{ "artifacts_complete": true, "camera_validation": { "episode": 29, "fovy_deg": { "left": 90.0, "right": 90.0 }, "frames": 178, "head_unique_frame_ratio": 0.9606741573033708, "main_camera_policy": "native_dynamic", "maximum_mount_distance_error_m": 5.4623391615438166e-08, "maximum_wrist_consecutive_dark_frames": 0, "maximum_wrist_dark_frame_fraction": 0.0, "minimum_wrist_median_luminance": 196.40450303819443, "parallel_head_unique_frame_ratio": 0.968421052631579, "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": 201.9051974826389, "right": 196.40450303819443 } }, "collision_safe": true, "collision_summary": { "contact_step_indices": [], "first_risk_step": null, "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.14142135314159734, "moves": { "object_place": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.2524707636180554 }, "scanner_align": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.1856789787703185 }, "scanner_grasp+object_grasp": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.14142135314159734 }, "scanner_lift+object_lift": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.1771178311490294 } }, "physics_steps_checked": 2374 }, "episode": 29, "frames": 178, "plan_success": true, "renderer_validation": { "camera_shader": "rt", "episode": 29, "ray_tracing_denoiser": "optix", "status": "passed" }, "replay_success": true, "seed": 134, "source_commits": { "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" }, "task_specific_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ 0.02932104468345642, -0.019992871209979057, 0.9495518207550049 ], "scanner_functional_point": [ -0.022461452949704606, -0.01008361520539438, 0.954849481020122, 0.5948785252155018, -0.3843806094066734, 0.5936055716173473, -0.38210406003394737 ] }, "task_success": true, "timing_summary": { "active_left_frames": 110, "active_right_frames": 117, "active_union_frames": 150, "avoidable_idle_seconds": 2.456, "frames": 178, "overlap_frames": 77, "overlap_ratio_active": 0.5133333333333333, "overlap_ratio_all": 0.43258426966292135, "overlap_seconds": 2.566666666666667, "seconds": 5.933333333333334, "true_dependency_wait_seconds": 0.0 }, "training_action_collision_safe": true, "training_action_count": 177, "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": 1074, "physics_steps": 149, "start_physics_step": 925 }, { "action_index": 11, "end_physics_step": 1229, "physics_steps": 155, "start_physics_step": 1074 }, { "action_index": 12, "end_physics_step": 1389, "physics_steps": 160, "start_physics_step": 1229 }, { "action_index": 13, "end_physics_step": 1552, "physics_steps": 163, "start_physics_step": 1389 }, { "action_index": 14, "end_physics_step": 1718, "physics_steps": 166, "start_physics_step": 1552 }, { "action_index": 15, "end_physics_step": 1886, "physics_steps": 168, "start_physics_step": 1718 }, { "action_index": 16, "end_physics_step": 2055, "physics_steps": 169, "start_physics_step": 1886 }, { "action_index": 17, "end_physics_step": 2225, "physics_steps": 170, "start_physics_step": 2055 }, { "action_index": 18, "end_physics_step": 2394, "physics_steps": 169, "start_physics_step": 2225 }, { "action_index": 19, "end_physics_step": 2562, "physics_steps": 168, "start_physics_step": 2394 }, { "action_index": 20, "end_physics_step": 2728, "physics_steps": 166, "start_physics_step": 2562 }, { "action_index": 21, "end_physics_step": 2890, "physics_steps": 162, "start_physics_step": 2728 }, { "action_index": 22, "end_physics_step": 3048, "physics_steps": 158, "start_physics_step": 2890 }, { "action_index": 23, "end_physics_step": 3201, "physics_steps": 