{ "artifacts_complete": true, "camera_validation": { "episode": 12, "fovy_deg": { "left": 90.0, "right": 90.0 }, "frames": 165, "head_unique_frame_ratio": 0.9575757575757575, "main_camera_policy": "native_dynamic", "maximum_mount_distance_error_m": 4.6157244082412063e-08, "maximum_wrist_consecutive_dark_frames": 0, "maximum_wrist_dark_frame_fraction": 0.0, "minimum_wrist_median_luminance": 194.93546006944445, "parallel_head_unique_frame_ratio": 0.9655172413793104, "preset": { "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5", "fovx_deg": 106.26020470831195, "fovy_deg": 90.0, "gripper_to_camera_matrix": [ [ 0.9886695961968883, -1.5244567471983168e-06, 0.15010833103640953, 0.06999997201749193 ], [ 1.567728436833223e-06, 1.0000000058018184, 6.430025196775677e-08, 2.011452240730468e-09 ], [ -0.15010829523993077, 1.6325174712825714e-07, 0.988669555703279, 0.06500000893891618 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "height": 240, "name": "centered_fovy90", "overrides_robotwin_default": true, "width": 320 }, "status": "passed", "wrist_consecutive_dark_frames": { "left": 0, "right": 0 }, "wrist_dark_frame_fraction": { "left": 0.0, "right": 0.0 }, "wrist_median_luminance": { "left": 194.93546006944445, "right": 198.9493359375 } }, "collision_safe": true, "collision_summary": { "contact_step_indices": [], "first_risk_step": null, "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.07742686834173215, "moves": { "object_place": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.143241537353286 }, "scanner_align": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.2021165243134903 }, "scanner_grasp+object_grasp": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.07742686834173215 }, "scanner_lift+object_lift": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.10096111060446272 } }, "physics_steps_checked": 2203 }, "episode": 12, "frames": 165, "plan_success": true, "renderer_validation": { "camera_shader": "rt", "episode": 12, "ray_tracing_denoiser": "optix", "status": "passed" }, "replay_success": true, "seed": 59, "source_commits": { "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" }, "task_specific_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ 0.0292375348508358, -0.020388377830386162, 0.9495282173156738 ], "scanner_functional_point": [ -0.019743237829189297, -0.020982403354706705, 0.9534351745690992, 0.6803548572150155, -0.19181090274324192, 0.6808367574542421, -0.19179977985376187 ] }, "task_success": true, "timing_summary": { "active_left_frames": 103, "active_right_frames": 110, "active_union_frames": 142, "avoidable_idle_seconds": 2.324, "frames": 165, "overlap_frames": 71, "overlap_ratio_active": 0.5, "overlap_ratio_all": 0.4303030303030303, "overlap_seconds": 2.3666666666666667, "seconds": 5.5, "true_dependency_wait_seconds": 0.0 }, "training_action_collision_safe": true, "training_action_count": 164, "training_action_execution_intervals": [ { "action_index": 0, "end_physics_step": 50, "physics_steps": 50, "start_physics_step": 0 }, { "action_index": 1, "end_physics_step": 100, "physics_steps": 50, "start_physics_step": 50 }, { "action_index": 2, "end_physics_step": 150, "physics_steps": 50, "start_physics_step": 100 }, { "action_index": 3, "end_physics_step": 221, "physics_steps": 71, "start_physics_step": 150 }, { "action_index": 4, "end_physics_step": 309, "physics_steps": 88, "start_physics_step": 221 }, { "action_index": 5, "end_physics_step": 411, "physics_steps": 102, "start_physics_step": 309 }, { "action_index": 6, "end_physics_step": 525, "physics_steps": 114, "start_physics_step": 411 }, { "action_index": 7, "end_physics_step": 650, "physics_steps": 125, "start_physics_step": 525 }, { "action_index": 8, "end_physics_step": 