{ "artifacts_complete": true, "camera_validation": { "episode": 27, "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": 4.78717044616328e-08, "maximum_wrist_consecutive_dark_frames": 0, "maximum_wrist_dark_frame_fraction": 0.0, "minimum_wrist_median_luminance": 177.45280815972222, "parallel_head_unique_frame_ratio": 0.9662921348314607, "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": 212.8085546875, "right": 177.45280815972222 } }, "collision_safe": true, "collision_summary": { "contact_step_indices": [], "first_risk_step": null, "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.174178538931422, "moves": { "object_place": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.2178701181063613 }, "scanner_align": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.174178538931422 }, "scanner_grasp+object_grasp": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.1922994437558697 }, "scanner_lift+object_lift": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.2181873326476783 } }, "physics_steps_checked": 2186 }, "episode": 27, "frames": 165, "plan_success": true, "renderer_validation": { "camera_shader": "rt", "episode": 27, "ray_tracing_denoiser": "optix", "status": "passed" }, "replay_success": true, "seed": 130, "source_commits": { "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" }, "task_specific_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ -0.03093785047531128, -0.019602850079536438, 0.950369656085968 ], "scanner_functional_point": [ 0.0112515434181738, -0.00554300595885163, 0.9682300972763175, 0.22350770263683978, 0.6727174331430299, -0.21806601869948716, -0.6707777377760907 ] }, "task_success": true, "timing_summary": { "active_left_frames": 112, "active_right_frames": 101, "active_union_frames": 141, "avoidable_idle_seconds": 2.412, "frames": 165, "overlap_frames": 72, "overlap_ratio_active": 0.5106382978723404, "overlap_ratio_all": 0.43636363636363634, "overlap_seconds": 2.4, "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": 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": 783, "physics_steps": 134, "start_physics_step": 649 }, { "action_index": 9, "end_physics_step": 925, "physics_steps": 142, "start_physics_step": 783 }, { "action_index": 10, "end_physics_step": 1073, "physics_steps": 148, "start_physics_step": 925 }, { "action_index": 11, "end_physics_step": 1226, "physics_steps": 153, "start_physics_step": 1073 }, { "action_index": 12, "end_physics_step": 1382, "physics_steps": 156, "start_physics_step": 1226 }, { "action_index": 13, "end_physics_step": 1541, "physics_steps": 159, "start_physics_step": 1382 }, { "action_index": 14, "end_physics_step": 1702, "physics_steps": 161, "start_physics_step": 1541 }, { "action_index": 15, "end_physics_step": 1864, "physics_steps": 162, "start_physics_step": 1702 }, { "action_index": 16, "end_physics_step": 2026, "physics_steps": 162, "start_physics_step": 1864 }, { "action_index": 17, "end_physics_step": 2187, "physics_steps": 161, "start_physics_step": 2026 }, { "action_index": 18, "end_physics_step": 2347, "physics_steps": 160, "start_physics_step": 2187 }, { "action_index": 19, "end_physics_step": 2504, "physics_steps": 157, "start_physics_step": 2347 }, { "action_index": 20, "end_physics_step": 2658, "physics_steps": 154, "start_physics_step": 2504 }, { "action_index": 21, "end_physics_step": 2808, "physics_steps": 150, "start_physics_step": 2658 }, { "action_index": 22, "end_physics_step": 2953, "physics_steps": 145, "start_physics_step": 2808 }, { "action_index": 23, "end_physics_step": 3092, "physics_steps": 139, "start_physics_step": 2953 }, { "action_index": 24, "end_physics_step": 3223, "physics_steps": 131, "start_physics_step": 3092 }, { "action_index": 25, "end_physics_step": 3344, "physics_steps": 121, "start_physics_step": 3223 }, { "action_index": 26, "end_physics_step": 3454, "physics_steps": 110, "start_physics_step": 3344 }, { "action_index": 27, "end_physics_step": 3551, "physics_steps": 97, "start_physics_step": 3454 }, { "action_index": 28, "end_physics_step": 3633, "physics_steps": 82, "start_physics_step": 3551 }, { "action_index": 29, "end_physics_step": 3697, "physics_steps": 64, "start_physics_step": 3633 }, { "action_index": 30, "end_physics_step": 