{ "artifacts_complete": true, "camera_validation": { "episode": 20, "fovy_deg": { "left": 90.0, "right": 90.0 }, "frames": 188, "head_unique_frame_ratio": 0.9627659574468085, "main_camera_policy": "native_dynamic", "maximum_mount_distance_error_m": 4.400699013529241e-08, "maximum_wrist_consecutive_dark_frames": 0, "maximum_wrist_dark_frame_fraction": 0.0, "minimum_wrist_median_luminance": 195.14175781249997, "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": 195.14175781249997, "right": 200.18093532986111 } }, "collision_safe": true, "collision_summary": { "contact_step_indices": [], "first_risk_step": null, "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.1711173193325107, "moves": { "object_place": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.21222960548464254 }, "scanner_align": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.17966382094526065 }, "scanner_grasp+object_grasp": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.1711173193325107 }, "scanner_lift+object_lift": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.21181743919494256 } }, "physics_steps_checked": 2541 }, "episode": 20, "frames": 188, "plan_success": true, "renderer_validation": { "camera_shader": "rt", "episode": 20, "ray_tracing_denoiser": "optix", "status": "passed" }, "replay_success": true, "seed": 90, "source_commits": { "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" }, "task_specific_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ -0.030666310340166092, -0.019442765042185783, 0.9507994651794434 ], "scanner_functional_point": [ 0.01627447200900988, -0.023176330640235956, 0.9462373093509986, 0.5198394647887757, 0.4859740710916227, -0.5042102031764568, -0.4892526996220968 ] }, "task_success": true, "timing_summary": { "active_left_frames": 119, "active_right_frames": 110, "active_union_frames": 159, "avoidable_idle_seconds": 3.028, "frames": 188, "overlap_frames": 70, "overlap_ratio_active": 0.44025157232704404, "overlap_ratio_all": 0.3723404255319149, "overlap_seconds": 2.3333333333333335, "seconds": 6.266666666666667, "true_dependency_wait_seconds": 0.0 }, "training_action_collision_safe": true, "training_action_count": 187, "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": 149, "physics_steps": 49, "start_physics_step": 100 }, { "action_index": 3, "end_physics_step": 220, "physics_steps": 71, "start_physics_step": 149 }, { "action_index": 4, "end_physics_step": 308, "physics_steps": 88, "start_physics_step": 220 }, { "action_index": 5, "end_physics_step": 410, "physics_steps": 102, "start_physics_step": 308 }, { "action_index": 6, "end_physics_step": 524, "physics_steps": 114, "start_physics_step": 410 }, { "action_index": 7, "end_physics_step": 649, "physics_steps": 125, "start_physics_step": 524 }, { "action_index": 8, "end_physics_step": 784, "physics_steps": 135, "start_physics_step": 649 }, { "action_index": 9, "end_physics_step": 927, "physics_steps": 143, "start_physics_step": 784 }, { "action_index": 10, "end_physics_step": 1076, "physics_steps": 149, "start_physics_step": 927 }, { "action_index": 11, "end_physics_step": 1230, "physics_steps": 154, "start_physics_step": 1076 }, { "action_index": 12, "end_physics_step": 1389, "physics_steps": 159, "start_physics_step": 1230 }, { "action_index": 13, "end_physics_step": 1551, "physics_steps": 162, "start_physics_step": 1389 }, { "action_index": 14, "end_physics_step": 1715, "physics_steps": 164, "start_physics_step": 1551 }, { "action_index": 15, "end_physics_step": 1880, "physics_steps": 165, "start_physics_step": 1715 }, { "action_index": 16, "end_physics_step": 2045, "physics_steps": 165, "start_physics_step": 1880 }, { "action_index": 17, "end_physics_step": 2209, "physics_steps": 164, "start_physics_step": 2045 }, { "action_index": 18, "end_physics_step": 2371, "physics_steps": 162, "start_physics_step": 2209 }, { "action_index": 19, "end_physics_step": 2531, "physics_steps": 160, "start_physics_step": 2371 }, { "action_index": 20, "end_physics_step": 