784, "physics_steps": 134, "start_physics_step": 650 }, { "action_index": 9, "end_physics_step": 926, "physics_steps": 142, "start_physics_step": 784 }, { "action_index": 10, "end_physics_step": 1074, "physics_steps": 148, "start_physics_step": 926 }, { "action_index": 11, "end_physics_step": 1227, "physics_steps": 153, "start_physics_step": 1074 }, { "action_index": 12, "end_physics_step": 1383, "physics_steps": 156, "start_physics_step": 1227 }, { "action_index": 13, "end_physics_step": 1542, "physics_steps": 159, "start_physics_step": 1383 }, { "action_index": 14, "end_physics_step": 1703, "physics_steps": 161, "start_physics_step": 1542 }, { "action_index": 15, "end_physics_step": 1865, "physics_steps": 162, "start_physics_step": 1703 }, { "action_index": 16, "end_physics_step": 2027, "physics_steps": 162, "start_physics_step": 1865 }, { "action_index": 17, "end_physics_step": 2188, "physics_steps": 161, "start_physics_step": 2027 }, { "action_index": 18, "end_physics_step": 2348, "physics_steps": 160, "start_physics_step": 2188 }, { "action_index": 19, "end_physics_step": 2505, "physics_steps": 157, "start_physics_step": 2348 }, { "action_index": 20, "end_physics_step": 2659, "physics_steps": 154, "start_physics_step": 2505 }, { "action_index": 21, "end_physics_step": 2809, "physics_steps": 150, "start_physics_step": 2659 }, { "action_index": 22, "end_physics_step": 2954, "physics_steps": 145, "start_physics_step": 2809 }, { "action_index": 23, "end_physics_step": 3092, "physics_steps": 138, "start_physics_step": 2954 }, { "action_index": 24, "end_physics_step": 3222, "physics_steps": 130, "start_physics_step": 3092 }, { "action_index": 25, "end_physics_step": 3343, "physics_steps": 121, "start_physics_step": 3222 }, { "action_index": 26, "end_physics_step": 3452, "physics_steps": 109, "start_physics_step": 3343 }, { "action_index": 27, "end_physics_step": 3548, "physics_steps": 96, "start_physics_step": 3452 }, { "action_index": 28, "end_physics_step": 3629, "physics_steps": 81, "start_physics_step": 3548 }, { "action_index": 29, "end_physics_step": 3692, "physics_steps": 63, "start_physics_step": 3629 }, { "action_index": 30, "end_physics_step": 3729, "physics_steps": 37, "start_physics_step": 3692 }, { "action_index": 31, "end_physics_step": 3779, "physics_steps": 50, "start_physics_step": 3729 }, { "action_index": 32, "end_physics_step": 3829, "physics_steps": 50, "start_physics_step": 3779 }, { "action_index": 33, "end_physics_step": 3879, "physics_steps": 50, "start_physics_step": 3829 }, { "action_index": 34, "end_physics_step": 3915, "physics_steps": 36, "start_physics_step": 3879 }, { "action_index": 35, "end_physics_step": 3943, "physics_steps": 28, "start_physics_step": 3915 }, { "action_index": 36, "end_physics_step": 4000, "physics_steps": 57, "start_physics_step": 3943 }, { "action_index": 37, "end_physics_step": 4076, "physics_steps": 76, "start_physics_step": 4000 }, { "action_index": 38, "end_physics_step": 4166, "physics_steps": 90, "start_physics_step": 4076 }, { "action_index": 39, "end_physics_step": 4265, "physics_steps": 99, "start_physics_step": 4166 }, { "action_index": 40, "end_physics_step": 4369, "physics_steps": 104, "start_physics_step": 4265 }, { "action_index": 41, "end_physics_step": 4476, "physics_steps": 107, "start_physics_step": 4369 }, { "action_index": 42, "end_physics_step": 4575, "physics_steps": 99, "start_physics_step": 4476 }, { "action_index": 43, "end_physics_step": 4661, "physics_steps": 86, "start_physics_step": 4575 }, { "action_index": 44, "end_physics_step": 4731, "physics_steps": 70, "start_physics_step": 4661 }, { "action_index": 45, "end_physics_step": 4777, "physics_steps": 46, "start_physics_step": 4731 }, { "action_index": 