3736, "physics_steps": 39, "start_physics_step": 3697 }, { "action_index": 31, "end_physics_step": 3786, "physics_steps": 50, "start_physics_step": 3736 }, { "action_index": 32, "end_physics_step": 3836, "physics_steps": 50, "start_physics_step": 3786 }, { "action_index": 33, "end_physics_step": 3886, "physics_steps": 50, "start_physics_step": 3836 }, { "action_index": 34, "end_physics_step": 3922, "physics_steps": 36, "start_physics_step": 3886 }, { "action_index": 35, "end_physics_step": 3950, "physics_steps": 28, "start_physics_step": 3922 }, { "action_index": 36, "end_physics_step": 4007, "physics_steps": 57, "start_physics_step": 3950 }, { "action_index": 37, "end_physics_step": 4083, "physics_steps": 76, "start_physics_step": 4007 }, { "action_index": 38, "end_physics_step": 4171, "physics_steps": 88, "start_physics_step": 4083 }, { "action_index": 39, "end_physics_step": 4269, "physics_steps": 98, "start_physics_step": 4171 }, { "action_index": 40, "end_physics_step": 4372, "physics_steps": 103, "start_physics_step": 4269 }, { "action_index": 41, "end_physics_step": 4476, "physics_steps": 104, "start_physics_step": 4372 }, { "action_index": 42, "end_physics_step": 4577, "physics_steps": 101, "start_physics_step": 4476 }, { "action_index": 43, "end_physics_step": 4669, "physics_steps": 92, "start_physics_step": 4577 }, { "action_index": 44, "end_physics_step": 4747, "physics_steps": 78, "start_physics_step": 4669 }, { "action_index": 45, "end_physics_step": 4804, "physics_steps": 57, "start_physics_step": 4747 }, { "action_index": 46, "end_physics_step": 4832, "physics_steps": 28, "start_physics_step": 4804 }, { "action_index": 47, "end_physics_step": 4882, "physics_steps": 50, "start_physics_step": 4832 }, { "action_index": 48, "end_physics_step": 4932, "physics_steps": 50, "start_physics_step": 4882 }, { "action_index": 49, "end_physics_step": 4982, "physics_steps": 50, "start_physics_step": 4932 }, { "action_index": 50, "end_physics_step": 5032, "physics_steps": 50, "start_physics_step": 4982 }, { "action_index": 51, "end_physics_step": 5082, "physics_steps": 50, "start_physics_step": 5032 }, { "action_index": 52, "end_physics_step": 5132, "physics_steps": 50, "start_physics_step": 5082 }, { "action_index": 53, "end_physics_step": 5182, "physics_steps": 50, "start_physics_step": 5132 }, { "action_index": 54, "end_physics_step": 5232, "physics_steps": 50, "start_physics_step": 5182 }, { "action_index": 55, "end_physics_step": 5282, "physics_steps": 50, "start_physics_step": 5232 }, { "action_index": 56, "end_physics_step": 5332, "physics_steps": 50, "start_physics_step": 5282 }, { "action_index": 57, "end_physics_step": 5382, "physics_steps": 50, "start_physics_step": 5332 }, { "action_index": 58, "end_physics_step": 5432, "physics_steps": 50, "start_physics_step": 5382 }, { "action_index": 59, "end_physics_step": 5482, "physics_steps": 50, "start_physics_step": 5432 }, { "action_index": 60, "end_physics_step": 5532, "physics_steps": 50, "start_physics_step": 5482 }, { "action_index": 61, "end_physics_step": 5582, "physics_steps": 50, "start_physics_step": 5532 }, { "action_index": 62, "end_physics_step": 5632, "physics_steps": 50, "start_physics_step": 5582 }, { "action_index": 63, "end_physics_step": 5682, "physics_steps": 50, "start_physics_step": 5632 }, { "action_index": 64, "end_physics_step": 5732, "physics_steps": 50, "start_physics_step": 5682 }, { "action_index": 65, "end_physics_step": 5782, "physics_steps": 50, "start_physics_step": 5732 }, { "action_index": 66, "end_physics_step": 5832, "physics_steps": 50, "start_physics_step": 5782 }, { "action_index": 67, "end_physics_step": 5882, "physics_steps": 50, "start_physics_step": 5832 }, { "action_index": 68, "end_physics_step": 5932, "physics_steps": 50, "start_physics_step": 5882 }, { "action_index": 69, "end_physics_step": 5982, "physics_steps": 50, "start_physics_step": 5932 }, { "action_index": 70, "end_physics_step": 6032, "physics_steps": 50, "start_physics_step": 5982 }, { "action_index": 71, "end_physics_step": 6051, "physics_steps": 19, "start_physics_step": 6032 }, { "action_index": 72, "end_physics_step": 6076, "physics_steps": 25, "start_physics_step": 6051 }, { "action_index": 