153, "start_physics_step": 3048 }, { "action_index": 24, "end_physics_step": 3349, "physics_steps": 148, "start_physics_step": 3201 }, { "action_index": 25, "end_physics_step": 3490, "physics_steps": 141, "start_physics_step": 3349 }, { "action_index": 26, "end_physics_step": 3623, "physics_steps": 133, "start_physics_step": 3490 }, { "action_index": 27, "end_physics_step": 3748, "physics_steps": 125, "start_physics_step": 3623 }, { "action_index": 28, "end_physics_step": 3862, "physics_steps": 114, "start_physics_step": 3748 }, { "action_index": 29, "end_physics_step": 3964, "physics_steps": 102, "start_physics_step": 3862 }, { "action_index": 30, "end_physics_step": 4052, "physics_steps": 88, "start_physics_step": 3964 }, { "action_index": 31, "end_physics_step": 4124, "physics_steps": 72, "start_physics_step": 4052 }, { "action_index": 32, "end_physics_step": 4174, "physics_steps": 50, "start_physics_step": 4124 }, { "action_index": 33, "end_physics_step": 4224, "physics_steps": 50, "start_physics_step": 4174 }, { "action_index": 34, "end_physics_step": 4274, "physics_steps": 50, "start_physics_step": 4224 }, { "action_index": 35, "end_physics_step": 4324, "physics_steps": 50, "start_physics_step": 4274 }, { "action_index": 36, "end_physics_step": 4374, "physics_steps": 50, "start_physics_step": 4324 }, { "action_index": 37, "end_physics_step": 4424, "physics_steps": 50, "start_physics_step": 4374 }, { "action_index": 38, "end_physics_step": 4449, "physics_steps": 25, "start_physics_step": 4424 }, { "action_index": 39, "end_physics_step": 4504, "physics_steps": 55, "start_physics_step": 4449 }, { "action_index": 40, "end_physics_step": 4574, "physics_steps": 70, "start_physics_step": 4504 }, { "action_index": 41, "end_physics_step": 4654, "physics_steps": 80, "start_physics_step": 4574 }, { "action_index": 42, "end_physics_step": 4741, "physics_steps": 87, "start_physics_step": 4654 }, { "action_index": 43, "end_physics_step": 4832, "physics_steps": 91, "start_physics_step": 4741 }, { "action_index": 44, "end_physics_step": 4926, "physics_steps": 94, "start_physics_step": 4832 }, { "action_index": 45, "end_physics_step": 5022, "physics_steps": 96, "start_physics_step": 4926 }, { "action_index": 46, "end_physics_step": 5115, "physics_steps": 93, "start_physics_step": 5022 }, { "action_index": 47, "end_physics_step": 5205, "physics_steps": 90, "start_physics_step": 5115 }, { "action_index": 48, "end_physics_step": 5289, "physics_steps": 84, "start_physics_step": 5205 }, { "action_index": 49, "end_physics_step": 5365, "physics_steps": 76, "start_physics_step": 5289 }, { "action_index": 50, "end_physics_step": 5428, "physics_steps": 63, "start_physics_step": 5365 }, { "action_index": 51, "end_physics_step": 5472, "physics_steps": 44, "start_physics_step": 5428 }, { "action_index": 52, "end_physics_step": 5484, "physics_steps": 12, "start_physics_step": 5472 }, { "action_index": 53, "end_physics_step": 5534, "physics_steps": 50, "start_physics_step": 5484 }, { "action_index": 54, "end_physics_step": 5584, "physics_steps": 50, "start_physics_step": 5534 }, { "action_index": 55, "end_physics_step": 5634, "physics_steps": 50, "start_physics_step": 5584 }, { "action_index": 56, "end_physics_step": 5684, "physics_steps": 50, "start_physics_step": 5634 }, { "action_index": 57, "end_physics_step": 5734, "physics_steps": 50, "start_physics_step": 5684 }, { "action_index": 58, "end_physics_step": 5784, "physics_steps": 50, "start_physics_step": 5734 }, { "action_index": 59, "end_physics_step": 5834, "physics_steps": 50, "start_physics_step": 5784 }, { "action_index": 60, "end_physics_step": 5884, "physics_steps": 50, "start_physics_step": 5834 }, { "action_index": 61, "end_physics_step": 5934, "physics_steps": 50, "start_physics_step": 5884 }, { "action_index": 62, "end_physics_step": 5984, "physics_steps": 50, "start_physics_step": 5934 }, { "action_index": 63, "end_physics_step": 6034, "physics_steps": 50, "start_physics_step": 5984 }, { "action_index": 64, "end_physics_step": 6084, "physics_steps": 50, "start_physics_step": 6034 }, { "action_index": 65, "end_physics_step": 6134, "physics_steps": 50, "start_physics_step": 6084 }, { "action_index": 66, "end_physics_step": 6184, "physics_steps": 50, "start_physics_step": 6134 }, { "action_index": 67, "end_physics_step": 6234, "physics_steps": 50, "start_physics_step": 6184 }, { "action_index": 68, "end_physics_step": 6284, "physics_steps": 50, "start_physics_step": 6234 }, { "action_index": 69, "end_physics_step": 6334, "physics_steps": 50, "start_physics_step": 6284 }, { "action_index": 70, "end_physics_step": 6384, "physics_steps": 50, "start_physics_step": 6334 }, { "action_index": 71, "end_physics_step": 6434, "physics_steps": 50, "start_physics_step": 6384 }, { "action_index": 72, "end_physics_step": 6484, "physics_steps": 50, "start_physics_step": 6434 }, { "action_index": 73, "end_physics_step": 6534, "physics_steps": 50, "start_physics_step": 6484 }, { "action_index": 74, "end_physics_step": 6584, "physics_steps": 50, "start_physics_step": 6534 }, { "action_index": 75, "end_physics_step": 6634, "physics_steps": 50, "start_physics_step": 6584 }, { "action_index": 76, "end_physics_step": 6684, "physics_steps": 50, "start_physics_step": 6634 }, { "action_index": 77, "end_physics_step": 6708, "physics_steps": 24, "start_physics_step": 6684 }, { "action_index": 78, "end_physics_step": 6732, "physics_steps": 24, "start_physics_step": 6708 }, { "action_index": 79, "end_physics_step": 6788, "physics_steps": 56, "start_physics_step": 6732 }, { "action_index": 80, "end_physics_step": 6864, "physics_steps": 76, "start_physics_step": 6788 }, { "action_index": 81, "end_physics_step": 6956, "physics_steps": 92, "start_physics_step": 6864 }, { "action_index": 82, "end_physics_step": 7060, "physics_steps": 104, "start_physics_step": 6956 }, { "action_index": 83, "end_physics_step": 7173, "physics_steps": 113, "start_physics_step": 7060 }, { "action_index": 84, "end_physics_step": 7293, "physics_steps": 120, "start_physics_step": 7173 }, { "action_index": 85, "end_physics_step": 7415, "physics_steps": 122, "start_physics_step": 7293 }, { "action_index": 86, "end_physics_step": 7537, "physics_steps": 122, "start_physics_step": 7415 }, { "action_index": 87, "end_physics_step": 7655, "physics_steps": 118, "start_physics_step": 7537 }, { "action_index": 88, "end_physics_step": 7764, "physics_steps": 109, "start_physics_step": 7655 }, { "action_index": 89, "end_physics_step": 7861, "physics_steps": 97, "start_physics_step": 7764 }, { "action_index": 90, "end_physics_step": 7943, "physics_steps": 82, "start_physics_step": 7861 }, { "action_index": 91, "end_physics_step": 8007, "physics_steps": 64, "start_physics_step": 7943 }, { "action_index": 92, "end_physics_step": 8046, "physics_steps": 39, "start_physics_step": 8007 }, { "action_index": 93, "end_physics_step": 8096, "physics_steps": 50, "start_physics_step": 8046 }, { "action_index": 94, "end_physics_step": 8146, "physics_steps": 50, "start_physics_step": 8096 }, { "action_index": 95, "end_physics_step": 8196, "physics_steps": 50, "start_physics_step": 8146 }, { "action_index": 96, "end_physics_step": 