46, "end_physics_step": 4790, "physics_steps": 13, "start_physics_step": 4777 }, { "action_index": 47, "end_physics_step": 4840, "physics_steps": 50, "start_physics_step": 4790 }, { "action_index": 48, "end_physics_step": 4890, "physics_steps": 50, "start_physics_step": 4840 }, { "action_index": 49, "end_physics_step": 4940, "physics_steps": 50, "start_physics_step": 4890 }, { "action_index": 50, "end_physics_step": 4990, "physics_steps": 50, "start_physics_step": 4940 }, { "action_index": 51, "end_physics_step": 5040, "physics_steps": 50, "start_physics_step": 4990 }, { "action_index": 52, "end_physics_step": 5090, "physics_steps": 50, "start_physics_step": 5040 }, { "action_index": 53, "end_physics_step": 5140, "physics_steps": 50, "start_physics_step": 5090 }, { "action_index": 54, "end_physics_step": 5190, "physics_steps": 50, "start_physics_step": 5140 }, { "action_index": 55, "end_physics_step": 5240, "physics_steps": 50, "start_physics_step": 5190 }, { "action_index": 56, "end_physics_step": 5290, "physics_steps": 50, "start_physics_step": 5240 }, { "action_index": 57, "end_physics_step": 5340, "physics_steps": 50, "start_physics_step": 5290 }, { "action_index": 58, "end_physics_step": 5390, "physics_steps": 50, "start_physics_step": 5340 }, { "action_index": 59, "end_physics_step": 5440, "physics_steps": 50, "start_physics_step": 5390 }, { "action_index": 60, "end_physics_step": 5490, "physics_steps": 50, "start_physics_step": 5440 }, { "action_index": 61, "end_physics_step": 5540, "physics_steps": 50, "start_physics_step": 5490 }, { "action_index": 62, "end_physics_step": 5590, "physics_steps": 50, "start_physics_step": 5540 }, { "action_index": 63, "end_physics_step": 5640, "physics_steps": 50, "start_physics_step": 5590 }, { "action_index": 64, "end_physics_step": 5690, "physics_steps": 50, "start_physics_step": 5640 }, { "action_index": 65, "end_physics_step": 5740, "physics_steps": 50, "start_physics_step": 5690 }, { "action_index": 66, "end_physics_step": 5790, "physics_steps": 50, "start_physics_step": 5740 }, { "action_index": 67, "end_physics_step": 5840, "physics_steps": 50, "start_physics_step": 5790 }, { "action_index": 68, "end_physics_step": 5890, "physics_steps": 50, "start_physics_step": 5840 }, { "action_index": 69, "end_physics_step": 5940, "physics_steps": 50, "start_physics_step": 5890 }, { "action_index": 70, "end_physics_step": 5962, "physics_steps": 22, "start_physics_step": 5940 }, { "action_index": 71, "end_physics_step": 5988, "physics_steps": 26, "start_physics_step": 5962 }, { "action_index": 72, "end_physics_step": 6045, "physics_steps": 57, "start_physics_step": 5988 }, { "action_index": 73, "end_physics_step": 6122, "physics_steps": 77, "start_physics_step": 6045 }, { "action_index": 74, "end_physics_step": 6214, "physics_steps": 92, "start_physics_step": 6122 }, { "action_index": 75, "end_physics_step": 6319, "physics_steps": 105, "start_physics_step": 6214 }, { "action_index": 76, "end_physics_step": 6436, "physics_steps": 117, "start_physics_step": 6319 }, { "action_index": 77, "end_physics_step": 6562, "physics_steps": 126, "start_physics_step": 6436 }, { "action_index": 78, "end_physics_step": 6687, "physics_steps": 125, "start_physics_step": 6562 }, { "action_index": 79, "end_physics_step": 6802, "physics_steps": 115, "start_physics_step": 6687 }, { "action_index": 80, "end_physics_step": 6905, "physics_steps": 103, "start_physics_step": 6802 }, { "action_index": 81, "end_physics_step": 6995, "physics_steps": 90, "start_physics_step": 6905 }, { "action_index": 82, "end_physics_step": 7069, "physics_steps": 74, "start_physics_step": 6995 }, { "action_index": 83, "end_physics_step": 7121, "physics_steps": 52, "start_physics_step": 7069 }, { "action_index": 