| {
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| "episodes": [
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| {
|
| "episode_id": "panda/episode_000000",
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| "success": true,
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| "task_success": true,
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| "failure_reason": "none",
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| "duration_sec": 96.13,
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| "frozen_frames": 72,
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| "phase_annotations": [
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| {
|
| "phase": "approach",
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| "frame_range": [
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| 635,
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| 665
|
| ],
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| "notes": "approach Pliers",
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| "observed_object": "Pliers",
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| "observed_box": "BoxA",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "task_alignment": "not_applicable"
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| },
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| {
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| "phase": "grasp",
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| "frame_range": [
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| 665,
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| 666
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| ],
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| "notes": "grasp Pliers",
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| "observed_object": "Pliers",
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| "observed_box": "BoxA",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "task_alignment": "not_applicable"
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| },
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| {
|
| "phase": "transport",
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| "frame_range": [
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| 666,
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| 845
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| ],
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| "notes": "transport Pliers toward Box A",
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| "observed_object": "Pliers",
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| "observed_box": "BoxA",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "task_alignment": "not_applicable"
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| },
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| {
|
| "phase": "place",
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| "frame_range": [
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| 845,
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| 848
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| ],
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| "notes": "place Pliers into Box A",
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| "observed_object": "Pliers",
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| "observed_box": "BoxA",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "stability_frames": 30,
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| "task_alignment": "not_applicable"
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| },
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| {
|
| "phase": "retract",
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| "frame_range": [
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| 848,
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| 877
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| ],
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| "notes": "retract from Box A",
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| "observed_object": "Pliers",
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| "observed_box": "BoxA",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "task_alignment": "not_applicable"
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| },
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| {
|
| "phase": "approach",
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| "frame_range": [
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| 1302,
|
| 1332
|
| ],
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| "notes": "approach Shampoo Bottle",
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| "observed_object": "ShampooBottle",
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| "observed_box": "BoxB",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "task_alignment": "not_applicable"
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| },
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| {
|
| "phase": "grasp",
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| "frame_range": [
|
| 1332,
|
| 1333
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| ],
|
| "notes": "grasp Shampoo Bottle",
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| "observed_object": "ShampooBottle",
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| "observed_box": "BoxB",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "task_alignment": "not_applicable"
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| },
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| {
|
| "phase": "transport",
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| "frame_range": [
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| 1333,
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| 1642
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| ],
|
| "notes": "transport Shampoo Bottle toward Box B",
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| "observed_object": "ShampooBottle",
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| "observed_box": "BoxB",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "task_alignment": "not_applicable"
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| },
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| {
|
| "phase": "place",
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| "frame_range": [
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| 1642,
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| 1708
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| ],
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| "notes": "place Shampoo Bottle into Box B",
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| "observed_object": "ShampooBottle",
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| "observed_box": "BoxB",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "stability_frames": 30,
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| "task_alignment": "not_applicable"
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| },
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| {
|
| "phase": "retract",
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| "frame_range": [
|
| 1708,
|
| 1737
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "ShampooBottle",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
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| "execution_quality": "success",
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| "task_alignment": "not_applicable"
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| },
|
| {
|
| "phase": "approach",
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| "frame_range": [
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| 2063,
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| 2093
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| ],
|
| "notes": "approach Glass Jar",
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| "observed_object": "GlassJar",
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| "observed_box": "BoxB",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "task_alignment": "not_applicable"
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| },
|
| {
|
| "phase": "grasp",
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| "frame_range": [
|
| 2093,
|
| 2094
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| ],
|
| "notes": "grasp Glass Jar",
|
| "observed_object": "GlassJar",
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| "observed_box": "BoxB",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "task_alignment": "not_applicable"
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| },
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| {
|
| "phase": "transport",
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| "frame_range": [
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| 2094,
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| 2226
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| ],
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| "notes": "transport Glass Jar toward Box B",
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| "observed_object": "GlassJar",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
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| "task_alignment": "not_applicable"
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| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 2226,
|
| 2322
|
| ],
|
| "notes": "place Glass Jar into Box B",
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| "observed_object": "GlassJar",
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| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
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| "task_alignment": "not_applicable"
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| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 2322,
|
| 2351
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "GlassJar",
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| "observed_box": "BoxB",
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| "manipulation_result": "success",
|
| "execution_quality": "success",
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| "task_alignment": "not_applicable"
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| },
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| {
|
| "phase": "approach",
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| "frame_range": [
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| 2654,
|
| 2684
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| ],
|
| "notes": "approach Small Wrench",
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| "observed_object": "SmallWrench",
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| "observed_box": "BoxA",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "task_alignment": "correct"
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| },
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| {
|
| "phase": "grasp",
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| "frame_range": [
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| 2684,
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| 2685
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| ],
|
| "notes": "grasp Small Wrench",
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| "observed_object": "SmallWrench",
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| "observed_box": "BoxA",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "task_alignment": "correct"
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| },
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| {
|
| "phase": "transport",
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| "frame_range": [
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| 2685,
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| 2769
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| ],
|
| "notes": "transport Small Wrench toward Box A",
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| "observed_object": "SmallWrench",
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| "observed_box": "BoxA",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "task_alignment": "correct"
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| },
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| {
|
| "phase": "place",
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| "frame_range": [
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| 2769,
|
| 2787
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| ],
|
