary.json b/gpt6_astra_1x_icl/source_runs/task_80_episode_11/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..dc42dd7a309a60e312d9d36ef853dcb3df03bee6 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_80_episode_11/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": 1779, + "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, + 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1.2999998331069946, 1.2999998331069946, 1.2999998331069946, 0.11021889001131058, 0.10473652929067612, 0.09655445069074631, 0.10828642547130585, 0.06947305053472519, 0.11455116420984268, 0.11699991673231125, 1.2999998331069946, 1.2999998331069946, 1.2999998331069946]}, "joint_limit_active_steps": 63, "joint_limit_hard_episode_events": 7, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 26, "max_joint_limit_excess_rad": 0.6040542125701904, "max_joint_limit_excess_joint": "r_f_joint5_3", "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": 63, "joint_limit_active_step_rate": 0.03541315345699832, "finger_joint_limit_saturation_steps": 26, "finger_joint_limit_saturation_step_rate": 0.01461495222034851, "max_joint_limit_excess_rad": 0.6040542125701904, "max_joint_limit_excess_joint": "r_f_joint5_3", "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": 22, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1779, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_80_episode_12/summary.json b/gpt6_astra_1x_icl/source_runs/task_80_episode_12/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b9fea044324f6fd2302b40830434c4cf824f898c --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_80_episode_12/summary.json @@ -0,0 +1,234 @@ +{ + "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": 1779, + "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": 0.03541315345699832, + "finger_joint_limit_saturation_step_rate": 0.01461495222034851, + "max_joint_limit_excess_rad": 0.6040542125701904, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "l_f_joint5_2": 5, + "r_f_joint3_2": 1, + "r_f_joint4_1": 10, + "r_f_joint4_2": 3, + "r_f_joint4_3": 12, + "r_f_joint5_1": 34, + "r_f_joint5_2": 19, + "r_f_joint5_3": 26, + "r_f_joint5_4": 6 + }, + "joint_limit_hard_counts": { + "l_f_joint5_2": 1, + "l_f_joint5_3": 1, + "r_f_joint3_2": 2, + "r_f_joint4_1": 1, + "r_f_joint4_2": 2, + "r_f_joint4_3": 2, + "r_f_joint5_1": 4, + "r_f_joint5_2": 2, + "r_f_joint5_3": 2, + "r_f_joint5_4": 1 + }, + "joint_limit_hard_episode_events": 7, + "finger_joint_limit_saturation_counts": { + "r_f_joint4_1": 2, + "r_f_joint5_1": 15, + "r_f_joint5_3": 18 + }, + "joint_limit_max_excess_by_joint": { + "l_f_joint1_1": 1.0471508993248335e-08, + "l_f_joint1_2": 3.999526597908698e-06, + "l_f_joint1_3": 0.0009145906078629196, + "l_f_joint1_4": 1.2411055516636793e-10, + "l_f_joint2_1": 0.0005511787603609264, + "l_f_joint2_2": 1.9727478957065614e-06, + "l_f_joint2_3": 6.538239745168539e-07, + "l_f_joint2_4": 8.694511777207481e-11, + "l_f_joint3_1": 0.0003568371757864952, + "l_f_joint3_2": 1.2040138244628906e-05, + "l_f_joint3_3": 4.017353057861328e-05, + "l_f_joint3_4": 1.6450881958007812e-05, + "l_f_joint4_1": 8.188212632376235e-07, + "l_f_joint4_2": 2.1576881408691406e-05, + "l_f_joint4_3": 8.14199447631836e-05, + "l_f_joint4_4": 3.9458274841308594e-05, + "l_f_joint5_1": 1.1235208603466162e-06, + "l_f_joint5_2": 0.09870076179504395, + "l_f_joint5_3": 0.00802469253540039, + "l_f_joint5_4": 6.580352783203125e-05, + "r_f_joint1_2": 0.0006483793258666992, + "r_f_joint1_3": 7.748603820800781e-06, + "r_f_joint1_4": 7.152557373046875e-07, + "r_f_joint2_3": 0.0016514017479494214, + "r_f_joint3_1": 