2687, "physics_steps": 156, "start_physics_step": 2531 }, { "action_index": 21, "end_physics_step": 2838, "physics_steps": 151, "start_physics_step": 2687 }, { "action_index": 22, "end_physics_step": 2984, "physics_steps": 146, "start_physics_step": 2838 }, { "action_index": 23, "end_physics_step": 3123, "physics_steps": 139, "start_physics_step": 2984 }, { "action_index": 24, "end_physics_step": 3254, "physics_steps": 131, "start_physics_step": 3123 }, { "action_index": 25, "end_physics_step": 3376, "physics_steps": 122, "start_physics_step": 3254 }, { "action_index": 26, "end_physics_step": 3487, "physics_steps": 111, "start_physics_step": 3376 }, { "action_index": 27, "end_physics_step": 3585, "physics_steps": 98, "start_physics_step": 3487 }, { "action_index": 28, "end_physics_step": 3668, "physics_steps": 83, "start_physics_step": 3585 }, { "action_index": 29, "end_physics_step": 3733, "physics_steps": 65, "start_physics_step": 3668 }, { "action_index": 30, "end_physics_step": 3774, "physics_steps": 41, "start_physics_step": 3733 }, { "action_index": 31, "end_physics_step": 3824, "physics_steps": 50, "start_physics_step": 3774 }, { "action_index": 32, "end_physics_step": 3874, "physics_steps": 50, "start_physics_step": 3824 }, { "action_index": 33, "end_physics_step": 3924, "physics_steps": 50, "start_physics_step": 3874 }, { "action_index": 34, "end_physics_step": 3961, "physics_steps": 37, "start_physics_step": 3924 }, { "action_index": 35, "end_physics_step": 3989, "physics_steps": 28, "start_physics_step": 3961 }, { "action_index": 36, "end_physics_step": 4046, "physics_steps": 57, "start_physics_step": 3989 }, { "action_index": 37, "end_physics_step": 4122, "physics_steps": 76, "start_physics_step": 4046 }, { "action_index": 38, "end_physics_step": 4212, "physics_steps": 90, "start_physics_step": 4122 }, { "action_index": 39, "end_physics_step": 4310, "physics_steps": 98, "start_physics_step": 4212 }, { "action_index": 40, "end_physics_step": 4413, "physics_steps": 103, "start_physics_step": 4310 }, { "action_index": 41, "end_physics_step": 4518, "physics_steps": 105, "start_physics_step": 4413 }, { "action_index": 42, "end_physics_step": 4614, "physics_steps": 96, "start_physics_step": 4518 }, { "action_index": 43, "end_physics_step": 4697, "physics_steps": 83, "start_physics_step": 4614 }, { "action_index": 44, "end_physics_step": 4763, "physics_steps": 66, "start_physics_step": 4697 }, { "action_index": 45, "end_physics_step": 4805, "physics_steps": 42, "start_physics_step": 4763 }, { "action_index": 46, "end_physics_step": 4855, "physics_steps": 50, "start_physics_step": 4805 }, { "action_index": 47, "end_physics_step": 4905, "physics_steps": 50, "start_physics_step": 4855 }, { "action_index": 48, "end_physics_step": 4955, "physics_steps": 50, "start_physics_step": 4905 }, { "action_index": 49, "end_physics_step": 5005, "physics_steps": 50, "start_physics_step": 4955 }, { "action_index": 50, "end_physics_step": 5055, "physics_steps": 50, "start_physics_step": 5005 }, { "action_index": 51, "end_physics_step": 5105, "physics_steps": 50, "start_physics_step": 5055 }, { "action_index": 52, "end_physics_step": 5155, "physics_steps": 50, "start_physics_step": 5105 }, { "action_index": 53, "end_physics_step": 5205, "physics_steps": 50, "start_physics_step": 5155 }, { "action_index": 54, "end_physics_step": 5255, "physics_steps": 50, "start_physics_step": 5205 }, { "action_index": 55, "end_physics_step": 5305, "physics_steps": 50, "start_physics_step": 5255 }, { "action_index": 56, "end_physics_step": 5355, "physics_steps": 50, "start_physics_step": 5305 }, { "action_index": 57, "end_physics_step": 5405, "physics_steps": 50, "start_physics_step": 5355 }, { "action_index": 58, "end_physics_step": 5455, "physics_steps": 50, "start_physics_step": 5405 }, { "action_index": 59, "end_physics_step": 5505, "physics_steps": 50, "start_physics_step": 5455 }, { "action_index": 60, "end_physics_step": 5555, "physics_steps": 50, "start_physics_step": 5505 }, { "action_index": 61, "end_physics_step": 5605, "physics_steps": 50, "start_physics_step": 5555 }, { "action_index": 62, "end_physics_step": 5655, "physics_steps": 50, "start_physics_step": 5605 }, { "action_index": 63, "end_physics_step": 5705, "physics_steps": 50, "start_physics_step": 5655 }, { "action_index": 64, "end_physics_step": 5755, "physics_steps": 50, "start_physics_step": 5705 }, { "action_index": 65, "end_physics_step": 5805, "physics_steps": 50, "start_physics_step": 5755 }, { "action_index": 66, "end_physics_step": 5855, "physics_steps": 50, "start_physics_step": 5805 }, { "action_index": 67, "end_physics_step": 5905, "physics_steps": 50, "start_physics_step": 5855 }, { "action_index": 68, "end_physics_step": 5955, "physics_steps": 50, "start_physics_step": 5905 }, { "action_index": 69, "end_physics_step": 6005, "physics_steps": 50, "start_physics_step": 5955 }, { "action_index": 70, "end_physics_step": 6025, "physics_steps": 20, "start_physics_step": 6005 }, { "action_index": 71, "end_physics_step": 6051, "physics_steps": 26, "start_physics_step": 6025 }, { "action_index": 72, "end_physics_step": 6105, "physics_steps": 54, "start_physics_step": 6051 }, { "action_index": 73, "end_physics_step": 6179, "physics_steps": 74, "start_physics_step": 6105 }, { "action_index": 74, "end_physics_step": 6269, "physics_steps": 90, "start_physics_step": 6179 }, { "action_index": 75, "end_physics_step": 6372, "physics_steps": 103, "start_physics_step": 6269 }, { "action_index": 76, "end_physics_step": 6482, "physics_steps": 110, "start_physics_step": 6372 }, { "action_index": 77, "end_physics_step": 6602, "physics_steps": 120, "start_physics_step": 6482 }, { "action_index": 78, "end_physics_step": 6723, "physics_steps": 121, "start_physics_step": 6602 }, { "action_index": 79, "end_physics_step": 6841, "physics_steps": 118, "start_physics_step": 6723 }, { "action_index": 80, "end_physics_step": 6950, "physics_steps": 109, "start_physics_step": 6841 }, { "action_index": 81, "end_physics_step": 7047, "physics_steps": 97, "start_physics_step": 6950 }, { "action_index": 82, "end_physics_step": 7130, "physics_steps": 83, "start_physics_step": 7047 }, { "action_index": 83, "end_physics_step": 7195, "physics_steps": 65, "start_physics_step": 7130 }, { "action_index": 84, "end_physics_step": 7235, "physics_steps": 40, "start_physics_step": 7195 }, { "action_index": 85, "end_physics_step": 7285, "physics_steps": 50, "start_physics_step": 7235 }, { "action_index": 86, "end_physics_step": 7335, "physics_steps": 50, "start_physics_step": 7285 }, { "action_index": 87, "end_physics_step": 7385, "physics_steps": 50, "start_physics_step": 7335 }, { "action_index": 88, "end_physics_step": 7435, "physics_steps": 50, "start_physics_step": 7385 }, { "action_index": 89, "end_physics_step": 7485, "physics_steps": 50, "start_physics_step": 7435 }, { "action_index": 90, "end_physics_step": 7548, "physics_steps": 63, "start_physics_step": 7485 }, { "action_index": 91, "end_physics_step": 7632, "physics_steps": 84, "start_physics_step": 7548 }, { "action_index": 92, "end_physics_step": 7730, "physics_steps": 98, "start_physics_step": 7632 }, { "action_index": 93, "end_physics_step": 7838, "physics_steps": 108, "start_physics_step": 7730 }, { "action_index": 94, "end_physics_step": 7956, "physics_steps": 118, "start_physics_step": 7838 }, { "action_index": 95, "end_physics_step": 8085, "physics_steps": 129, "start_physics_step": 7956 }, { "action_index": 96, "end_physics_step": 8220, "physics_steps": 135, "start_physics_step": 8085 }, { "action_index": 97, "end_physics_step": 8362, "physics_steps": 142, "start_physics_step": 8220 }, { "action_index": 98, "end_physics_step": 8513, "physics_steps": 151, "start_physics_step": 8362 }, { "action_index": 99, "end_physics_step": 8664, "physics_steps": 151, "start_physics_step": 8513 }, { "action_index": 100, "end_physics_step": 8816, "physics_steps": 152, "start_physics_step": 8664 }, { "action_index": 101, "end_physics_step": 