84, "end_physics_step": 7141, "physics_steps": 20, "start_physics_step": 7121 }, { "action_index": 85, "end_physics_step": 7191, "physics_steps": 50, "start_physics_step": 7141 }, { "action_index": 86, "end_physics_step": 7241, "physics_steps": 50, "start_physics_step": 7191 }, { "action_index": 87, "end_physics_step": 7291, "physics_steps": 50, "start_physics_step": 7241 }, { "action_index": 88, "end_physics_step": 7341, "physics_steps": 50, "start_physics_step": 7291 }, { "action_index": 89, "end_physics_step": 7391, "physics_steps": 50, "start_physics_step": 7341 }, { "action_index": 90, "end_physics_step": 7460, "physics_steps": 69, "start_physics_step": 7391 }, { "action_index": 91, "end_physics_step": 7546, "physics_steps": 86, "start_physics_step": 7460 }, { "action_index": 92, "end_physics_step": 7645, "physics_steps": 99, "start_physics_step": 7546 }, { "action_index": 93, "end_physics_step": 7756, "physics_steps": 111, "start_physics_step": 7645 }, { "action_index": 94, "end_physics_step": 7878, "physics_steps": 122, "start_physics_step": 7756 }, { "action_index": 95, "end_physics_step": 8010, "physics_steps": 132, "start_physics_step": 7878 }, { "action_index": 96, "end_physics_step": 8151, "physics_steps": 141, "start_physics_step": 8010 }, { "action_index": 97, "end_physics_step": 8302, "physics_steps": 151, "start_physics_step": 8151 }, { "action_index": 98, "end_physics_step": 8460, "physics_steps": 158, "start_physics_step": 8302 }, { "action_index": 99, "end_physics_step": 8623, "physics_steps": 163, "start_physics_step": 8460 }, { "action_index": 100, "end_physics_step": 8791, "physics_steps": 168, "start_physics_step": 8623 }, { "action_index": 101, "end_physics_step": 8961, "physics_steps": 170, "start_physics_step": 8791 }, { "action_index": 102, "end_physics_step": 9133, "physics_steps": 172, "start_physics_step": 8961 }, { "action_index": 103, "end_physics_step": 9306, "physics_steps": 173, "start_physics_step": 9133 }, { "action_index": 104, "end_physics_step": 9479, "physics_steps": 173, "start_physics_step": 9306 }, { "action_index": 105, "end_physics_step": 9651, "physics_steps": 172, "start_physics_step": 9479 }, { "action_index": 106, "end_physics_step": 9821, "physics_steps": 170, "start_physics_step": 9651 }, { "action_index": 107, "end_physics_step": 9989, "physics_steps": 168, "start_physics_step": 9821 }, { "action_index": 108, "end_physics_step": 10153, "physics_steps": 164, "start_physics_step": 9989 }, { "action_index": 109, "end_physics_step": 10313, "physics_steps": 160, "start_physics_step": 10153 }, { "action_index": 110, "end_physics_step": 10469, "physics_steps": 156, "start_physics_step": 10313 }, { "action_index": 111, "end_physics_step": 10620, "physics_steps": 151, "start_physics_step": 10469 }, { "action_index": 112, "end_physics_step": 10765, "physics_steps": 145, "start_physics_step": 10620 }, { "action_index": 113, "end_physics_step": 10904, "physics_steps": 139, "start_physics_step": 10765 }, { "action_index": 114, "end_physics_step": 11035, "physics_steps": 131, "start_physics_step": 10904 }, { "action_index": 115, "end_physics_step": 11155, "physics_steps": 120, "start_physics_step": 11035 }, { "action_index": 116, "end_physics_step": 11263, "physics_steps": 108, "start_physics_step": 11155 }, { "action_index": 117, "end_physics_step": 11359, "physics_steps": 96, "start_physics_step": 11263 }, { "action_index": 118, "end_physics_step": 11440, "physics_steps": 81, "start_physics_step": 11359 }, { "action_index": 119, "end_physics_step": 11503, "physics_steps": 63, "start_physics_step": 11440 }, { "action_index": 120, "end_physics_step": 11553, "physics_steps": 50, "start_physics_step": 11503 }, { "action_index": 121, "end_physics_step": 