0.0013222956331446767, + "r_f_joint3_2": 0.01643240451812744, + "r_f_joint3_3": 0.0009044408798217773, + "r_f_joint3_4": 1.2159347534179688e-05, + "r_f_joint4_1": 0.30760201811790466, + "r_f_joint4_2": 0.04474341869354248, + "r_f_joint4_3": 0.22279012203216553, + "r_f_joint4_4": 0.0038033723831176758, + "r_f_joint5_1": 0.41491881012916565, + "r_f_joint5_2": 0.1442326307296753, + "r_f_joint5_3": 0.6040542125701904, + "r_f_joint5_4": 0.10397195816040039 + }, + "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": 19.68095582139597, + "joint_effort_rms": 34.38897111024538, + "joint_jerk_rms": 1981.6156064595268, + "joint_velocity_rms": 0.42632584782186744 + }, + "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": 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"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": 269, "joint_limit_active_step_rate": 0.15120854412591345, "finger_joint_limit_saturation_steps": 188, "finger_joint_limit_saturation_step_rate": 0.10567734682405847, "max_joint_limit_excess_rad": 1.3608338832855225, "max_joint_limit_excess_joint": "r_f_joint1_4", "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": 31, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1779, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_80_episode_13/summary.json b/gpt6_astra_1x_icl/source_runs/task_80_episode_13/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4710102c2346ff82a4540ee11e8577bb510f65f7 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_80_episode_13/summary.json @@ -0,0 +1,257 @@ +{ + "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": 1779, + "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": 0.15120854412591345, + "finger_joint_limit_saturation_step_rate": 0.10567734682405847, + "max_joint_limit_excess_rad": 1.3608338832855225, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "l_f_joint5_2": 25, + "r_f_joint1_2": 30, + "r_f_joint1_3": 42, + "r_f_joint1_4": 29, + "r_f_joint2_1": 31, + "r_f_joint2_2": 23, + "r_f_joint2_3": 57, + "r_f_joint3_1": 65, + "r_f_joint3_2": 65, + "r_f_joint3_3": 75, + "r_f_joint4_1": 14, + "r_f_joint4_2": 116, + "r_f_joint4_3": 21, + "r_f_joint5_1": 7, + "r_f_joint5_2": 90, + "r_f_joint5_3": 9 + }, + "joint_limit_hard_counts": { + "l_f_joint5_1": 1, + "l_f_joint5_2": 1, + "r_f_joint1_2": 2, + "r_f_joint1_3": 2, + "r_f_joint1_4": 1, + "r_f_joint2_1": 2, + "r_f_joint2_2": 3, + "r_f_joint2_3": 14, + "r_f_joint2_4": 2, + "r_f_joint3_1": 19, + "r_f_joint3_2": 3, + "r_f_joint3_3": 5, + "r_f_joint4_1": 3, + "r_f_joint4_2": 4, + "r_f_joint4_3": 3, + "r_f_joint5_1": 1, + "r_f_joint5_2": 7, + "r_f_joint5_3": 1 + }, + "joint_limit_hard_episode_events": 10, + "finger_joint_limit_saturation_counts": { + "r_f_joint1_2": 5, + "r_f_joint1_3": 31, + "r_f_joint1_4": 26, + "r_f_joint2_1": 19, + "r_f_joint2_3": 15, + "r_f_joint3_1": 3, + "r_f_joint3_2": 29, + "r_f_joint3_3": 52, + "r_f_joint4_2": 88, + "r_f_joint5_1": 1, + "r_f_joint5_2": 68, + "r_f_joint5_3": 1 + }, + "joint_limit_max_excess_by_joint": { + "l_f_joint1_1": 3.015895799762802e-07, + "l_f_joint1_2": 5.659818725689547e-06, + "l_f_joint1_3": 0.00017486738215666264, + "l_f_joint1_4": 1.3577590440849718e-10, + "l_f_joint2_1": 0.00013407629739958793, + "l_f_joint2_2": 2.0504735402937513e-06, + "l_f_joint2_3": 1.021120169752976e-06, + "l_f_joint2_4": 1.426384010905224e-10, + "l_f_joint3_1": 0.00010390824172645807, + "l_f_joint3_2": 1.1552061550901271e-05, + "l_f_joint3_3": 6.5548277916605e-07, + "l_f_joint3_4": 1.3297113410359884e-10, + "l_f_joint4_1": 1.0573573945293901e-06, + "l_f_joint4_2": 1.1737249224097468e-05, + "l_f_joint4_3": 0.000456160050816834, + "l_f_joint5_1": 