{ "artifacts_complete": true, "camera_validation": { "episode": 38, "fovy_deg": { "left": 90.0, "right": 90.0 }, "frames": 171, "head_unique_frame_ratio": 0.9473684210526315, "main_camera_policy": "native_dynamic", "maximum_mount_distance_error_m": 4.754857546585001e-08, "maximum_wrist_consecutive_dark_frames": 0, "maximum_wrist_dark_frame_fraction": 0.0, "minimum_wrist_median_luminance": 198.37172309027778, "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": 198.37172309027778, "right": 206.58403645833334 } }, "collision_safe": true, "collision_summary": { "contact_step_indices": [], "first_risk_step": null, "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.19718178082670845, "moves": { "object_place": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.2725594831600023 }, "scanner_align": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.2045672387103762 }, "scanner_grasp+object_grasp": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.19718178082670845 }, "scanner_lift+object_lift": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.2232908344417952 } }, "physics_steps_checked": 2254 }, "episode": 38, "frames": 171, "plan_success": true, "renderer_validation": { "camera_shader": "rt", "episode": 38, "ray_tracing_denoiser": "optix", "status": "passed" }, "replay_success": true, "seed": 159, "source_commits": { "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" }, "task_specific_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ 0.029258783906698227, -0.020210862159729004, 0.9494795203208923 ], "scanner_functional_point": [ -0.022365557400409842, -0.014606629756940492, 0.9607695232036576, 0.684724565591766, -0.1772613864138367, 0.6841155826606704, -0.1780913802593015 ] }, "task_success": true, "timing_summary": { "active_left_frames": 102, "active_right_frames": 112, "active_union_frames": 143, "avoidable_idle_seconds": 2.528, "frames": 171, "overlap_frames": 71, "overlap_ratio_active": 0.4965034965034965, "overlap_ratio_all": 0.4152046783625731, "overlap_seconds": 2.3666666666666667, "seconds": 5.7, "true_dependency_wait_seconds": 0.0 }, "training_action_collision_safe": true, "training_action_count": 170, "training_action_execution_intervals": [ { "action_index": 0, "end_physics_step": 50, "physics_steps": 50, "start_physics_step": 0 }, { "action_index": 1, "end_physics_step": 64, "physics_steps": 14, "start_physics_step": 50 }, { "action_index": 2, "end_physics_step": 115, "physics_steps": 51, "start_physics_step": 64 }, { "action_index": 3, "end_physics_step": 187, "physics_steps": 72, "start_physics_step": 115 }, { "action_index": 4, "end_physics_step": 276, "physics_steps": 89, "start_physics_step": 187 }, { "action_index": 5, "end_physics_step": 379, "physics_steps": 103, "start_physics_step": 276 }, { "action_index": 6, "end_physics_step": 494, "physics_steps": 115, "start_physics_step": 379 }, { "action_index": 7, "end_physics_step": 619, "physics_steps": 125, "start_physics_step": 494 }, { "action_index": 8, "end_physics_step": 752, "physics_steps": 133, "start_physics_step": 619 }, { "action_index": 9, "end_physics_step": 892, "physics_steps": 140, "start_physics_step": 752 }, { "action_index": 10, "end_physics_step": 1038, "physics_steps": 146, "start_physics_step": 892 }, { "action_index": 11, "end_physics_step": 1188, "physics_steps": 150, "start_physics_step": 1038 }, { "action_index": 12, "end_physics_step": 1341, "physics_steps": 153, "start_physics_step": 1188 }, { "action_index": 13, "end_physics_step": 1497, "physics_steps": 156, "start_physics_step": 1341 }, { "action_index": 14, "end_physics_step": 1654, "physics_steps": 157, "start_physics_step": 1497 }, { "action_index": 15, "end_physics_step": 1812, "physics_steps": 158, "start_physics_step": 1654 }, { "action_index": 16, "end_physics_step": 1969, "physics_steps": 157, "start_physics_step": 1812 }, { "action_index": 17, "end_physics_step": 2125, "physics_steps": 156, "start_physics_step": 1969 }, { "action_index": 18, "end_physics_step": 