| "notes": "place Small Wrench into Box A",
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| "observed_object": "SmallWrench",
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| "observed_box": "BoxA",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "stability_frames": 30,
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| "task_alignment": "correct"
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| },
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| {
|
| "phase": "retract",
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| "frame_range": [
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| 2787,
|
| 2816
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| ],
|
| "notes": "retract from Box A",
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| "observed_object": "SmallWrench",
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| "observed_box": "BoxA",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "task_alignment": "correct"
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| }
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| ],
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| "scores": {
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| "D3_placement_accuracy": 1,
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| "D4_temporal_efficiency": 3,
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| "D5_motion_smoothness": 5,
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| "D6_corrective_movements": 5,
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| "D7_kinematic_headroom": 1
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| },
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| "derived": {
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| "efficiency": 2,
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| "confidence": 0.73,
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| "episode_grade": "D"
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| },
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| "raw_measurements": {
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| "path_ratio": 8.56,
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| "grasp_positional_offset_pct": 209.95,
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| "placement_positional_offset_pct": 336.72,
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| "placement_rotation_error_deg": 23.74,
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| "duration_ratio_to_median": 1.3406,
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| "discontinuity_count": 91,
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| "mean_autocorrelation": 0.9997,
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| "power_below_2hz_pct": 98.87999725341797,
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| "correction_count": 0,
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| "correction_duration_pct": 0.0,
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| "peak_kinematic_ratio": 1.1424,
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| "peak_kinematic_type": "position"
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| },
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| "scorer_id": "auto_v1.1.0",
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| "instruction": "Pick up the Small Wrench and place it into Box A.",
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| "target_object": "SmallWrench",
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| "target_box": "BoxA",
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| "episode_class": "clean_success",
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| "outcome_status": "reconstructed_from_original_recording",
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| "source_repo": "VadRobotics/sort_objects_Panda_150",
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| "source_revision": "430f569301f2f8ad674771dcb3c150fee2641cf9",
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| "source_episode_index": 0,
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| "robot_type": "panda",
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| "sample_episode_index": 0
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| },
|
| {
|
| "episode_id": "panda/episode_000001",
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| "success": true,
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| "task_success": true,
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| "failure_reason": "none",
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| "duration_sec": 90.23,
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| "frozen_frames": 136,
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| "phase_annotations": [
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| {
|
| "phase": "approach",
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| "frame_range": [
|
| 492,
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| 522
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| ],
|
| "notes": "approach Glass Jar",
|
| "observed_object": "GlassJar",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
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| "execution_quality": "success",
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| "task_alignment": "not_applicable"
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| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 522,
|
| 523
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| ],
|
| "notes": "grasp Glass Jar",
|
| "observed_object": "GlassJar",
|
| "observed_box": "BoxB",
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| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
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| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
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| 523,
|
| 781
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| ],
|
| "notes": "transport Glass Jar toward Box B",
|
| "observed_object": "GlassJar",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
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| },
|
| {
|
| "phase": "place",
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| "frame_range": [
|
| 781,
|
| 929
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| ],
|
| "notes": "place Glass Jar into Box B",
|
| "observed_object": "GlassJar",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
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| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
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| },
|
| {
|
| "phase": "retract",
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| "frame_range": [
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| 929,
|
| 958
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| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "GlassJar",
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| "observed_box": "BoxB",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "task_alignment": "not_applicable"
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| },
|
| {
|
| "phase": "approach",
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| "frame_range": [
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| 1307,
|
| 1337
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| ],
|
| "notes": "approach Spray Bottle",
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| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
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| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
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| 1337,
|
| 1338
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| ],
|
| "notes": "grasp Spray Bottle",
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| "observed_object": "SprayBottle",
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| "observed_box": "BoxA",
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| "manipulation_result": "success",
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| "execution_quality": "success",
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| "task_alignment": "correct"
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| },
|
| {
|
| "phase": "transport",
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| "frame_range": [
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| 1338,
|
| 1418
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| ],
|
| "notes": "transport Spray Bottle toward Box A",
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| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
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| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1418,
|
| 1477
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| ],
|
| "notes": "place Spray Bottle into Box A",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
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| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "correct"
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| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1477,
|
| 1506
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
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| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 2234,
|
| 2264
|
| ],
|
| "notes": "approach Toothpaste Box",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
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| 2264,
|
| 2265
|
| ],
|
| "notes": "grasp Toothpaste Box",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
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| },
|
| {
|
| "phase": "transport",
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| "frame_range": [
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| 2265,
|
| 2528
|
| ],
|
| "notes": "transport Toothpaste Box toward Box B",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
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| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 2528,
|
| 2575
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| ],
|
| "notes": "place Toothpaste Box into Box B",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 2575,
|
| 2604
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
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| "D2_grasp_precision": 1,
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| "D3_placement_accuracy": 1,
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| "D4_temporal_efficiency": 3,
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| "D5_motion_smoothness": 5,
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| "D6_corrective_movements": 5,
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| "D7_kinematic_headroom": 1
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| },
|
| "derived": {
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| "efficiency": 2,
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| "precision": 1,
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| "confidence": 0.73,
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| "composite_score": 2.43,
|
| "episode_grade": "D"
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| },
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| "raw_measurements": {
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| "path_ratio": 4.7197,
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| "grasp_angular_offset_deg": 6.76,
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| "grasp_positional_offset_pct": 746.37,
|
| "placement_positional_offset_pct": 348.92,
|
| "placement_rotation_error_deg": 9.48,
|
| "placement_release_height_m": 0.0142,
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| "duration_ratio_to_median": 1.2257,
|
| "discontinuity_count": 74,
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| "discontinuity_rate_hz": 0.1171,
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| "mean_autocorrelation": 0.9994,
|
| "power_below_2hz_pct": 99.06999969482422,
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| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
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| "peak_kinematic_ratio": 1.042,
|
| "peak_kinematic_joint": "panda_joint7",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Spray Bottle and place it into Box A.",
|
| "target_object": "SprayBottle",
|
| "target_box": "BoxA",
|
| "episode_class": "clean_success",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_Panda_150",
|
| "source_revision": "430f569301f2f8ad674771dcb3c150fee2641cf9",