8968, "physics_steps": 152, "start_physics_step": 8816 }, { "action_index": 102, "end_physics_step": 9122, "physics_steps": 154, "start_physics_step": 8968 }, { "action_index": 103, "end_physics_step": 9277, "physics_steps": 155, "start_physics_step": 9122 }, { "action_index": 104, "end_physics_step": 9433, "physics_steps": 156, "start_physics_step": 9277 }, { "action_index": 105, "end_physics_step": 9586, "physics_steps": 153, "start_physics_step": 9433 }, { "action_index": 106, "end_physics_step": 9738, "physics_steps": 152, "start_physics_step": 9586 }, { "action_index": 107, "end_physics_step": 9888, "physics_steps": 150, "start_physics_step": 9738 }, { "action_index": 108, "end_physics_step": 10036, "physics_steps": 148, "start_physics_step": 9888 }, { "action_index": 109, "end_physics_step": 10182, "physics_steps": 146, "start_physics_step": 10036 }, { "action_index": 110, "end_physics_step": 10326, "physics_steps": 144, "start_physics_step": 10182 }, { "action_index": 111, "end_physics_step": 10465, "physics_steps": 139, "start_physics_step": 10326 }, { "action_index": 112, "end_physics_step": 10600, "physics_steps": 135, "start_physics_step": 10465 }, { "action_index": 113, "end_physics_step": 10731, "physics_steps": 131, "start_physics_step": 10600 }, { "action_index": 114, "end_physics_step": 10856, "physics_steps": 125, "start_physics_step": 10731 }, { "action_index": 115, "end_physics_step": 10973, "physics_steps": 117, "start_physics_step": 10856 }, { "action_index": 116, "end_physics_step": 11085, "physics_steps": 112, "start_physics_step": 10973 }, { "action_index": 117, "end_physics_step": 11192, "physics_steps": 107, "start_physics_step": 11085 }, { "action_index": 118, "end_physics_step": 11291, "physics_steps": 99, "start_physics_step": 11192 }, { "action_index": 119, "end_physics_step": 11384, "physics_steps": 93, "start_physics_step": 11291 }, { "action_index": 120, "end_physics_step": 11472, "physics_steps": 88, "start_physics_step": 11384 }, { "action_index": 121, "end_physics_step": 11551, "physics_steps": 79, "start_physics_step": 11472 }, { "action_index": 122, "end_physics_step": 11627, "physics_steps": 76, "start_physics_step": 11551 }, { "action_index": 123, "end_physics_step": 11700, "physics_steps": 73, "start_physics_step": 11627 }, { "action_index": 124, "end_physics_step": 11769, "physics_steps": 69, "start_physics_step": 11700 }, { "action_index": 125, "end_physics_step": 11827, "physics_steps": 58, "start_physics_step": 11769 }, { "action_index": 126, "end_physics_step": 11877, "physics_steps": 50, "start_physics_step": 11827 }, { "action_index": 127, "end_physics_step": 11927, "physics_steps": 50, "start_physics_step": 11877 }, { "action_index": 128, "end_physics_step": 11977, "physics_steps": 50, "start_physics_step": 11927 }, { "action_index": 129, "end_physics_step": 12027, "physics_steps": 50, "start_physics_step": 11977 }, { "action_index": 130, "end_physics_step": 12077, "physics_steps": 50, "start_physics_step": 12027 }, { "action_index": 131, "end_physics_step": 12127, "physics_steps": 50, "start_physics_step": 12077 }, { "action_index": 132, "end_physics_step": 12177, "physics_steps": 50, "start_physics_step": 12127 }, { "action_index": 133, "end_physics_step": 12227, "physics_steps": 50, "start_physics_step": 12177 }, { "action_index": 134, "end_physics_step": 12277, "physics_steps": 50, "start_physics_step": 12227 }, { "action_index": 135, "end_physics_step": 12327, "physics_steps": 50, "start_physics_step": 12277 }, { "action_index": 136, "end_physics_step": 12377, "physics_steps": 50, "start_physics_step": 12327 }, { "action_index": 137, "end_physics_step": 12427, "physics_steps": 50, "start_physics_step": 12377 }, { "action_index": 138, "end_physics_step": 12477, "physics_steps": 50, "start_physics_step": 12427 }, { "action_index": 139, "end_physics_step": 12527, "physics_steps": 50, "start_physics_step": 12477 }, { "action_index": 140, "end_physics_step": 12577, "physics_steps": 50, "start_physics_step": 