11603, "physics_steps": 50, "start_physics_step": 11553 }, { "action_index": 122, "end_physics_step": 11653, "physics_steps": 50, "start_physics_step": 11603 }, { "action_index": 123, "end_physics_step": 11703, "physics_steps": 50, "start_physics_step": 11653 }, { "action_index": 124, "end_physics_step": 11753, "physics_steps": 50, "start_physics_step": 11703 }, { "action_index": 125, "end_physics_step": 11803, "physics_steps": 50, "start_physics_step": 11753 }, { "action_index": 126, "end_physics_step": 11853, "physics_steps": 50, "start_physics_step": 11803 }, { "action_index": 127, "end_physics_step": 11903, "physics_steps": 50, "start_physics_step": 11853 }, { "action_index": 128, "end_physics_step": 11953, "physics_steps": 50, "start_physics_step": 11903 }, { "action_index": 129, "end_physics_step": 12003, "physics_steps": 50, "start_physics_step": 11953 }, { "action_index": 130, "end_physics_step": 12053, "physics_steps": 50, "start_physics_step": 12003 }, { "action_index": 131, "end_physics_step": 12103, "physics_steps": 50, "start_physics_step": 12053 }, { "action_index": 132, "end_physics_step": 12155, "physics_steps": 52, "start_physics_step": 12103 }, { "action_index": 133, "end_physics_step": 12228, "physics_steps": 73, "start_physics_step": 12155 }, { "action_index": 134, "end_physics_step": 12317, "physics_steps": 89, "start_physics_step": 12228 }, { "action_index": 135, "end_physics_step": 12419, "physics_steps": 102, "start_physics_step": 12317 }, { "action_index": 136, "end_physics_step": 12534, "physics_steps": 115, "start_physics_step": 12419 }, { "action_index": 137, "end_physics_step": 12658, "physics_steps": 124, "start_physics_step": 12534 }, { "action_index": 138, "end_physics_step": 12789, "physics_steps": 131, "start_physics_step": 12658 }, { "action_index": 139, "end_physics_step": 12926, "physics_steps": 137, "start_physics_step": 12789 }, { "action_index": 140, "end_physics_step": 13068, "physics_steps": 142, "start_physics_step": 12926 }, { "action_index": 141, "end_physics_step": 13215, "physics_steps": 147, "start_physics_step": 13068 }, { "action_index": 142, "end_physics_step": 13365, "physics_steps": 150, "start_physics_step": 13215 }, { "action_index": 143, "end_physics_step": 13517, "physics_steps": 152, "start_physics_step": 13365 }, { "action_index": 144, "end_physics_step": 13669, "physics_steps": 152, "start_physics_step": 13517 }, { "action_index": 145, "end_physics_step": 13820, "physics_steps": 151, "start_physics_step": 13669 }, { "action_index": 146, "end_physics_step": 13967, "physics_steps": 147, "start_physics_step": 13820 }, { "action_index": 147, "end_physics_step": 14109, "physics_steps": 142, "start_physics_step": 13967 }, { "action_index": 148, "end_physics_step": 14244, "physics_steps": 135, "start_physics_step": 14109 }, { "action_index": 149, "end_physics_step": 14358, "physics_steps": 114, "start_physics_step": 14244 } ], "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", "training_action_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ 0.030488915741443634, -0.020356131717562675, 0.9495753049850464 ], "scanner_functional_point": [ -0.00942645162874342, -0.0077851400386253974, 0.9304092213064533, 0.6225197926773335, -0.232761133384116, 0.7261049914111497, -0.1762467133268743 ] }, "training_action_input_frames": 165, "training_action_interarm_contact_steps": 0, "training_action_minimum_capsule_distance_m": 0.07660951391997747, "training_action_preprocessor": "robotwin_next_sample_joint_target_v2", "training_action_preprocessor_version": 2, "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1", "training_action_replay_success": true, "training_action_total_physics_steps": 14358, "training_actions_executed": 150 }