|
| "source_episode_index": 1,
|
| "robot_type": "panda",
|
| "sample_episode_index": 1
|
| },
|
| {
|
| "episode_id": "panda/episode_000002",
|
| "success": true,
|
| "task_success": true,
|
| "failure_reason": "none",
|
| "duration_sec": 131.8,
|
| "frozen_frames": 112,
|
| "phase_annotations": [
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 423,
|
| 453
|
| ],
|
| "notes": "approach Spray Bottle",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 453,
|
| 454
|
| ],
|
| "notes": "grasp Spray Bottle",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 454,
|
| 601
|
| ],
|
| "notes": "transport Spray Bottle toward Box A",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 601,
|
| 726
|
| ],
|
| "notes": "place Spray Bottle into Box A",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 726,
|
| 755
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1222,
|
| 1252
|
| ],
|
| "notes": "approach Kitchen Funnel",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1252,
|
| 1253
|
| ],
|
| "notes": "grasp Kitchen Funnel",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1253,
|
| 1456
|
| ],
|
| "notes": "transport Kitchen Funnel toward Box A",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1456,
|
| 1477
|
| ],
|
| "notes": "place Kitchen Funnel into Box A",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1477,
|
| 1506
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1718,
|
| 1748
|
| ],
|
| "notes": "approach Cracker Box",
|
| "observed_object": "CrackerBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1748,
|
| 1749
|
| ],
|
| "notes": "grasp Cracker Box",
|
| "observed_object": "CrackerBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1749,
|
| 1984
|
| ],
|
| "notes": "transport Cracker Box toward Box B",
|
| "observed_object": "CrackerBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1984,
|
| 2026
|
| ],
|
| "notes": "place Cracker Box into Box B",
|
| "observed_object": "CrackerBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 2026,
|
| 2055
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "CrackerBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 2590,
|
| 2620
|
| ],
|
| "notes": "approach Marker Pen",
|
| "observed_object": "MarkerPen",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 2620,
|
| 2621
|
| ],
|
| "notes": "grasp Marker Pen",
|
| "observed_object": "MarkerPen",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 2621,
|
| 2914
|
| ],
|
| "notes": "transport Marker Pen toward Box A",
|
| "observed_object": "MarkerPen",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 2914,
|
| 2919
|
| ],
|
| "notes": "place Marker Pen into Box A",
|
| "observed_object": "MarkerPen",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 2919,
|
| 2948
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "MarkerPen",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 3313,
|
| 3343
|
| ],
|
| "notes": "approach Toothpaste Box",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 3343,
|
| 3344
|
| ],
|
| "notes": "grasp Toothpaste Box",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 3344,
|
| 3846
|
| ],
|
| "notes": "transport Toothpaste Box toward Box B",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 3846,
|
| 3851
|
| ],
|
| "notes": "place Toothpaste Box into Box B",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 3851,
|
| 3880
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
|
| "D2_grasp_precision": 1,
|
| "D3_placement_accuracy": 1,
|
| "D4_temporal_efficiency": 2,
|
| "D5_motion_smoothness": 5,
|
| "D6_corrective_movements": 5,
|
| "D7_kinematic_headroom": 1
|
| },
|
| "derived": {
|
| "efficiency": 2,
|
| "precision": 1,
|
| "confidence": 0.73,
|
| "composite_score": 2.29,
|
| "episode_grade": "D"
|
| },
|
| "raw_measurements": {
|
| "path_ratio": 5.4137,
|
| "grasp_angular_offset_deg": 23.81,
|
| "grasp_positional_offset_pct": 962.46,
|
| "placement_positional_offset_pct": 311.73,
|
| "placement_rotation_error_deg": 3.68,
|
| "placement_release_height_m": 0.0131,
|
| "duration_ratio_to_median": 1.8317,
|
| "discontinuity_count": 120,
|
| "discontinuity_rate_hz": 0.13,
|
| "mean_autocorrelation": 0.9996,
|
| "power_below_2hz_pct": 99.12999725341797,
|
| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
|
| "peak_kinematic_ratio": 1.1441,
|
| "peak_kinematic_joint": "panda_joint4",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Spray Bottle and place it into Box A.",
|
| "target_object": "SprayBottle",
|
| "target_box": "BoxA",
|
| "episode_class": "clean_success",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_Panda_150",
|
| "source_revision": "430f569301f2f8ad674771dcb3c150fee2641cf9",
|
| "source_episode_index": 2,
|
| "robot_type": "panda",
|
| "sample_episode_index": 2
|
| },
|
| {
|
| "episode_id": "panda/episode_000003",
|
| "success": true,
|
| "task_success": true,
|
| "failure_reason": "none",
|
| "duration_sec": 46.87,
|
| "frozen_frames": 12,
|
| "phase_annotations": [
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 199,
|
| 229
|
| ],
|
| "notes": "approach Spray Bottle",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 229,
|
| 230
|
| ],
|
| "notes": "grasp Spray Bottle",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 230,
|
| 306
|
| ],
|
| "notes": "transport Spray Bottle toward Box A",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 306,
|
| 419
|
| ],
|
| "notes": "place Spray Bottle into Box A",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 419,
|
| 448
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 702,
|
| 732
|
| ],
|
| "notes": "approach Mug",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 732,
|
| 733
|
| ],
|
| "notes": "grasp Mug",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 733,
|
| 818
|
| ],
|
| "notes": "transport Mug toward Box A",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 818,
|
| 898
|
| ],
|
| "notes": "place Mug into Box A",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 898,
|
| 927
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1131,
|
| 1161
|
| ],
|
| "notes": "approach Fruit Juice Box",
|
| "observed_object": "JuiceBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1161,
|
| 1162
|
| ],
|
| "notes": "grasp Fruit Juice Box",
|
| "observed_object": "JuiceBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1162,
|
| 1200
|
| ],
|
| "notes": "transport Fruit Juice Box toward Box B",
|
| "observed_object": "JuiceBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1200,
|
| 1291
|
| ],
|
| "notes": "place Fruit Juice Box into Box B",
|
| "observed_object": "JuiceBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1291,
|
| 1320
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "JuiceBox",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
|
| "D2_grasp_precision": 1,
|
| "D3_placement_accuracy": 1,
|
| "D4_temporal_efficiency": 5,
|
| "D5_motion_smoothness": 5,
|
| "D6_corrective_movements": 5,
|
| "D7_kinematic_headroom": 2
|
| },
|
| "derived": {
|
| "efficiency": 3,
|
| "precision": 1,
|
| "confidence": 0.8,
|
| "composite_score": 2.86,
|
| "episode_grade": "C"
|
| },
|
| "raw_measurements": {
|
| "path_ratio": 5.8626,
|
| "grasp_angular_offset_deg": 8.02,
|
| "grasp_positional_offset_pct": 818.68,
|
| "placement_positional_offset_pct": 298.63,
|
| "placement_rotation_error_deg": 41.79,
|
| "placement_release_height_m": 0.0213,
|
| "duration_ratio_to_median": 0.6646,
|
| "discontinuity_count": 45,
|
| "discontinuity_rate_hz": 0.1371,
|
| "mean_autocorrelation": 0.9983,
|
| "power_below_2hz_pct": 99.08999633789062,
|
| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
|
| "peak_kinematic_ratio": 0.9385,
|
| "peak_kinematic_joint": "panda_joint4",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Fruit Juice Box and place it into Box B.",
|
| "target_object": "JuiceBox",
|
| "target_box": "BoxB",
|
| "episode_class": "clean_success",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_Panda_150",
|
| "source_revision": "430f569301f2f8ad674771dcb3c150fee2641cf9",
|
| "source_episode_index": 3,
|
| "robot_type": "panda",
|
| "sample_episode_index": 3
|
| },
|
| {
|
| "episode_id": "panda/episode_000004",
|
| "success": false,
|
| "task_success": false,
|
| "failure_reason": "operator_abort",
|
| "duration_sec": 78.2,
|
| "frozen_frames": 75,
|
| "phase_annotations": [
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 500,
|
| 530
|
| ],
|
| "notes": "approach Spray Bottle",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "wrong_object"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 530,
|
| 531
|
| ],
|
| "notes": "grasp Spray Bottle",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "wrong_object"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 531,
|
| 615
|
| ],
|
| "notes": "transport Spray Bottle toward Box A",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "wrong_object"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 615,
|
| 695
|
| ],
|
| "notes": "place Spray Bottle into Box A",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "wrong_object"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 695,
|
| 724
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "wrong_object"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1096,
|
| 1126
|
| ],
|
| "notes": "approach Chips Tube",
|
| "observed_object": "ChipsTube",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1126,
|
| 1127
|
| ],
|
| "notes": "grasp Chips Tube",
|
| "observed_object": "ChipsTube",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1127,
|
| 1341
|
| ],
|
| "notes": "transport Chips Tube toward Box A",
|
| "observed_object": "ChipsTube",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1341,
|
| 1343
|
| ],
|
| "notes": "place Chips Tube into Box A",
|
| "observed_object": "ChipsTube",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1343,
|
| 1372
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "ChipsTube",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1987,
|
| 2017
|
| ],
|
| "notes": "approach Pliers",
|
| "observed_object": "Pliers",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 2017,
|
| 2018
|
| ],
|
| "notes": "grasp Pliers",
|
| "observed_object": "Pliers",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 2018,
|
| 2138
|
| ],
|
| "notes": "transport Pliers toward Box B",
|
| "observed_object": "Pliers",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 2138,
|
| 2164
|
| ],
|
| "notes": "place Pliers into Box B",
|
| "observed_object": "Pliers",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 2164,
|
| 2193
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "Pliers",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
|
| "D2_grasp_precision": 1,
|
| "D3_placement_accuracy": 1,
|
| "D4_temporal_efficiency": 4,
|
| "D5_motion_smoothness": 5,
|
| "D6_corrective_movements": 5,
|
| "D7_kinematic_headroom": 1
|
| },
|
| "derived": {
|
| "efficiency": 2,
|
| "precision": 1,
|
| "confidence": 0.73,
|
| "composite_score": 2.57,
|
| "episode_grade": "C"
|
| },
|
| "raw_measurements": {
|
| "path_ratio": 6.1376,
|
| "grasp_angular_offset_deg": 16.32,
|
| "grasp_positional_offset_pct": 710.68,
|
| "placement_positional_offset_pct": 316.61,
|
| "placement_rotation_error_deg": 39.5,
|
| "placement_release_height_m": 0.0,
|
| "duration_ratio_to_median": 1.0827,
|
| "discontinuity_count": 50,
|
| "discontinuity_rate_hz": 0.0913,
|
| "mean_autocorrelation": 0.9989,
|
| "power_below_2hz_pct": 99.25,
|
| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
|
| "peak_kinematic_ratio": 1.1276,
|
| "peak_kinematic_joint": "panda_joint1",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Small Plate and place it into Box B.",
|
| "target_object": "SmallPlate",
|
| "target_box": "BoxB",
|
| "episode_class": "useful_failure",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_Panda_150",
|
| "source_revision": "430f569301f2f8ad674771dcb3c150fee2641cf9",
|
| "source_episode_index": 4,
|
| "robot_type": "panda",
|
| "sample_episode_index": 4
|
| },
|
| {
|
| "episode_id": "panda/episode_000005",
|
| "success": true,
|
| "task_success": true,
|
| "failure_reason": "none",
|
| "duration_sec": 68.3,
|
| "frozen_frames": 0,
|
| "phase_annotations": [
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 387,
|
| 417
|
| ],
|
| "notes": "approach Ground Coffee Canister",
|
| "observed_object": "GrindedCoffeeCan",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 417,
|
| 418
|
| ],
|
| "notes": "grasp Ground Coffee Canister",
|
| "observed_object": "GrindedCoffeeCan",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 418,
