| { |
| "task": "battery_insertion", |
| "nut_type": null, |
| "ckpt_dir": "../.././checkpoints/battery_insertion_tactile_ours", |
| "ckpt_name": "policy_best.ckpt", |
| "tactile_encoder": "ours", |
| "num_rollouts": 20, |
| "success_rate": 0.0, |
| "successes": [ |
| false, |
| false, |
| false, |
| false, |
| false, |
| false, |
| false, |
| false, |
| false, |
| false, |
| false, |
| false, |
| false, |
| false, |
| false, |
| false, |
| false, |
| false, |
| false, |
| false |
| ], |
| "episode_lengths": [ |
| 900, |
| 900, |
| 900, |
| 900, |
| 900, |
| 900, |
| 900, |
| 900, |
| 900, |
| 900, |
| 900, |
| 900, |
| 900, |
| 900, |
| 900, |
| 900, |
| 900, |
| 900, |
| 900, |
| 900 |
| ], |
| "replan_counts": [ |
| 3, |
| 3, |
| 0, |
| 3, |
| 1, |
| 0, |
| 3, |
| 1, |
| 0, |
| 3, |
| 3, |
| 1, |
| 3, |
| 3, |
| 1, |
| 3, |
| 3, |
| 3, |
| 3, |
| 3 |
| ], |
| "avg_replans": 2.15, |
| "replan_threshold": 0.5, |
| "replan_cooldown": 10, |
| "stage_flags_per_ep": [ |
| { |
| "grasped": false, |
| "lifted": false, |
| "above_socket": false, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": false, |
| "lifted": false, |
| "above_socket": false, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": true, |
| "lifted": false, |
| "above_socket": false, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": false, |
| "lifted": false, |
| "above_socket": false, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": true, |
| "lifted": true, |
| "above_socket": true, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": true, |
| "lifted": true, |
| "above_socket": true, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": true, |
| "lifted": false, |
| "above_socket": false, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": true, |
| "lifted": true, |
| "above_socket": true, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": true, |
| "lifted": true, |
| "above_socket": true, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": false, |
| "lifted": false, |
| "above_socket": false, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": false, |
| "lifted": false, |
| "above_socket": false, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": true, |
| "lifted": true, |
| "above_socket": true, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": true, |
| "lifted": true, |
| "above_socket": true, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": true, |
| "lifted": true, |
| "above_socket": true, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": true, |
| "lifted": false, |
| "above_socket": false, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": false, |
| "lifted": false, |
| "above_socket": false, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": true, |
| "lifted": false, |
| "above_socket": false, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": false, |
| "lifted": false, |
| "above_socket": false, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": true, |
| "lifted": true, |
| "above_socket": true, |
| "contact": true, |
| "inserted": false |
| }, |
| { |
| "grasped": false, |
| "lifted": false, |
| "above_socket": false, |
| "contact": true, |
| "inserted": false |
| } |
| ], |
| "phase_breakdown": { |
| "grasp_phase_fail": 12, |
| "insert_phase_fail": 8, |
| "success": 0, |
| "total": 20 |
| } |
| } |