73, "end_physics_step": 6133, "physics_steps": 57, "start_physics_step": 6076 }, { "action_index": 74, "end_physics_step": 6210, "physics_steps": 77, "start_physics_step": 6133 }, { "action_index": 75, "end_physics_step": 6302, "physics_steps": 92, "start_physics_step": 6210 }, { "action_index": 76, "end_physics_step": 6406, "physics_steps": 104, "start_physics_step": 6302 }, { "action_index": 77, "end_physics_step": 6518, "physics_steps": 112, "start_physics_step": 6406 }, { "action_index": 78, "end_physics_step": 6637, "physics_steps": 119, "start_physics_step": 6518 }, { "action_index": 79, "end_physics_step": 6764, "physics_steps": 127, "start_physics_step": 6637 }, { "action_index": 80, "end_physics_step": 6882, "physics_steps": 118, "start_physics_step": 6764 }, { "action_index": 81, "end_physics_step": 6993, "physics_steps": 111, "start_physics_step": 6882 }, { "action_index": 82, "end_physics_step": 7094, "physics_steps": 101, "start_physics_step": 6993 }, { "action_index": 83, "end_physics_step": 7181, "physics_steps": 87, "start_physics_step": 7094 }, { "action_index": 84, "end_physics_step": 7251, "physics_steps": 70, "start_physics_step": 7181 }, { "action_index": 85, "end_physics_step": 7299, "physics_steps": 48, "start_physics_step": 7251 }, { "action_index": 86, "end_physics_step": 7314, "physics_steps": 15, "start_physics_step": 7299 }, { "action_index": 87, "end_physics_step": 7364, "physics_steps": 50, "start_physics_step": 7314 }, { "action_index": 88, "end_physics_step": 7414, "physics_steps": 50, "start_physics_step": 7364 }, { "action_index": 89, "end_physics_step": 7464, "physics_steps": 50, "start_physics_step": 7414 }, { "action_index": 90, "end_physics_step": 7514, "physics_steps": 50, "start_physics_step": 7464 }, { "action_index": 91, "end_physics_step": 7564, "physics_steps": 50, "start_physics_step": 7514 }, { "action_index": 92, "end_physics_step": 7632, "physics_steps": 68, "start_physics_step": 7564 }, { "action_index": 93, "end_physics_step": 7717, "physics_steps": 85, "start_physics_step": 7632 }, { "action_index": 94, "end_physics_step": 7816, "physics_steps": 99, "start_physics_step": 7717 }, { "action_index": 95, "end_physics_step": 7927, "physics_steps": 111, "start_physics_step": 7816 }, { "action_index": 96, "end_physics_step": 8048, "physics_steps": 121, "start_physics_step": 7927 }, { "action_index": 97, "end_physics_step": 8178, "physics_steps": 130, "start_physics_step": 8048 }, { "action_index": 98, "end_physics_step": 8314, "physics_steps": 136, "start_physics_step": 8178 }, { "action_index": 99, "end_physics_step": 8454, "physics_steps": 140, "start_physics_step": 8314 }, { "action_index": 100, "end_physics_step": 8597, "physics_steps": 143, "start_physics_step": 8454 }, { "action_index": 101, "end_physics_step": 8742, "physics_steps": 145, "start_physics_step": 8597 }, { "action_index": 102, "end_physics_step": 8890, "physics_steps": 148, "start_physics_step": 8742 }, { "action_index": 103, "end_physics_step": 9041, "physics_steps": 151, "start_physics_step": 8890 }, { "action_index": 104, "end_physics_step": 9195, "physics_steps": 154, "start_physics_step": 9041 }, { "action_index": 105, "end_physics_step": 9353, "physics_steps": 158, "start_physics_step": 9195 }, { "action_index": 106, "end_physics_step": 9514, "physics_steps": 161, "start_physics_step": 9353 }, { "action_index": 107, "end_physics_step": 9677, "physics_steps": 163, "start_physics_step": 9514 }, { "action_index": 108, "end_physics_step": 9841, "physics_steps": 164, "start_physics_step": 9677 }, { "action_index": 109, "end_physics_step": 10006, "physics_steps": 165, "start_physics_step": 9841 }, { "action_index": 110, "end_physics_step": 10170, "physics_steps": 164, "start_physics_step": 10006 }, { "action_index": 111, "end_physics_step": 10332, "physics_steps": 162, "start_physics_step": 10170 }, { "action_index": 112, "end_physics_step": 10490, "physics_steps": 158, "start_physics_step": 10332 }, { "action_index": 113, "end_physics_step": 10643, "physics_steps": 153, "start_physics_step": 10490 }, { "action_index": 114, "end_physics_step": 10790, "physics_steps": 147, "start_physics_step": 10643 }, { "action_index": 115, "end_physics_step": 10929, "physics_steps": 