|
| 494
|
| ],
|
| "notes": "transport Ground Coffee Canister toward Box B",
|
| "observed_object": "GrindedCoffeeCan",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 494,
|
| 564
|
| ],
|
| "notes": "place Ground Coffee Canister into Box B",
|
| "observed_object": "GrindedCoffeeCan",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 564,
|
| 593
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "GrindedCoffeeCan",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1038,
|
| 1068
|
| ],
|
| "notes": "approach Tea Box",
|
| "observed_object": "TeaBox",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1068,
|
| 1069
|
| ],
|
| "notes": "grasp Tea Box",
|
| "observed_object": "TeaBox",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1069,
|
| 1307
|
| ],
|
| "notes": "transport Tea Box toward Box A",
|
| "observed_object": "TeaBox",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1307,
|
| 1482
|
| ],
|
| "notes": "place Tea Box into Box A",
|
| "observed_object": "TeaBox",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1482,
|
| 1511
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "TeaBox",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1806,
|
| 1836
|
| ],
|
| "notes": "approach Marker Pen",
|
| "observed_object": "MarkerPen",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1836,
|
| 1837
|
| ],
|
| "notes": "grasp Marker Pen",
|
| "observed_object": "MarkerPen",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1837,
|
| 1945
|
| ],
|
| "notes": "transport Marker Pen toward Box B",
|
| "observed_object": "MarkerPen",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1945,
|
| 2002
|
| ],
|
| "notes": "place Marker Pen into Box B",
|
| "observed_object": "MarkerPen",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 2002,
|
| 2031
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "MarkerPen",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
|
| "D2_grasp_precision": 1,
|
| "D3_placement_accuracy": 1,
|
| "D4_temporal_efficiency": 4,
|
| "D5_motion_smoothness": 5,
|
| "D6_corrective_movements": 5,
|
| "D7_kinematic_headroom": 1
|
| },
|
| "derived": {
|
| "efficiency": 2,
|
| "precision": 1,
|
| "confidence": 0.73,
|
| "composite_score": 2.57,
|
| "episode_grade": "C"
|
| },
|
| "raw_measurements": {
|
| "path_ratio": 6.6366,
|
| "grasp_angular_offset_deg": 5.32,
|
| "grasp_positional_offset_pct": 757.22,
|
| "placement_positional_offset_pct": 336.21,
|
| "placement_rotation_error_deg": 17.77,
|
| "placement_release_height_m": 0.0156,
|
| "duration_ratio_to_median": 0.9769,
|
| "discontinuity_count": 33,
|
| "discontinuity_rate_hz": 0.069,
|
| "mean_autocorrelation": 0.9993,
|
| "power_below_2hz_pct": 98.94000244140625,
|
| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
|
| "peak_kinematic_ratio": 1.0414,
|
| "peak_kinematic_joint": "panda_joint7",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Ground Coffee Canister and place it into Box B.",
|
| "target_object": "GrindedCoffeeCan",
|
| "target_box": "BoxB",
|
| "episode_class": "recovery_success",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_Panda_150",
|
| "source_revision": "430f569301f2f8ad674771dcb3c150fee2641cf9",
|
| "source_episode_index": 5,
|
| "robot_type": "panda",
|
| "sample_episode_index": 5
|
| },
|
| {
|
| "episode_id": "panda/episode_000006",
|
| "success": true,
|
| "task_success": true,
|
| "failure_reason": "none",
|
| "duration_sec": 81.0,
|
| "frozen_frames": 0,
|
| "phase_annotations": [
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 516,
|
| 546
|
| ],
|
| "notes": "approach Toothpaste Box",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 546,
|
| 547
|
| ],
|
| "notes": "grasp Toothpaste Box",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 547,
|
| 865
|
| ],
|
| "notes": "transport Toothpaste Box toward Box C",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 865,
|
| 891
|
| ],
|
| "notes": "place Toothpaste Box into Box C",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 891,
|
| 920
|
| ],
|
| "notes": "retract from Box C",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1264,
|
| 1294
|
| ],
|
| "notes": "approach Mug",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1294,
|
| 1295
|
| ],
|
| "notes": "grasp Mug",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1295,
|
| 1500
|
| ],
|
| "notes": "transport Mug toward Box A",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1500,
|
| 1642
|
| ],
|
| "notes": "place Mug into Box A",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1642,
|
| 1671
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1808,
|
| 1838
|
| ],
|
| "notes": "approach Stapler",
|
| "observed_object": "Stapler",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1838,
|
| 1839
|
| ],
|
| "notes": "grasp Stapler",
|
| "observed_object": "Stapler",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1839,
|
| 2252
|
| ],
|
| "notes": "transport Stapler toward Box C",
|
| "observed_object": "Stapler",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 2252,
|
| 2294
|
| ],
|
| "notes": "place Stapler into Box C",
|
| "observed_object": "Stapler",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 2294,
|
| 2323
|
| ],
|
| "notes": "retract from Box C",
|
| "observed_object": "Stapler",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
|
| "D2_grasp_precision": 1,
|
| "D3_placement_accuracy": 1,
|
| "D4_temporal_efficiency": 4,
|
| "D5_motion_smoothness": 5,
|
| "D6_corrective_movements": 5,
|
| "D7_kinematic_headroom": 1
|
| },
|
| "derived": {
|
| "efficiency": 2,
|
| "precision": 1,
|
| "confidence": 0.73,
|
| "composite_score": 2.57,
|
| "episode_grade": "C"
|
| },
|
| "raw_measurements": {
|
| "path_ratio": 3.631,
|
| "grasp_angular_offset_deg": 36.43,
|
| "grasp_positional_offset_pct": 144.13,
|
| "placement_positional_offset_pct": 286.1,
|
| "placement_rotation_error_deg": 29.36,
|
| "placement_release_height_m": 0.0963,
|
| "duration_ratio_to_median": 1.1585,
|
| "discontinuity_count": 52,
|
| "discontinuity_rate_hz": 0.0917,
|
| "mean_autocorrelation": 0.9993,
|
| "power_below_2hz_pct": 99.0,
|
| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
|
| "peak_kinematic_ratio": 1.02,
|
| "peak_kinematic_joint": "panda_joint7",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Toothpaste Box and place it into Box C.",
|
| "target_object": "ToothpasteBox",
|
| "target_box": "BoxC",
|
| "episode_class": "clean_success",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_Panda_150",
|
| "source_revision": "430f569301f2f8ad674771dcb3c150fee2641cf9",
|
| "source_episode_index": 6,
|
| "robot_type": "panda",
|
| "sample_episode_index": 6
|
| },
|
| {
|
| "episode_id": "panda/episode_000007",
|
| "success": true,
|
| "task_success": true,
|
| "failure_reason": "none",
|
| "duration_sec": 73.73,
|
| "frozen_frames": 105,
|
| "phase_annotations": [
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 320,
|
| 350
|
| ],
|
| "notes": "approach Soda Can",
|
| "observed_object": "SodaCan",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 350,
|
| 351
|
| ],
|
| "notes": "grasp Soda Can",
|
| "observed_object": "SodaCan",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 351,
|
| 602
|
| ],
|
| "notes": "transport Soda Can toward Box B",
|
| "observed_object": "SodaCan",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 602,
|
| 618
|
| ],
|
| "notes": "place Soda Can into Box B",
|
| "observed_object": "SodaCan",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 618,
|
| 647
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "SodaCan",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 941,
|
| 971
|
| ],
|
| "notes": "approach Shampoo Bottle",
|
| "observed_object": "ShampooBottle",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 971,
|
| 972
|
| ],
|
| "notes": "grasp Shampoo Bottle",
|
| "observed_object": "ShampooBottle",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 972,
|
| 1050
|
| ],
|
| "notes": "transport Shampoo Bottle toward Box B",
|
| "observed_object": "ShampooBottle",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1050,
|
| 1131
|
| ],
|
| "notes": "place Shampoo Bottle into Box B",
|
| "observed_object": "ShampooBottle",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1131,
|
| 1160
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "ShampooBottle",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1419,
|
| 1449
|
| ],
|
| "notes": "approach Kitchen Funnel",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1449,
|
| 1450
|
| ],
|
| "notes": "grasp Kitchen Funnel",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1450,
|
| 1523
|
| ],
|
| "notes": "transport Kitchen Funnel toward Box A",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1523,
|
| 1586
|
| ],
|
| "notes": "place Kitchen Funnel into Box A",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1586,
|
| 1615
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1856,
|
| 1886
|
| ],
|
| "notes": "approach Spray Bottle",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1886,
|
| 1887
|
| ],
|
| "notes": "grasp Spray Bottle",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1887,
|
| 1997
|
| ],
|
| "notes": "transport Spray Bottle toward Box A",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1997,
|
| 2073
|
| ],
|
| "notes": "place Spray Bottle into Box A",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 2073,
|
| 2102
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
|
| "D2_grasp_precision": 1,
|
| "D3_placement_accuracy": 1,
|
| "D4_temporal_efficiency": 4,
|
| "D5_motion_smoothness": 5,
|
| "D6_corrective_movements": 5,
|
| "D7_kinematic_headroom": 1
|
| },
|
| "derived": {
|
| "efficiency": 2,
|
| "precision": 1,
|
| "confidence": 0.73,
|
| "composite_score": 2.57,
|
| "episode_grade": "C"
|
| },
|
| "raw_measurements": {
|
| "path_ratio": 8.6609,
|
| "grasp_angular_offset_deg": 81.24,
|
| "grasp_positional_offset_pct": 271.25,
|
| "placement_positional_offset_pct": 334.03,
|
| "placement_rotation_error_deg": 30.29,
|
| "placement_release_height_m": 0.0127,
|
| "duration_ratio_to_median": 1.0045,
|
| "discontinuity_count": 51,
|
| "discontinuity_rate_hz": 0.0988,
|
| "mean_autocorrelation": 0.9994,
|
| "power_below_2hz_pct": 99.06999969482422,
|
| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
|
| "peak_kinematic_ratio": 1.0829,
|
| "peak_kinematic_joint": "panda_joint2",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Shampoo Bottle and place it into Box B.",
|
| "target_object": "ShampooBottle",
|
| "target_box": "BoxB",
|
| "episode_class": "clean_success",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_Panda_150",
|
| "source_revision": "430f569301f2f8ad674771dcb3c150fee2641cf9",
|
| "source_episode_index": 7,
|
| "robot_type": "panda",
|
| "sample_episode_index": 7
|
| },
|
| {
|
| "episode_id": "panda/episode_000008",
|
| "success": true,
|
| "task_success": true,
|
| "failure_reason": "none",
|
| "duration_sec": 67.73,
|
| "frozen_frames": 192,
|
| "phase_annotations": [
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 369,
|
| 399
|
| ],
|
| "notes": "approach Mug",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 399,
|
| 400
|
| ],
|
| "notes": "grasp Mug",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 400,
|
| 555
|
| ],
|
| "notes": "transport Mug toward Box A",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 555,
|
| 646
|
| ],
|
| "notes": "place Mug into Box A",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 646,
|
| 675
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 997,
|
| 1027
|
| ],
|
| "notes": "approach Glass Jar",
|
| "observed_object": "GlassJar",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1027,
|
| 1028
|
| ],
|
| "notes": "grasp Glass Jar",
|
| "observed_object": "GlassJar",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1028,
|
| 1145
|
| ],
|
| "notes": "transport Glass Jar toward Box A",
|
| "observed_object": "GlassJar",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1145,
|
| 1164
|
| ],
|
| "notes": "place Glass Jar into Box A",
|
| "observed_object": "GlassJar",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1164,
|
| 1193
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "GlassJar",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1641,
|
| 1671
|
| ],
|
| "notes": "approach Soda Can",
|
| "observed_object": "SodaCan",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1671,
|
| 1672
|
| ],
|
| "notes": "grasp Soda Can",
|
| "observed_object": "SodaCan",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1672,