12527 }, { "action_index": 141, "end_physics_step": 12627, "physics_steps": 50, "start_physics_step": 12577 }, { "action_index": 142, "end_physics_step": 12677, "physics_steps": 50, "start_physics_step": 12627 }, { "action_index": 143, "end_physics_step": 12727, "physics_steps": 50, "start_physics_step": 12677 }, { "action_index": 144, "end_physics_step": 12777, "physics_steps": 50, "start_physics_step": 12727 }, { "action_index": 145, "end_physics_step": 12827, "physics_steps": 50, "start_physics_step": 12777 }, { "action_index": 146, "end_physics_step": 12896, "physics_steps": 69, "start_physics_step": 12827 }, { "action_index": 147, "end_physics_step": 12979, "physics_steps": 83, "start_physics_step": 12896 }, { "action_index": 148, "end_physics_step": 13072, "physics_steps": 93, "start_physics_step": 12979 }, { "action_index": 149, "end_physics_step": 13174, "physics_steps": 102, "start_physics_step": 13072 }, { "action_index": 150, "end_physics_step": 13283, "physics_steps": 109, "start_physics_step": 13174 }, { "action_index": 151, "end_physics_step": 13397, "physics_steps": 114, "start_physics_step": 13283 }, { "action_index": 152, "end_physics_step": 13516, "physics_steps": 119, "start_physics_step": 13397 }, { "action_index": 153, "end_physics_step": 13640, "physics_steps": 124, "start_physics_step": 13516 }, { "action_index": 154, "end_physics_step": 13768, "physics_steps": 128, "start_physics_step": 13640 }, { "action_index": 155, "end_physics_step": 13899, "physics_steps": 131, "start_physics_step": 13768 }, { "action_index": 156, "end_physics_step": 14033, "physics_steps": 134, "start_physics_step": 13899 }, { "action_index": 157, "end_physics_step": 14169, "physics_steps": 136, "start_physics_step": 14033 }, { "action_index": 158, "end_physics_step": 14307, "physics_steps": 138, "start_physics_step": 14169 }, { "action_index": 159, "end_physics_step": 14446, "physics_steps": 139, "start_physics_step": 14307 }, { "action_index": 160, "end_physics_step": 14585, "physics_steps": 139, "start_physics_step": 14446 }, { "action_index": 161, "end_physics_step": 14723, "physics_steps": 138, "start_physics_step": 14585 }, { "action_index": 162, "end_physics_step": 14859, "physics_steps": 136, "start_physics_step": 14723 }, { "action_index": 163, "end_physics_step": 14993, "physics_steps": 134, "start_physics_step": 14859 }, { "action_index": 164, "end_physics_step": 15124, "physics_steps": 131, "start_physics_step": 14993 }, { "action_index": 165, "end_physics_step": 15251, "physics_steps": 127, "start_physics_step": 15124 }, { "action_index": 166, "end_physics_step": 15373, "physics_steps": 122, "start_physics_step": 15251 }, { "action_index": 167, "end_physics_step": 15490, "physics_steps": 117, "start_physics_step": 15373 }, { "action_index": 168, "end_physics_step": 15602, "physics_steps": 112, "start_physics_step": 15490 }, { "action_index": 169, "end_physics_step": 15707, "physics_steps": 105, "start_physics_step": 15602 }, { "action_index": 170, "end_physics_step": 15805, "physics_steps": 98, "start_physics_step": 15707 }, { "action_index": 171, "end_physics_step": 15896, "physics_steps": 91, "start_physics_step": 15805 }, { "action_index": 172, "end_physics_step": 15980, "physics_steps": 84, "start_physics_step": 15896 }, { "action_index": 173, "end_physics_step": 15998, "physics_steps": 18, "start_physics_step": 15980 } ], "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", "training_action_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ -0.030771203339099884, -0.019644998013973236, 0.9495883584022522 ], "scanner_functional_point": [ 0.013647036124033817, -0.02933754998927185, 0.9275103695864918, 0.535286642290867, 0.48237684290150484, -0.5492669093149323, -0.4231863116275956 ] }, "training_action_input_frames": 188, "training_action_interarm_contact_steps": 0, "training_action_minimum_capsule_distance_m": 0.16978577782080373, "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": 15998, "training_actions_executed": 174 }