8246, "physics_steps": 50, "start_physics_step": 8196 }, { "action_index": 97, "end_physics_step": 8296, "physics_steps": 50, "start_physics_step": 8246 }, { "action_index": 98, "end_physics_step": 8365, "physics_steps": 69, "start_physics_step": 8296 }, { "action_index": 99, "end_physics_step": 8450, "physics_steps": 85, "start_physics_step": 8365 }, { "action_index": 100, "end_physics_step": 8549, "physics_steps": 99, "start_physics_step": 8450 }, { "action_index": 101, "end_physics_step": 8660, "physics_steps": 111, "start_physics_step": 8549 }, { "action_index": 102, "end_physics_step": 8783, "physics_steps": 123, "start_physics_step": 8660 }, { "action_index": 103, "end_physics_step": 8917, "physics_steps": 134, "start_physics_step": 8783 }, { "action_index": 104, "end_physics_step": 9060, "physics_steps": 143, "start_physics_step": 8917 }, { "action_index": 105, "end_physics_step": 9210, "physics_steps": 150, "start_physics_step": 9060 }, { "action_index": 106, "end_physics_step": 9367, "physics_steps": 157, "start_physics_step": 9210 }, { "action_index": 107, "end_physics_step": 9529, "physics_steps": 162, "start_physics_step": 9367 }, { "action_index": 108, "end_physics_step": 9696, "physics_steps": 167, "start_physics_step": 9529 }, { "action_index": 109, "end_physics_step": 9867, "physics_steps": 171, "start_physics_step": 9696 }, { "action_index": 110, "end_physics_step": 10039, "physics_steps": 172, "start_physics_step": 9867 }, { "action_index": 111, "end_physics_step": 10212, "physics_steps": 173, "start_physics_step": 10039 }, { "action_index": 112, "end_physics_step": 10385, "physics_steps": 173, "start_physics_step": 10212 }, { "action_index": 113, "end_physics_step": 10558, "physics_steps": 173, "start_physics_step": 10385 }, { "action_index": 114, "end_physics_step": 10730, "physics_steps": 172, "start_physics_step": 10558 }, { "action_index": 115, "end_physics_step": 10900, "physics_steps": 170, "start_physics_step": 10730 }, { "action_index": 116, "end_physics_step": 11067, "physics_steps": 167, "start_physics_step": 10900 }, { "action_index": 117, "end_physics_step": 11231, "physics_steps": 164, "start_physics_step": 11067 }, { "action_index": 118, "end_physics_step": 11393, "physics_steps": 162, "start_physics_step": 11231 }, { "action_index": 119, "end_physics_step": 11552, "physics_steps": 159, "start_physics_step": 11393 }, { "action_index": 120, "end_physics_step": 11708, "physics_steps": 156, "start_physics_step": 11552 }, { "action_index": 121, "end_physics_step": 11860, "physics_steps": 152, "start_physics_step": 11708 }, { "action_index": 122, "end_physics_step": 12005, "physics_steps": 145, "start_physics_step": 11860 }, { "action_index": 123, "end_physics_step": 12142, "physics_steps": 137, "start_physics_step": 12005 }, { "action_index": 124, "end_physics_step": 12270, "physics_steps": 128, "start_physics_step": 12142 }, { "action_index": 125, "end_physics_step": 12388, "physics_steps": 118, "start_physics_step": 12270 }, { "action_index": 126, "end_physics_step": 12495, "physics_steps": 107, "start_physics_step": 12388 }, { "action_index": 127, "end_physics_step": 12590, "physics_steps": 95, "start_physics_step": 12495 }, { "action_index": 128, "end_physics_step": 12668, "physics_steps": 78, "start_physics_step": 12590 }, { "action_index": 129, "end_physics_step": 12725, "physics_steps": 57, "start_physics_step": 12668 }, { "action_index": 130, "end_physics_step": 12775, "physics_steps": 50, "start_physics_step": 12725 }, { "action_index": 131, "end_physics_step": 12825, "physics_steps": 50, "start_physics_step": 