|
| 1791
|
| ],
|
| "notes": "transport Soda Can toward Box A",
|
| "observed_object": "SodaCan",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1791,
|
| 1931
|
| ],
|
| "notes": "place Soda Can into Box A",
|
| "observed_object": "SodaCan",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1931,
|
| 1960
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "SodaCan",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
|
| "D2_grasp_precision": 1,
|
| "D3_placement_accuracy": 1,
|
| "D4_temporal_efficiency": 4,
|
| "D5_motion_smoothness": 5,
|
| "D6_corrective_movements": 5,
|
| "D7_kinematic_headroom": 1
|
| },
|
| "derived": {
|
| "efficiency": 2,
|
| "precision": 1,
|
| "confidence": 0.73,
|
| "composite_score": 2.57,
|
| "episode_grade": "C"
|
| },
|
| "raw_measurements": {
|
| "path_ratio": 5.1962,
|
| "grasp_angular_offset_deg": 42.56,
|
| "grasp_positional_offset_pct": 338.56,
|
| "placement_positional_offset_pct": 296.0,
|
| "placement_rotation_error_deg": 58.57,
|
| "placement_release_height_m": 0.0134,
|
| "duration_ratio_to_median": 0.8772,
|
| "discontinuity_count": 72,
|
| "discontinuity_rate_hz": 0.1518,
|
| "mean_autocorrelation": 0.9994,
|
| "power_below_2hz_pct": 99.27999877929688,
|
| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
|
| "peak_kinematic_ratio": 1.0005,
|
| "peak_kinematic_joint": "panda_joint7",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Mug and place it into Box A.",
|
| "target_object": "Mug",
|
| "target_box": "BoxA",
|
| "episode_class": "clean_success",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_Panda_150",
|
| "source_revision": "430f569301f2f8ad674771dcb3c150fee2641cf9",
|
| "source_episode_index": 8,
|
| "robot_type": "panda",
|
| "sample_episode_index": 8
|
| },
|
| {
|
| "episode_id": "panda/episode_000009",
|
| "success": true,
|
| "task_success": true,
|
| "failure_reason": "none",
|
| "duration_sec": 90.3,
|
| "frozen_frames": 0,
|
| "phase_annotations": [
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 436,
|
| 466
|
| ],
|
| "notes": "approach Clear Plastic Cup",
|
| "observed_object": "ClearPlasticCup",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 466,
|
| 467
|
| ],
|
| "notes": "grasp Clear Plastic Cup",
|
| "observed_object": "ClearPlasticCup",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 467,
|
| 601
|
| ],
|
| "notes": "transport Clear Plastic Cup toward Box B",
|
| "observed_object": "ClearPlasticCup",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 601,
|
| 642
|
| ],
|
| "notes": "place Clear Plastic Cup into Box B",
|
| "observed_object": "ClearPlasticCup",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 642,
|
| 671
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "ClearPlasticCup",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 983,
|
| 1013
|
| ],
|
| "notes": "approach Mug",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1013,
|
| 1014
|
| ],
|
| "notes": "grasp Mug",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1014,
|
| 1080
|
| ],
|
| "notes": "transport Mug toward Box B",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1080,
|
| 1132
|
| ],
|
| "notes": "place Mug into Box B",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1132,
|
| 1161
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1880,
|
| 1910
|
| ],
|
| "notes": "approach Padlock",
|
| "observed_object": "Padlock",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1910,
|
| 1911
|
| ],
|
| "notes": "grasp Padlock",
|
| "observed_object": "Padlock",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1911,
|
| 1998
|
| ],
|
| "notes": "transport Padlock toward Box A",
|
| "observed_object": "Padlock",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1998,
|
| 2000
|
| ],
|
| "notes": "place Padlock into Box A",
|
| "observed_object": "Padlock",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 2000,
|
| 2029
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "Padlock",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 2383,
|
| 2413
|
| ],
|
| "notes": "approach Spray Bottle",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 2413,
|
| 2414
|
| ],
|
| "notes": "grasp Spray Bottle",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 2414,
|
| 2490
|
| ],
|
| "notes": "transport Spray Bottle toward Box A",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 2490,
|
| 2555
|
| ],
|
| "notes": "place Spray Bottle into Box A",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 2555,
|
| 2584
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "SprayBottle",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
|
| "D2_grasp_precision": 1,
|
| "D3_placement_accuracy": 1,
|
| "D4_temporal_efficiency": 3,
|
| "D5_motion_smoothness": 5,
|
| "D6_corrective_movements": 5,
|
| "D7_kinematic_headroom": 1
|
| },
|
| "derived": {
|
| "efficiency": 2,
|
| "precision": 1,
|
| "confidence": 0.73,
|
| "composite_score": 2.43,
|
| "episode_grade": "D"
|
| },
|
| "raw_measurements": {
|
| "path_ratio": 6.8603,
|
| "grasp_angular_offset_deg": 44.92,
|
| "grasp_positional_offset_pct": 1345.56,
|
| "placement_positional_offset_pct": 402.78,
|
| "placement_rotation_error_deg": 77.28,
|
| "placement_release_height_m": 0.0275,
|
| "duration_ratio_to_median": 1.2915,
|
| "discontinuity_count": 83,
|
| "discontinuity_rate_hz": 0.1313,
|
| "mean_autocorrelation": 0.9993,
|
| "power_below_2hz_pct": 98.79000091552734,
|
| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
|
| "peak_kinematic_ratio": 1.0037,
|
| "peak_kinematic_joint": "panda_joint7",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Spray Bottle and place it into Box A.",
|
| "target_object": "SprayBottle",
|
| "target_box": "BoxA",
|
| "episode_class": "recovery_success",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_Panda_150",
|
| "source_revision": "430f569301f2f8ad674771dcb3c150fee2641cf9",
|
| "source_episode_index": 9,
|
| "robot_type": "panda",
|
| "sample_episode_index": 9
|
| },
|
| {
|
| "episode_id": "widowxai/episode_000000",
|
| "success": true,
|
| "task_success": true,
|
| "failure_reason": "none",
|
| "duration_sec": 39.27,
|
| "frozen_frames": 2,
|
| "phase_annotations": [
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 214,
|
| 244
|
| ],
|
| "notes": "approach Mug",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 244,
|
| 245
|
| ],
|
| "notes": "grasp Mug",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 245,
|
| 299
|
| ],
|
| "notes": "transport Mug toward Box A",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 299,
|
| 354
|
| ],
|
| "notes": "place Mug into Box A",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 354,
|
| 383
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 611,
|
| 641
|
| ],
|
| "notes": "approach Small Wrench",
|
| "observed_object": "SmallWrench",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 641,
|
| 642
|
| ],
|
| "notes": "grasp Small Wrench",
|
| "observed_object": "SmallWrench",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 642,
|
| 730
|
| ],
|
| "notes": "transport Small Wrench toward Box A",
|
| "observed_object": "SmallWrench",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 730,
|
| 743
|
| ],
|
| "notes": "place Small Wrench into Box A",
|
| "observed_object": "SmallWrench",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 743,
|
| 772
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "SmallWrench",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 949,
|
| 979
|
| ],
|
| "notes": "approach Key Fob",
|
| "observed_object": "KeyFob",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 979,
|
| 980
|
| ],
|
| "notes": "grasp Key Fob",
|
| "observed_object": "KeyFob",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 980,
|
| 1047
|
| ],
|
| "notes": "transport Key Fob toward Box A",
|
| "observed_object": "KeyFob",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1047,
|
| 1081
|
| ],
|
| "notes": "place Key Fob into Box A",
|
| "observed_object": "KeyFob",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1081,
|
| 1110
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "KeyFob",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
|
| "D2_grasp_precision": 1,
|
| "D3_placement_accuracy": 1,
|
| "D4_temporal_efficiency": 5,
|
| "D5_motion_smoothness": 4,
|
| "D6_corrective_movements": 5,
|
| "D7_kinematic_headroom": 1
|
| },
|
| "derived": {
|
| "efficiency": 3,
|
| "precision": 1,
|
| "confidence": 0.67,
|
| "composite_score": 2.57,
|
| "episode_grade": "C"
|
| },
|
| "raw_measurements": {
|
| "path_ratio": 7.1167,
|
| "grasp_angular_offset_deg": 87.85,
|
| "grasp_positional_offset_pct": 921.06,
|
| "placement_positional_offset_pct": 286.75,
|
| "placement_rotation_error_deg": 85.84,
|
| "placement_release_height_m": 0.114,
|
| "duration_ratio_to_median": 0.7941,
|
| "discontinuity_count": 26,
|
| "discontinuity_rate_hz": 0.0945,
|
| "mean_autocorrelation": 0.9971,
|
| "power_below_2hz_pct": 97.18000030517578,
|
| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
|
| "peak_kinematic_ratio": 1.0009,
|
| "peak_kinematic_joint": "joint_2",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Key Fob and place it into Box A.",
|
| "target_object": "KeyFob",
|
| "target_box": "BoxA",
|
| "episode_class": "clean_success",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_WidowXAI_150",
|
| "source_revision": "8668926f5bfc4886b091c35f457f59b67d664fad",
|
| "source_episode_index": 0,
|
| "robot_type": "widowxai",
|
| "sample_episode_index": 10
|
| },
|
| {
|
| "episode_id": "widowxai/episode_000001",
|
| "success": true,
|
| "task_success": true,
|
| "failure_reason": "none",
|
| "duration_sec": 55.27,
|
| "frozen_frames": 32,
|
| "phase_annotations": [
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 62,
|
| 92
|
| ],
|
| "notes": "approach Chips Tube",
|
| "observed_object": "ChipsTube",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 92,
|
| 93
|
| ],
|
| "notes": "grasp Chips Tube",
|
| "observed_object": "ChipsTube",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 93,
|
| 185
|
| ],
|
| "notes": "transport Chips Tube toward Box C",
|
| "observed_object": "ChipsTube",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 185,
|
| 256
|
| ],
|
| "notes": "place Chips Tube into Box C",
|
| "observed_object": "ChipsTube",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 256,
|
| 285
|
| ],
|
| "notes": "retract from Box C",
|
| "observed_object": "ChipsTube",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 555,
|
| 585
|
| ],
|
| "notes": "approach Clear Bottle",
|
| "observed_object": "ClearBottle",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 585,
|
| 586
|
| ],
|
| "notes": "grasp Clear Bottle",
|
| "observed_object": "ClearBottle",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 586,
|
| 784
|
| ],
|
| "notes": "transport Clear Bottle toward Box B",
|
| "observed_object": "ClearBottle",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 784,
|
| 846
|
| ],
|
| "notes": "place Clear Bottle into Box B",
|
| "observed_object": "ClearBottle",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 846,
|
| 875
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "ClearBottle",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1202,
|
| 1232
|
| ],
|
| "notes": "approach Mug",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1232,
|
| 1233
|
| ],
|
| "notes": "grasp Mug",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1233,
|
| 1359
|
| ],
|
| "notes": "transport Mug toward Box B",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1359,
|
| 1383
|
| ],
|
| "notes": "place Mug into Box B",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1383,
|
| 1412
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
|
| "D2_grasp_precision": 1,
|
| "D3_placement_accuracy": 1,
|
| "D4_temporal_efficiency": 4,
|
| "D5_motion_smoothness": 4,
|
| "D6_corrective_movements": 5,
|
| "D7_kinematic_headroom": 1
|
| },
|
| "derived": {
|
| "efficiency": 2,
|
| "precision": 1,
|
| "confidence": 0.67,
|
| "composite_score": 2.43,
|
| "episode_grade": "D"
|
| },
|
| "raw_measurements": {
|
| "path_ratio": 5.6454,
|
| "grasp_angular_offset_deg": 77.67,
|
| "grasp_positional_offset_pct": 245.37,
|
| "placement_positional_offset_pct": 266.42,
|
| "placement_rotation_error_deg": 7.88,
|
| "placement_release_height_m": 0.0154,
|
| "duration_ratio_to_median": 1.0979,
|
| "discontinuity_count": 37,
|
| "discontinuity_rate_hz": 0.0956,
|
| "mean_autocorrelation": 0.9987,
|
| "power_below_2hz_pct": 96.94999694824219,
|
| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
