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"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": 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"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" }, { 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"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", 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"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, 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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", 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"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", 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"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": 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"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" } ], "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": 7.1091, "grasp_angular_offset_deg": 44.47, "grasp_positional_offset_pct": 649.93, "placement_positional_offset_pct": 269.95, "placement_rotation_error_deg": 62.38, "placement_release_height_m": 0.0162, "duration_ratio_to_median": 0.977, "discontinuity_count": 35, "discontinuity_rate_hz": 0.1034, "mean_autocorrelation": 0.9977, "power_below_2hz_pct": 97.80999755859375, "correction_count": 0, "correction_duration_pct": 0.0, "peak_kinematic_ratio": 1.0008, "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", "source_revision": "8668926f5bfc4886b091c35f457f59b67d664fad", "source_episode_index": 3, "robot_type": "widowxai", "sample_episode_index": 13 }, { "episode_id": "widowxai/episode_000004", "success": true, "task_success": true, "failure_reason": "none", "duration_sec": 56.17, "frozen_frames": 68, "phase_annotations": [ { "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, "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": 4.8101, "grasp_angular_offset_deg": 78.98, "grasp_positional_offset_pct": 220.79, "placement_positional_offset_pct": 179.15, "placement_rotation_error_deg": 13.25, "placement_release_height_m": 0.0175, "duration_ratio_to_median": 1.0918, "discontinuity_count": 28, "discontinuity_rate_hz": 0.0712, "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, "robot_type": "widowxai", "sample_episode_index": 14 }, { "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", "frame_range": [ 1381, 1463 ], "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, "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": 7.8758, "grasp_angular_offset_deg": 38.31, "grasp_positional_offset_pct": 596.37, "placement_positional_offset_pct": 195.49, "placement_rotation_error_deg": 65.71, "placement_release_height_m": 0.0242, "duration_ratio_to_median": 1.0864, "discontinuity_count": 44, "discontinuity_rate_hz": 0.1171, "mean_autocorrelation": 0.9987, "power_below_2hz_pct": 95.94999694824219, "correction_count": 0, "correction_duration_pct": 0.0, "peak_kinematic_ratio": 1.0006, "peak_kinematic_joint": "joint_2", "peak_kinematic_type": "position" }, "scorer_id": "auto_v1.1.0", "instruction": "Pick up the Kitchen Funnel and place it into Box A.", "target_object": "KitchenFunnel", "target_box": "BoxA", "episode_class": "recovery_success", "outcome_status": "reconstructed_from_original_recording", "source_repo": "VadRobotics/sort_objects_WidowXAI_150", "source_revision": "8668926f5bfc4886b091c35f457f59b67d664fad", "source_episode_index": 6, "robot_type": "widowxai", "sample_episode_index": 16 }, { "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 ], 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"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", "frame_range": [ 673, 702 ], "notes": "retract from Box C", "observed_object": "GrindedCoffeeCan", "observed_box": "BoxC", "manipulation_result": "success", "execution_quality": "success", "task_alignment": "not_applicable" }, { "phase": "approach", "frame_range": [ 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": [ 959, 960 ], "notes": "grasp Plastic Lid", "observed_object": "PlasticLid", "observed_box": "BoxC", "manipulation_result": "success", "execution_quality": "success", "task_alignment": "correct" }, { "phase": "transport", "frame_range": [ 960, 1039 ], "notes": "transport Plastic Lid toward Box C", "observed_object": "PlasticLid", "observed_box": "BoxC", "manipulation_result": "success", "execution_quality": "success", "task_alignment": "correct" }, { "phase": "place", "frame_range": [ 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", "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, "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": 9.2844, "grasp_angular_offset_deg": 83.65, "grasp_positional_offset_pct": 345.74, "placement_positional_offset_pct": 104.08, "placement_rotation_error_deg": 21.12, "placement_release_height_m": 0.128, "duration_ratio_to_median": 0.7907, "discontinuity_count": 15, "discontinuity_rate_hz": 0.0536, "mean_autocorrelation": 0.9961, "power_below_2hz_pct": 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"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, "placement_rotation_error_deg": 0.99, "placement_release_height_m": 0.0115, "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", "source_episode_index": 9, "robot_type": "widowxai", "sample_episode_index": 19 } ] }