12775 }, { "action_index": 132, "end_physics_step": 12875, "physics_steps": 50, "start_physics_step": 12825 }, { "action_index": 133, "end_physics_step": 12925, "physics_steps": 50, "start_physics_step": 12875 }, { "action_index": 134, "end_physics_step": 12975, "physics_steps": 50, "start_physics_step": 12925 }, { "action_index": 135, "end_physics_step": 13025, "physics_steps": 50, "start_physics_step": 12975 }, { "action_index": 136, "end_physics_step": 13075, "physics_steps": 50, "start_physics_step": 13025 }, { "action_index": 137, "end_physics_step": 13125, "physics_steps": 50, "start_physics_step": 13075 }, { "action_index": 138, "end_physics_step": 13175, "physics_steps": 50, "start_physics_step": 13125 }, { "action_index": 139, "end_physics_step": 13225, "physics_steps": 50, "start_physics_step": 13175 }, { "action_index": 140, "end_physics_step": 13275, "physics_steps": 50, "start_physics_step": 13225 }, { "action_index": 141, "end_physics_step": 13325, "physics_steps": 50, "start_physics_step": 13275 }, { "action_index": 142, "end_physics_step": 13375, "physics_steps": 50, "start_physics_step": 13325 }, { "action_index": 143, "end_physics_step": 13427, "physics_steps": 52, "start_physics_step": 13375 }, { "action_index": 144, "end_physics_step": 13500, "physics_steps": 73, "start_physics_step": 13427 }, { "action_index": 145, "end_physics_step": 13589, "physics_steps": 89, "start_physics_step": 13500 }, { "action_index": 146, "end_physics_step": 13691, "physics_steps": 102, "start_physics_step": 13589 }, { "action_index": 147, "end_physics_step": 13807, "physics_steps": 116, "start_physics_step": 13691 }, { "action_index": 148, "end_physics_step": 13933, "physics_steps": 126, "start_physics_step": 13807 }, { "action_index": 149, "end_physics_step": 14068, "physics_steps": 135, "start_physics_step": 13933 }, { "action_index": 150, "end_physics_step": 14210, "physics_steps": 142, "start_physics_step": 14068 }, { "action_index": 151, "end_physics_step": 14357, "physics_steps": 147, "start_physics_step": 14210 }, { "action_index": 152, "end_physics_step": 14508, "physics_steps": 151, "start_physics_step": 14357 }, { "action_index": 153, "end_physics_step": 14662, "physics_steps": 154, "start_physics_step": 14508 }, { "action_index": 154, "end_physics_step": 14817, "physics_steps": 155, "start_physics_step": 14662 }, { "action_index": 155, "end_physics_step": 14971, "physics_steps": 154, "start_physics_step": 14817 }, { "action_index": 156, "end_physics_step": 15123, "physics_steps": 152, "start_physics_step": 14971 }, { "action_index": 157, "end_physics_step": 15272, "physics_steps": 149, "start_physics_step": 15123 }, { "action_index": 158, "end_physics_step": 15415, "physics_steps": 143, "start_physics_step": 15272 }, { "action_index": 159, "end_physics_step": 15551, "physics_steps": 136, "start_physics_step": 15415 }, { "action_index": 160, "end_physics_step": 15613, "physics_steps": 62, "start_physics_step": 15551 } ], "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", "training_action_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ 0.029372762888669968, -0.019725341349840164, 0.9495008587837219 ], "scanner_functional_point": [ -0.03173504715967965, -0.03723338634292759, 0.9362447896905252, 0.5148503549629373, -0.41124325352623387, 0.6595449126730852, -0.3616747248436752 ] }, "training_action_input_frames": 178, "training_action_interarm_contact_steps": 0, "training_action_minimum_capsule_distance_m": 0.14054138811298944, "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": 15613, "training_actions_executed": 161 }