|
| "peak_kinematic_ratio": 1.0007,
|
| "peak_kinematic_joint": "joint_3",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Chips Tube and place it into Box C.",
|
| "target_object": "ChipsTube",
|
| "target_box": "BoxC",
|
| "episode_class": "clean_success",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_WidowXAI_150",
|
| "source_revision": "8668926f5bfc4886b091c35f457f59b67d664fad",
|
| "source_episode_index": 1,
|
| "robot_type": "widowxai",
|
| "sample_episode_index": 11
|
| },
|
| {
|
| "episode_id": "widowxai/episode_000002",
|
| "success": false,
|
| "task_success": false,
|
| "failure_reason": "operator_abort",
|
| "duration_sec": 52.9,
|
| "frozen_frames": 60,
|
| "phase_annotations": [
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 368,
|
| 398
|
| ],
|
| "notes": "approach Tuna Can",
|
| "observed_object": "TunaCan",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "wrong_object"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 398,
|
| 399
|
| ],
|
| "notes": "grasp Tuna Can",
|
| "observed_object": "TunaCan",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "wrong_object"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 399,
|
| 498
|
| ],
|
| "notes": "transport Tuna Can toward Box A",
|
| "observed_object": "TunaCan",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "wrong_object"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 498,
|
| 542
|
| ],
|
| "notes": "place Tuna Can into Box A",
|
| "observed_object": "TunaCan",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "wrong_object"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 542,
|
| 571
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "TunaCan",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "wrong_object"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 725,
|
| 755
|
| ],
|
| "notes": "approach Metal Tumbler",
|
| "observed_object": "MetalTumbler",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 755,
|
| 756
|
| ],
|
| "notes": "grasp Metal Tumbler",
|
| "observed_object": "MetalTumbler",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 756,
|
| 845
|
| ],
|
| "notes": "transport Metal Tumbler toward Box C",
|
| "observed_object": "MetalTumbler",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 845,
|
| 888
|
| ],
|
| "notes": "place Metal Tumbler into Box C",
|
| "observed_object": "MetalTumbler",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 888,
|
| 917
|
| ],
|
| "notes": "retract from Box C",
|
| "observed_object": "MetalTumbler",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1261,
|
| 1291
|
| ],
|
| "notes": "approach Screwdriver",
|
| "observed_object": "Screwdriver",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1291,
|
| 1292
|
| ],
|
| "notes": "grasp Screwdriver",
|
| "observed_object": "Screwdriver",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1292,
|
| 1480
|
| ],
|
| "notes": "transport Screwdriver toward Box C",
|
| "observed_object": "Screwdriver",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1480,
|
| 1525
|
| ],
|
| "notes": "place Screwdriver into Box C",
|
| "observed_object": "Screwdriver",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1525,
|
| 1554
|
| ],
|
| "notes": "retract from Box C",
|
| "observed_object": "Screwdriver",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
|
| "D2_grasp_precision": 1,
|
| "D3_placement_accuracy": 1,
|
| "D4_temporal_efficiency": 4,
|
| "D5_motion_smoothness": 4,
|
| "D6_corrective_movements": 5,
|
| "D7_kinematic_headroom": 1
|
| },
|
| "derived": {
|
| "efficiency": 2,
|
| "precision": 1,
|
| "confidence": 0.67,
|
| "composite_score": 2.43,
|
| "episode_grade": "D"
|
| },
|
| "raw_measurements": {
|
| "path_ratio": 4.0827,
|
| "grasp_angular_offset_deg": 76.0,
|
| "grasp_positional_offset_pct": 536.1,
|
| "placement_positional_offset_pct": 369.94,
|
| "placement_rotation_error_deg": 31.1,
|
| "placement_release_height_m": 0.0,
|
| "duration_ratio_to_median": 1.0311,
|
| "discontinuity_count": 35,
|
| "discontinuity_rate_hz": 0.0945,
|
| "mean_autocorrelation": 0.9983,
|
| "power_below_2hz_pct": 97.4800033569336,
|
| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
|
| "peak_kinematic_ratio": 1.0002,
|
| "peak_kinematic_joint": "joint_3",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Small Plate and place it into Box C.",
|
| "target_object": "SmallPlate",
|
| "target_box": "BoxC",
|
| "episode_class": "useful_failure",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_WidowXAI_150",
|
| "source_revision": "8668926f5bfc4886b091c35f457f59b67d664fad",
|
| "source_episode_index": 2,
|
| "robot_type": "widowxai",
|
| "sample_episode_index": 12
|
| },
|
| {
|
| "episode_id": "widowxai/episode_000003",
|
| "success": true,
|
| "task_success": true,
|
| "failure_reason": "none",
|
| "duration_sec": 48.3,
|
| "frozen_frames": 2,
|
| "phase_annotations": [
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 151,
|
| 181
|
| ],
|
| "notes": "approach Kitchen Funnel",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 181,
|
| 182
|
| ],
|
| "notes": "grasp Kitchen Funnel",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 182,
|
| 376
|
| ],
|
| "notes": "transport Kitchen Funnel toward Box C",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 376,
|
| 484
|
| ],
|
| "notes": "place Kitchen Funnel into Box C",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 484,
|
| 513
|
| ],
|
| "notes": "retract from Box C",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 620,
|
| 650
|
| ],
|
| "notes": "approach Mug",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 650,
|
| 651
|
| ],
|
| "notes": "grasp Mug",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 651,
|
| 740
|
| ],
|
| "notes": "transport Mug toward Box C",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 740,
|
| 748
|
| ],
|
| "notes": "place Mug into Box C",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 748,
|
| 777
|
| ],
|
| "notes": "retract from Box C",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1218,
|
| 1248
|
| ],
|
| "notes": "approach Padlock",
|
| "observed_object": "Padlock",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1248,
|
| 1249
|
| ],
|
| "notes": "grasp Padlock",
|
| "observed_object": "Padlock",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1249,
|
| 1318
|
| ],
|
| "notes": "transport Padlock toward Box C",
|
| "observed_object": "Padlock",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1318,
|
| 1376
|
| ],
|
| "notes": "place Padlock into Box C",
|
| "observed_object": "Padlock",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1376,
|
| 1405
|
| ],
|
| "notes": "retract from Box C",
|
| "observed_object": "Padlock",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| }
|
| ],
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| "scores": {
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| "D1_path_efficiency": 1,
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| "D2_grasp_precision": 1,
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| "D3_placement_accuracy": 1,
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| "D4_temporal_efficiency": 4,
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| "D5_motion_smoothness": 4,
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| "D6_corrective_movements": 5,
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| "D7_kinematic_headroom": 1
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| },
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| "derived": {
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| "efficiency": 2,
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| "precision": 1,
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| "confidence": 0.67,
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| "composite_score": 2.43,
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| "episode_grade": "D"
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| },
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| "raw_measurements": {
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| "path_ratio": 7.1091,
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| "grasp_angular_offset_deg": 44.47,
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| "grasp_positional_offset_pct": 649.93,
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| "placement_positional_offset_pct": 269.95,
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| "placement_rotation_error_deg": 62.38,
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| "placement_release_height_m": 0.0162,
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| "duration_ratio_to_median": 0.977,
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| "discontinuity_count": 35,
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| "discontinuity_rate_hz": 0.1034,
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| "mean_autocorrelation": 0.9977,
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| "power_below_2hz_pct": 97.80999755859375,
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| "correction_count": 0,
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| "correction_duration_pct": 0.0,
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| "peak_kinematic_ratio": 1.0008,
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| "peak_kinematic_joint": "joint_3",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Kitchen Funnel and place it into Box C.",
|
| "target_object": "KitchenFunnel",
|
| "target_box": "BoxC",
|
| "episode_class": "recovery_success",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_WidowXAI_150",
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| "source_revision": "8668926f5bfc4886b091c35f457f59b67d664fad",
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| "source_episode_index": 3,
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| "robot_type": "widowxai",
|
| "sample_episode_index": 13
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| },
|
| {
|
| "episode_id": "widowxai/episode_000004",
|
| "success": true,
|
| "task_success": true,
|
| "failure_reason": "none",
|
| "duration_sec": 56.17,
|
| "frozen_frames": 68,
|
| "phase_annotations": [
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| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 250,
|
| 280
|
| ],
|
| "notes": "approach Fruit Juice Box",
|
| "observed_object": "JuiceBox",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 280,
|
| 281
|
| ],
|
| "notes": "grasp Fruit Juice Box",
|
| "observed_object": "JuiceBox",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 281,
|
| 418
|
| ],
|
| "notes": "transport Fruit Juice Box toward Box C",
|
| "observed_object": "JuiceBox",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 418,
|
| 419
|
| ],
|
| "notes": "place Fruit Juice Box into Box C",
|
| "observed_object": "JuiceBox",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 419,
|
| 447
|
| ],
|
| "notes": "retract from Box C",
|
| "observed_object": "JuiceBox",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 859,
|
| 889
|
| ],
|
| "notes": "approach Marker Pen",
|
| "observed_object": "MarkerPen",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 889,
|
| 890
|
| ],
|
| "notes": "grasp Marker Pen",
|
| "observed_object": "MarkerPen",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 890,
|
| 1009
|
| ],
|
| "notes": "transport Marker Pen toward Box B",
|
| "observed_object": "MarkerPen",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1009,
|
| 1045
|
| ],
|
| "notes": "place Marker Pen into Box B",
|
| "observed_object": "MarkerPen",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1045,
|
| 1074
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "MarkerPen",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1334,
|
| 1364
|
| ],
|
| "notes": "approach Remote Control",
|
| "observed_object": "RemoteControl",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1364,
|
| 1365
|
| ],
|
| "notes": "grasp Remote Control",
|
| "observed_object": "RemoteControl",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1365,
|
| 1559
|
| ],
|
| "notes": "transport Remote Control toward Box C",
|
| "observed_object": "RemoteControl",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1559,
|
| 1582
|
| ],
|
| "notes": "place Remote Control into Box C",
|
| "observed_object": "RemoteControl",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1582,
|
| 1611
|
| ],
|
| "notes": "retract from Box C",
|
| "observed_object": "RemoteControl",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