0.007053971290588379, + "l_f_joint5_2": 0.09402560442686081, + "l_f_joint5_3": 0.0035457266494631767, + "r_f_joint1_1": 5.102300519865821e-07, + "r_f_joint1_2": 0.36913979053497314, + "r_f_joint1_3": 1.072348713874817, + "r_f_joint1_4": 1.3608338832855225, + "r_f_joint2_1": 0.42952582240104675, + "r_f_joint2_2": 0.223405659198761, + "r_f_joint2_3": 0.3919062614440918, + "r_f_joint2_4": 0.0065350946970283985, + "r_f_joint3_1": 0.19535166025161743, + "r_f_joint3_2": 0.45455896854400635, + "r_f_joint3_3": 0.6876932382583618, + "r_f_joint4_1": 0.1718425154685974, + "r_f_joint4_2": 0.526544451713562, + "r_f_joint4_3": 0.21821212768554688, + "r_f_joint5_1": 0.26102936267852783, + "r_f_joint5_2": 0.8233669996261597, + "r_f_joint5_3": 0.2577691078186035 + }, + "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": 44.85954172147492, + "joint_effort_rms": 38.06333902465075, + "joint_jerk_rms": 4558.550964653227, + "joint_velocity_rms": 0.8349097419117412 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.020433221114382703, + "mean_kinematic_grasp_stability": 0.004283345533332547, + "per_object_best_kinematic_grasp_stability": { + "obj_300_mouse_3": 0.020433221114382703 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.0, + "mean_hold_score": 0.0005059021922428331, + "mean_kinematic_stability_score": 1.444635930297655e-05, + "mean_legacy_gsi": 0.20051431432121866, + "mean_lift_score": 0.003372681281618887, + "mean_motion_stability_score": 9.630906201984368e-05 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1779, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_1x_icl/source_runs/task_80_episode_14/per_episode.jsonl b/gpt6_astra_1x_icl/source_runs/task_80_episode_14/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d03803c2433973195be7c0a7e39bd9701088b7ca --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_80_episode_14/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/80_gaming_desk_setup.yaml", "episode_index": 14, "seed": 208000013, "success": false, "steps": 348, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 208000013, "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": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan20", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan20_physics/scene.usda", "scene_offset": [0.08, 1.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_fabric_fabric0732_jpg", "asset_uri": "dex2bench_dataset/textures/fabric/fabric0732.jpg", "asset_category": "fabric", "asset_id": "fabric/fabric0732.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1172.3562183910517, "color": [0.4336060073117403, 0.7099927989842907, 0.8092751446936053], "pitch_deg": -28.939878592524323, "yaw_deg": -3.6196119456361373, "angle_deg": 0.7919350616411236}, "dome": {"intensity": 169.30919428608152, "color": [0.9241083945856872, 0.815302238175528, 0.8403238887333322], "exposure": 0.38611288497086005}, "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": 0.013326776904282675, "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": [-0.001599953162322173, -0.0009157751817541297, 0.0028460499194682782], "target_offset_m": [0.0013231046936432811, 0.0010892859367621433, -0.0035635627363508437], "distance_offset_m": -0.021894148149725498, 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0.2002982641796045], "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": [1.156905874922372, 1.156905874922372, 1.156905874922372], "body_type": "dynamic", "category": "tool", "asset_code": "040", "asset_id": "clutter_040_large_marker", "asset_split": "unseen", "spawn_position": [-0.861438278613154, 