139, "start_physics_step": 10790 }, { "action_index": 116, "end_physics_step": 11058, "physics_steps": 129, "start_physics_step": 10929 }, { "action_index": 117, "end_physics_step": 11177, "physics_steps": 119, "start_physics_step": 11058 }, { "action_index": 118, "end_physics_step": 11284, "physics_steps": 107, "start_physics_step": 11177 }, { "action_index": 119, "end_physics_step": 11377, "physics_steps": 93, "start_physics_step": 11284 }, { "action_index": 120, "end_physics_step": 11454, "physics_steps": 77, "start_physics_step": 11377 }, { "action_index": 121, "end_physics_step": 11511, "physics_steps": 57, "start_physics_step": 11454 }, { "action_index": 122, "end_physics_step": 11561, "physics_steps": 50, "start_physics_step": 11511 }, { "action_index": 123, "end_physics_step": 11611, "physics_steps": 50, "start_physics_step": 11561 }, { "action_index": 124, "end_physics_step": 11661, "physics_steps": 50, "start_physics_step": 11611 }, { "action_index": 125, "end_physics_step": 11711, "physics_steps": 50, "start_physics_step": 11661 }, { "action_index": 126, "end_physics_step": 11761, "physics_steps": 50, "start_physics_step": 11711 }, { "action_index": 127, "end_physics_step": 11811, "physics_steps": 50, "start_physics_step": 11761 }, { "action_index": 128, "end_physics_step": 11861, "physics_steps": 50, "start_physics_step": 11811 }, { "action_index": 129, "end_physics_step": 11911, "physics_steps": 50, "start_physics_step": 11861 }, { "action_index": 130, "end_physics_step": 11961, "physics_steps": 50, "start_physics_step": 11911 }, { "action_index": 131, "end_physics_step": 12011, "physics_steps": 50, "start_physics_step": 11961 }, { "action_index": 132, "end_physics_step": 12061, "physics_steps": 50, "start_physics_step": 12011 }, { "action_index": 133, "end_physics_step": 12111, "physics_steps": 50, "start_physics_step": 12061 }, { "action_index": 134, "end_physics_step": 12161, "physics_steps": 50, "start_physics_step": 12111 }, { "action_index": 135, "end_physics_step": 12211, "physics_steps": 50, "start_physics_step": 12161 }, { "action_index": 136, "end_physics_step": 12263, "physics_steps": 52, "start_physics_step": 12211 }, { "action_index": 137, "end_physics_step": 12336, "physics_steps": 73, "start_physics_step": 12263 }, { "action_index": 138, "end_physics_step": 12426, "physics_steps": 90, "start_physics_step": 12336 }, { "action_index": 139, "end_physics_step": 12529, "physics_steps": 103, "start_physics_step": 12426 }, { "action_index": 140, "end_physics_step": 12644, "physics_steps": 115, "start_physics_step": 12529 }, { "action_index": 141, "end_physics_step": 12769, "physics_steps": 125, "start_physics_step": 12644 }, { "action_index": 142, "end_physics_step": 12902, "physics_steps": 133, "start_physics_step": 12769 }, { "action_index": 143, "end_physics_step": 13041, "physics_steps": 139, "start_physics_step": 12902 }, { "action_index": 144, "end_physics_step": 13185, "physics_steps": 144, "start_physics_step": 13041 }, { "action_index": 145, "end_physics_step": 13331, "physics_steps": 146, "start_physics_step": 13185 }, { "action_index": 146, "end_physics_step": 13478, "physics_steps": 147, "start_physics_step": 13331 }, { "action_index": 147, "end_physics_step": 13624, "physics_steps": 146, "start_physics_step": 13478 }, { "action_index": 148, "end_physics_step": 13767, "physics_steps": 143, "start_physics_step": 13624 }, { "action_index": 149, "end_physics_step": 13904, "physics_steps": 137, "start_physics_step": 13767 }, { "action_index": 150, "end_physics_step": 13955, "physics_steps": 51, "start_physics_step": 13904 } ], "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", "training_action_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ -0.030024439096450806, -0.020142054185271263, 0.9504373669624329 ], "scanner_functional_point": [ 0.009448509364178452, -0.041256592814705645, 0.934709253060757, 0.2310059815276552, 0.7463082332019498, -0.2861306818796244, -0.5547877886548426 ] }, "training_action_input_frames": 165, "training_action_interarm_contact_steps": 0, "training_action_minimum_capsule_distance_m": 0.1732240446650147, "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": 13955, "training_actions_executed": 151 }