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| "D2_grasp_precision": 1,
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| "D3_placement_accuracy": 1,
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| "D4_temporal_efficiency": 4,
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| "D5_motion_smoothness": 4,
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| "D6_corrective_movements": 5,
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| "D7_kinematic_headroom": 1
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| },
|
| "derived": {
|
| "efficiency": 2,
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| "precision": 1,
|
| "confidence": 0.67,
|
| "composite_score": 2.43,
|
| "episode_grade": "D"
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| },
|
| "raw_measurements": {
|
| "path_ratio": 4.8101,
|
| "grasp_angular_offset_deg": 78.98,
|
| "grasp_positional_offset_pct": 220.79,
|
| "placement_positional_offset_pct": 179.15,
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| "placement_rotation_error_deg": 13.25,
|
| "placement_release_height_m": 0.0175,
|
| "duration_ratio_to_median": 1.0918,
|
| "discontinuity_count": 28,
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| "discontinuity_rate_hz": 0.0712,
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| "mean_autocorrelation": 0.9981,
|
| "power_below_2hz_pct": 96.94999694824219,
|
| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
|
| "peak_kinematic_ratio": 1.0052,
|
| "peak_kinematic_joint": "joint_3",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Fruit Juice Box and place it into Box C.",
|
| "target_object": "JuiceBox",
|
| "target_box": "BoxC",
|
| "episode_class": "clean_success",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_WidowXAI_150",
|
| "source_revision": "8668926f5bfc4886b091c35f457f59b67d664fad",
|
| "source_episode_index": 4,
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| "robot_type": "widowxai",
|
| "sample_episode_index": 14
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| },
|
| {
|
| "episode_id": "widowxai/episode_000005",
|
| "success": true,
|
| "task_success": true,
|
| "failure_reason": "none",
|
| "duration_sec": 67.27,
|
| "frozen_frames": 36,
|
| "phase_annotations": [
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 80,
|
| 110
|
| ],
|
| "notes": "approach Clear Bottle",
|
| "observed_object": "ClearBottle",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 110,
|
| 111
|
| ],
|
| "notes": "grasp Clear Bottle",
|
| "observed_object": "ClearBottle",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 111,
|
| 207
|
| ],
|
| "notes": "transport Clear Bottle toward Box C",
|
| "observed_object": "ClearBottle",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 207,
|
| 265
|
| ],
|
| "notes": "place Clear Bottle into Box C",
|
| "observed_object": "ClearBottle",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 265,
|
| 294
|
| ],
|
| "notes": "retract from Box C",
|
| "observed_object": "ClearBottle",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 656,
|
| 686
|
| ],
|
| "notes": "approach Pliers",
|
| "observed_object": "Pliers",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 686,
|
| 687
|
| ],
|
| "notes": "grasp Pliers",
|
| "observed_object": "Pliers",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 687,
|
| 891
|
| ],
|
| "notes": "transport Pliers toward Box A",
|
| "observed_object": "Pliers",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 891,
|
| 910
|
| ],
|
| "notes": "place Pliers into Box A",
|
| "observed_object": "Pliers",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 910,
|
| 939
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "Pliers",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1179,
|
| 1209
|
| ],
|
| "notes": "approach Mug",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1209,
|
| 1210
|
| ],
|
| "notes": "grasp Mug",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1210,
|
| 1350
|
| ],
|
| "notes": "transport Mug toward Box C",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1350,
|
| 1369
|
| ],
|
| "notes": "place Mug into Box C",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1369,
|
| 1398
|
| ],
|
| "notes": "retract from Box C",
|
| "observed_object": "Mug",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1691,
|
| 1721
|
| ],
|
| "notes": "approach Soda Can",
|
| "observed_object": "SodaCan",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1721,
|
| 1722
|
| ],
|
| "notes": "grasp Soda Can",
|
| "observed_object": "SodaCan",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1722,
|
| 1813
|
| ],
|
| "notes": "transport Soda Can toward Box C",
|
| "observed_object": "SodaCan",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1813,
|
| 1857
|
| ],
|
| "notes": "place Soda Can into Box C",
|
| "observed_object": "SodaCan",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1857,
|
| 1886
|
| ],
|
| "notes": "retract from Box C",
|
| "observed_object": "SodaCan",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
|
| "D2_grasp_precision": 1,
|
| "D3_placement_accuracy": 1,
|
| "D4_temporal_efficiency": 3,
|
| "D5_motion_smoothness": 4,
|
| "D6_corrective_movements": 5,
|
| "D7_kinematic_headroom": 1
|
| },
|
| "derived": {
|
| "efficiency": 2,
|
| "precision": 1,
|
| "confidence": 0.67,
|
| "composite_score": 2.29,
|
| "episode_grade": "D"
|
| },
|
| "raw_measurements": {
|
| "path_ratio": 7.8143,
|
| "grasp_angular_offset_deg": 65.86,
|
| "grasp_positional_offset_pct": 148.01,
|
| "placement_positional_offset_pct": 225.42,
|
| "placement_rotation_error_deg": 6.52,
|
| "placement_release_height_m": 0.0155,
|
| "duration_ratio_to_median": 1.3383,
|
| "discontinuity_count": 54,
|
| "discontinuity_rate_hz": 0.1146,
|
| "mean_autocorrelation": 0.9992,
|
| "power_below_2hz_pct": 97.37000274658203,
|
| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
|
| "peak_kinematic_ratio": 1.0003,
|
| "peak_kinematic_joint": "joint_3",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Clear Bottle and place it into Box C.",
|
| "target_object": "ClearBottle",
|
| "target_box": "BoxC",
|
| "episode_class": "clean_success",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_WidowXAI_150",
|
| "source_revision": "8668926f5bfc4886b091c35f457f59b67d664fad",
|
| "source_episode_index": 5,
|
| "robot_type": "widowxai",
|
| "sample_episode_index": 15
|
| },
|
| {
|
| "episode_id": "widowxai/episode_000006",
|
| "success": true,
|
| "task_success": true,
|
| "failure_reason": "none",
|
| "duration_sec": 53.67,
|
| "frozen_frames": 1,
|
| "phase_annotations": [
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 259,
|
| 289
|
| ],
|
| "notes": "approach Chips Tube",
|
| "observed_object": "ChipsTube",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 289,
|
| 290
|
| ],
|
| "notes": "grasp Chips Tube",
|
| "observed_object": "ChipsTube",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 290,
|
| 374
|
| ],
|
| "notes": "transport Chips Tube toward Box B",
|
| "observed_object": "ChipsTube",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 374,
|
| 455
|
| ],
|
| "notes": "place Chips Tube into Box B",
|
| "observed_object": "ChipsTube",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 455,
|
| 484
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "ChipsTube",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 803,
|
| 833
|
| ],
|
| "notes": "approach Stapler",
|
| "observed_object": "Stapler",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 833,
|
| 834
|
| ],
|
| "notes": "grasp Stapler",
|
| "observed_object": "Stapler",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 834,
|
| 1084
|
| ],
|
| "notes": "transport Stapler toward Box A",
|
| "observed_object": "Stapler",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1084,
|
| 1134
|
| ],
|
| "notes": "place Stapler into Box A",
|
| "observed_object": "Stapler",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1134,
|
| 1163
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "Stapler",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1350,
|
| 1380
|
| ],
|
| "notes": "approach Kitchen Funnel",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1380,
|
| 1381
|
| ],
|
| "notes": "grasp Kitchen Funnel",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "transport",
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| "frame_range": [
|
| 1381,
|
| 1463
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| ],
|
| "notes": "transport Kitchen Funnel toward Box A",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1463,
|
| 1537
|
| ],
|
| "notes": "place Kitchen Funnel into Box A",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1537,
|
| 1566
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "KitchenFunnel",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success_after_recovery",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
|
| "D2_grasp_precision": 1,
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| "D3_placement_accuracy": 1,
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| "D4_temporal_efficiency": 4,
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| "D5_motion_smoothness": 4,
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| "D6_corrective_movements": 5,
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| "D7_kinematic_headroom": 1
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| },
|
| "derived": {
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| "efficiency": 2,
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| "precision": 1,
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| "confidence": 0.67,
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| "composite_score": 2.43,
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| "episode_grade": "D"
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| },
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| "raw_measurements": {
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| "path_ratio": 7.8758,
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| "grasp_angular_offset_deg": 38.31,
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| "grasp_positional_offset_pct": 596.37,
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| "placement_positional_offset_pct": 195.49,
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| "placement_rotation_error_deg": 65.71,
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| "placement_release_height_m": 0.0242,
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| "duration_ratio_to_median": 1.0864,
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| "discontinuity_count": 44,
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| "discontinuity_rate_hz": 0.1171,
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| "mean_autocorrelation": 0.9987,
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| "power_below_2hz_pct": 95.94999694824219,
|
| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
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| "peak_kinematic_ratio": 1.0006,
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| "peak_kinematic_joint": "joint_2",
|
| "peak_kinematic_type": "position"
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| },
|
| "scorer_id": "auto_v1.1.0",
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| "instruction": "Pick up the Kitchen Funnel and place it into Box A.",
|
| "target_object": "KitchenFunnel",
|
| "target_box": "BoxA",
|
| "episode_class": "recovery_success",
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| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_WidowXAI_150",
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| "source_revision": "8668926f5bfc4886b091c35f457f59b67d664fad",
|
| "source_episode_index": 6,
|
| "robot_type": "widowxai",
|
| "sample_episode_index": 16
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| },
|
| {
|
| "episode_id": "widowxai/episode_000007",
|
| "success": true,
|
| "task_success": true,
|
| "failure_reason": "none",
|
| "duration_sec": 46.27,
|
| "frozen_frames": 45,
|
| "phase_annotations": [
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 251,
|
| 281
|
| ],
|
| "notes": "approach Metal Tumbler",
|
| "observed_object": "MetalTumbler",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 281,
|
| 282
|
| ],
|
| "notes": "grasp Metal Tumbler",
|
| "observed_object": "MetalTumbler",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 282,
|
| 332
|
| ],
|
| "notes": "transport Metal Tumbler toward Box C",
|