0.33652949263377413, 0.7636426122224644], "spawn_yaw_deg": 121.43747778406802, "obj_id": "distractor_00_clutter_040_large_marker"}, {"name": "clutter_073a_lego_duplo", "uri": "dex2bench_dataset/Objects/073-a_lego_duplo/usd_decomposition_linux/textured.usd", "scale": [1.177743129780319, 1.177743129780319, 1.177743129780319], "body_type": "dynamic", "category": "toy", "asset_code": "073", "asset_id": "clutter_073a_lego_duplo", "asset_split": "unseen", "spawn_position": [0.7175232617185913, -0.019281743905938176, 0.7638897381223775], "spawn_yaw_deg": 22.95571555159256, "obj_id": "distractor_01_clutter_073a_lego_duplo"}]}}, "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": [0.004698982203788643, 0.2972041128215688, 0.7633267699994198], "rpy_deg": [90.0, 0.0, 39.63947255235918]}, "obj_098_keyboard_2": {"position": [0.0, 0.05, 0.7727086925616841], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_300_mouse_3": {"position": [0.38399012696527013, 0.17945865158911098, 0.7773059669066971], "rpy_deg": [0.0, 0.0, -87.30197411648047]}}, "_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": 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": 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": 0.0, "mean_kinematic_grasp_stability": null, "per_object_best_kinematic_grasp_stability": {"obj_300_mouse_3": 0.0}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.2000000000000013, "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": 0.2661193030833461, "joint_acceleration_rms": 12.148701827978467, "joint_jerk_rms": 1170.8289398862091, "joint_effort_rms": 37.03377650582907}, "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": 0, "robot_constraint_diagnostics": {"joint_limit_max_excess_by_joint": {"l_f_joint2_1": 0.0002139304851880297, "l_f_joint3_1": 0.0011893195332959294, "l_f_joint5_2": 0.0001440856431145221, "l_f_joint5_3": 4.545194678939879e-05, "r_f_joint1_1": 4.5652359403902665e-07, "r_f_joint3_1": 0.002236383967101574}, "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": 0.002236383967101574, "max_joint_limit_excess_joint": "r_f_joint3_1", "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": 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": 0.002236383967101574, "max_joint_limit_excess_joint": "r_f_joint3_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": 5, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1779, "dwell_time_s": 0.5} diff --git a/gpt6_astra_1x_icl/source_runs/task_80_episode_14/summary.json b/gpt6_astra_1x_icl/source_runs/task_80_episode_14/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..282e15520f9452e4297eca2c02aacd55c414e929 --- /dev/null +++ b/gpt6_astra_1x_icl/source_runs/task_80_episode_14/summary.json @@ -0,0 +1,179 @@ +{ + "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": 1779, + "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": 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": 0.002236383967101574, + "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": { + "l_f_joint2_1": 0.0002139304851880297, + "l_f_joint3_1": 0.0011893195332959294, + "l_f_joint5_2": 0.0001440856431145221, + "l_f_joint5_3": 4.545194678939879e-05, + "r_f_joint1_1": 4.5652359403902665e-07, + "r_f_joint3_1": 0.002236383967101574 + }, + "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": 12.148701827978467, + "joint_effort_rms": 37.03377650582907, + "joint_jerk_rms": 1170.8289398862091, + "joint_velocity_rms": 0.2661193030833461 + }, + "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": 0.2000000000000013, + "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": 348, + "error_count": 1 + } + } +}