| "observed_object": "MetalTumbler",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 332,
|
| 372
|
| ],
|
| "notes": "place Metal Tumbler into Box C",
|
| "observed_object": "MetalTumbler",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 372,
|
| 401
|
| ],
|
| "notes": "retract from Box C",
|
| "observed_object": "MetalTumbler",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 680,
|
| 710
|
| ],
|
| "notes": "approach Glass Jar",
|
| "observed_object": "GlassJar",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 710,
|
| 711
|
| ],
|
| "notes": "grasp Glass Jar",
|
| "observed_object": "GlassJar",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 711,
|
| 804
|
| ],
|
| "notes": "transport Glass Jar toward Box C",
|
| "observed_object": "GlassJar",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 804,
|
| 881
|
| ],
|
| "notes": "place Glass Jar into Box C",
|
| "observed_object": "GlassJar",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 881,
|
| 910
|
| ],
|
| "notes": "retract from Box C",
|
| "observed_object": "GlassJar",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1165,
|
| 1195
|
| ],
|
| "notes": "approach Screwdriver",
|
| "observed_object": "Screwdriver",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1195,
|
| 1196
|
| ],
|
| "notes": "grasp Screwdriver",
|
| "observed_object": "Screwdriver",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1196,
|
| 1292
|
| ],
|
| "notes": "transport Screwdriver toward Box A",
|
| "observed_object": "Screwdriver",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1292,
|
| 1344
|
| ],
|
| "notes": "place Screwdriver into Box A",
|
| "observed_object": "Screwdriver",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1344,
|
| 1373
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "Screwdriver",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
|
| "D2_grasp_precision": 1,
|
| "D3_placement_accuracy": 1,
|
| "D4_temporal_efficiency": 4,
|
| "D5_motion_smoothness": 4,
|
| "D6_corrective_movements": 5,
|
| "D7_kinematic_headroom": 1
|
| },
|
| "derived": {
|
| "efficiency": 2,
|
| "precision": 1,
|
| "confidence": 0.67,
|
| "composite_score": 2.43,
|
| "episode_grade": "D"
|
| },
|
| "raw_measurements": {
|
| "path_ratio": 3.6303,
|
| "grasp_angular_offset_deg": 55.5,
|
| "grasp_positional_offset_pct": 1117.05,
|
| "placement_positional_offset_pct": 273.51,
|
| "placement_rotation_error_deg": 25.0,
|
| "placement_release_height_m": 0.0146,
|
| "duration_ratio_to_median": 0.9068,
|
| "discontinuity_count": 47,
|
| "discontinuity_rate_hz": 0.145,
|
| "mean_autocorrelation": 0.9969,
|
| "power_below_2hz_pct": 97.88999938964844,
|
| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
|
| "peak_kinematic_ratio": 1.0003,
|
| "peak_kinematic_joint": "joint_2",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Glass Jar and place it into Box C.",
|
| "target_object": "GlassJar",
|
| "target_box": "BoxC",
|
| "episode_class": "clean_success",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_WidowXAI_150",
|
| "source_revision": "8668926f5bfc4886b091c35f457f59b67d664fad",
|
| "source_episode_index": 7,
|
| "robot_type": "widowxai",
|
| "sample_episode_index": 17
|
| },
|
| {
|
| "episode_id": "widowxai/episode_000008",
|
| "success": true,
|
| "task_success": true,
|
| "failure_reason": "none",
|
| "duration_sec": 39.97,
|
| "frozen_frames": 28,
|
| "phase_annotations": [
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 219,
|
| 249
|
| ],
|
| "notes": "approach Bowl",
|
| "observed_object": "Bowl",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 249,
|
| 250
|
| ],
|
| "notes": "grasp Bowl",
|
| "observed_object": "Bowl",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 250,
|
| 338
|
| ],
|
| "notes": "transport Bowl toward Box B",
|
| "observed_object": "Bowl",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 338,
|
| 406
|
| ],
|
| "notes": "place Bowl into Box B",
|
| "observed_object": "Bowl",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 406,
|
| 435
|
| ],
|
| "notes": "retract from Box B",
|
| "observed_object": "Bowl",
|
| "observed_box": "BoxB",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 580,
|
| 610
|
| ],
|
| "notes": "approach Ground Coffee Canister",
|
| "observed_object": "GrindedCoffeeCan",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 610,
|
| 611
|
| ],
|
| "notes": "grasp Ground Coffee Canister",
|
| "observed_object": "GrindedCoffeeCan",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 611,
|
| 655
|
| ],
|
| "notes": "transport Ground Coffee Canister toward Box C",
|
| "observed_object": "GrindedCoffeeCan",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 655,
|
| 673
|
| ],
|
| "notes": "place Ground Coffee Canister into Box C",
|
| "observed_object": "GrindedCoffeeCan",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
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| "frame_range": [
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| 673,
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| 702
|
| ],
|
| "notes": "retract from Box C",
|
| "observed_object": "GrindedCoffeeCan",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
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| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "approach",
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| "frame_range": [
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| 929,
|
| 959
|
| ],
|
| "notes": "approach Plastic Lid",
|
| "observed_object": "PlasticLid",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
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| 959,
|
| 960
|
| ],
|
| "notes": "grasp Plastic Lid",
|
| "observed_object": "PlasticLid",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "transport",
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| "frame_range": [
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| 960,
|
| 1039
|
| ],
|
| "notes": "transport Plastic Lid toward Box C",
|
| "observed_object": "PlasticLid",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
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| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "place",
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| "frame_range": [
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| 1039,
|
| 1062
|
| ],
|
| "notes": "place Plastic Lid into Box C",
|
| "observed_object": "PlasticLid",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "retract",
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| "frame_range": [
|
| 1062,
|
| 1091
|
| ],
|
| "notes": "retract from Box C",
|
| "observed_object": "PlasticLid",
|
| "observed_box": "BoxC",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
|
| "D2_grasp_precision": 1,
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| "D3_placement_accuracy": 1,
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| "D4_temporal_efficiency": 5,
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| "D5_motion_smoothness": 4,
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| "D6_corrective_movements": 5,
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| "D7_kinematic_headroom": 1
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| },
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| "derived": {
|
| "efficiency": 3,
|
| "precision": 1,
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| "confidence": 0.67,
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| "composite_score": 2.57,
|
| "episode_grade": "C"
|
| },
|
| "raw_measurements": {
|
| "path_ratio": 9.2844,
|
| "grasp_angular_offset_deg": 83.65,
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| "grasp_positional_offset_pct": 345.74,
|
| "placement_positional_offset_pct": 104.08,
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| "placement_rotation_error_deg": 21.12,
|
| "placement_release_height_m": 0.128,
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| "duration_ratio_to_median": 0.7907,
|
| "discontinuity_count": 15,
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| "discontinuity_rate_hz": 0.0536,
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| "mean_autocorrelation": 0.9961,
|
| "power_below_2hz_pct": 97.47000122070312,
|
| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
|
| "peak_kinematic_ratio": 1.0003,
|
| "peak_kinematic_joint": "joint_2",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Plastic Lid and place it into Box C.",
|
| "target_object": "PlasticLid",
|
| "target_box": "BoxC",
|
| "episode_class": "clean_success",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_WidowXAI_150",
|
| "source_revision": "8668926f5bfc4886b091c35f457f59b67d664fad",
|
| "source_episode_index": 8,
|
| "robot_type": "widowxai",
|
| "sample_episode_index": 18
|
| },
|
| {
|
| "episode_id": "widowxai/episode_000009",
|
| "success": true,
|
| "task_success": true,
|
| "failure_reason": "none",
|
| "duration_sec": 48.5,
|
| "frozen_frames": 18,
|
| "phase_annotations": [
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 677,
|
| 707
|
| ],
|
| "notes": "approach Toothpaste Box",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 707,
|
| 708
|
| ],
|
| "notes": "grasp Toothpaste Box",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 708,
|
| 843
|
| ],
|
| "notes": "transport Toothpaste Box toward Box A",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 843,
|
| 912
|
| ],
|
| "notes": "place Toothpaste Box into Box A",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 912,
|
| 941
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "ToothpasteBox",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "correct"
|
| },
|
| {
|
| "phase": "approach",
|
| "frame_range": [
|
| 1169,
|
| 1199
|
| ],
|
| "notes": "approach Remote Control",
|
| "observed_object": "RemoteControl",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "grasp",
|
| "frame_range": [
|
| 1199,
|
| 1200
|
| ],
|
| "notes": "grasp Remote Control",
|
| "observed_object": "RemoteControl",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "transport",
|
| "frame_range": [
|
| 1200,
|
| 1311
|
| ],
|
| "notes": "transport Remote Control toward Box A",
|
| "observed_object": "RemoteControl",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "place",
|
| "frame_range": [
|
| 1311,
|
| 1352
|
| ],
|
| "notes": "place Remote Control into Box A",
|
| "observed_object": "RemoteControl",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "stability_frames": 30,
|
| "task_alignment": "not_applicable"
|
| },
|
| {
|
| "phase": "retract",
|
| "frame_range": [
|
| 1352,
|
| 1381
|
| ],
|
| "notes": "retract from Box A",
|
| "observed_object": "RemoteControl",
|
| "observed_box": "BoxA",
|
| "manipulation_result": "success",
|
| "execution_quality": "success",
|
| "task_alignment": "not_applicable"
|
| }
|
| ],
|
| "scores": {
|
| "D1_path_efficiency": 1,
|
| "D2_grasp_precision": 1,
|
| "D3_placement_accuracy": 1,
|
| "D4_temporal_efficiency": 4,
|
| "D5_motion_smoothness": 4,
|
| "D6_corrective_movements": 5,
|
| "D7_kinematic_headroom": 1
|
| },
|
| "derived": {
|
| "efficiency": 2,
|
| "precision": 1,
|
| "confidence": 0.67,
|
| "composite_score": 2.43,
|
| "episode_grade": "D"
|
| },
|
| "raw_measurements": {
|
| "path_ratio": 5.7574,
|
| "grasp_angular_offset_deg": 70.31,
|
| "grasp_positional_offset_pct": 192.29,
|
| "placement_positional_offset_pct": 183.04,
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| "placement_rotation_error_deg": 0.99,
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| "placement_release_height_m": 0.0115,
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| "duration_ratio_to_median": 0.9703,
|
| "discontinuity_count": 37,
|
| "discontinuity_rate_hz": 0.1089,
|
| "mean_autocorrelation": 0.9965,
|
| "power_below_2hz_pct": 97.91000366210938,
|
| "correction_count": 0,
|
| "correction_duration_pct": 0.0,
|
| "peak_kinematic_ratio": 1.0004,
|
| "peak_kinematic_joint": "joint_2",
|
| "peak_kinematic_type": "position"
|
| },
|
| "scorer_id": "auto_v1.1.0",
|
| "instruction": "Pick up the Toothpaste Box and place it into Box A.",
|
| "target_object": "ToothpasteBox",
|
| "target_box": "BoxA",
|
| "episode_class": "clean_success",
|
| "outcome_status": "reconstructed_from_original_recording",
|
| "source_repo": "VadRobotics/sort_objects_WidowXAI_150",
|
| "source_revision": "8668926f5bfc4886b091c35f457f59b67d664fad",
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| "source_episode_index": 9,
|
| "robot_type": "widowxai",
|
| "sample_episode_index": 19
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| }
|
| ]
|
| }
|
|
|