2279, "physics_steps": 154, "start_physics_step": 2125 }, { "action_index": 19, "end_physics_step": 2429, "physics_steps": 150, "start_physics_step": 2279 }, { "action_index": 20, "end_physics_step": 2575, "physics_steps": 146, "start_physics_step": 2429 }, { "action_index": 21, "end_physics_step": 2715, "physics_steps": 140, "start_physics_step": 2575 }, { "action_index": 22, "end_physics_step": 2848, "physics_steps": 133, "start_physics_step": 2715 }, { "action_index": 23, "end_physics_step": 2972, "physics_steps": 124, "start_physics_step": 2848 }, { "action_index": 24, "end_physics_step": 3085, "physics_steps": 113, "start_physics_step": 2972 }, { "action_index": 25, "end_physics_step": 3186, "physics_steps": 101, "start_physics_step": 3085 }, { "action_index": 26, "end_physics_step": 3272, "physics_steps": 86, "start_physics_step": 3186 }, { "action_index": 27, "end_physics_step": 3341, "physics_steps": 69, "start_physics_step": 3272 }, { "action_index": 28, "end_physics_step": 3386, "physics_steps": 45, "start_physics_step": 3341 }, { "action_index": 29, "end_physics_step": 3436, "physics_steps": 50, "start_physics_step": 3386 }, { "action_index": 30, "end_physics_step": 3486, "physics_steps": 50, "start_physics_step": 3436 }, { "action_index": 31, "end_physics_step": 3536, "physics_steps": 50, "start_physics_step": 3486 }, { "action_index": 32, "end_physics_step": 3572, "physics_steps": 36, "start_physics_step": 3536 }, { "action_index": 33, "end_physics_step": 3600, "physics_steps": 28, "start_physics_step": 3572 }, { "action_index": 34, "end_physics_step": 3657, "physics_steps": 57, "start_physics_step": 3600 }, { "action_index": 35, "end_physics_step": 3734, "physics_steps": 77, "start_physics_step": 3657 }, { "action_index": 36, "end_physics_step": 3824, "physics_steps": 90, "start_physics_step": 3734 }, { "action_index": 37, "end_physics_step": 3925, "physics_steps": 101, "start_physics_step": 3824 }, { "action_index": 38, "end_physics_step": 4031, "physics_steps": 106, "start_physics_step": 3925 }, { "action_index": 39, "end_physics_step": 4138, "physics_steps": 107, "start_physics_step": 4031 }, { "action_index": 40, "end_physics_step": 4242, "physics_steps": 104, "start_physics_step": 4138 }, { "action_index": 41, "end_physics_step": 4336, "physics_steps": 94, "start_physics_step": 4242 }, { "action_index": 42, "end_physics_step": 4415, "physics_steps": 79, "start_physics_step": 4336 }, { "action_index": 43, "end_physics_step": 4474, "physics_steps": 59, "start_physics_step": 4415 }, { "action_index": 44, "end_physics_step": 4505, "physics_steps": 31, "start_physics_step": 4474 }, { "action_index": 45, "end_physics_step": 4555, "physics_steps": 50, "start_physics_step": 4505 }, { "action_index": 46, "end_physics_step": 4605, "physics_steps": 50, "start_physics_step": 4555 }, { "action_index": 47, "end_physics_step": 4655, "physics_steps": 50, "start_physics_step": 4605 }, { "action_index": 48, "end_physics_step": 4705, "physics_steps": 50, "start_physics_step": 4655 }, { "action_index": 49, "end_physics_step": 4755, "physics_steps": 50, "start_physics_step": 4705 }, { "action_index": 50, "end_physics_step": 4805, "physics_steps": 50, "start_physics_step": 4755 }, { "action_index": 51, "end_physics_step": 4855, "physics_steps": 50, "start_physics_step": 4805 }, { "action_index": 52, "end_physics_step": 4905, "physics_steps": 50, "start_physics_step": 4855 }, { "action_index": 53, "end_physics_step": 4955, "physics_steps": 50, "start_physics_step": 4905 }, { "action_index": 54, "end_physics_step": 5005, "physics_steps": 50, "start_physics_step": 4955 }, { "action_index": 55, "end_physics_step": 5055, "physics_steps": 50, "start_physics_step": 5005 }, { "action_index": 56, "end_physics_step": 5105, "physics_steps": 50, "start_physics_step": 5055 }, { "action_index": 57, "end_physics_step": 5155, "physics_steps": 50, "start_physics_step": 5105 }, { "action_index": 58, "end_physics_step": 5205, "physics_steps": 50, "start_physics_step": 5155 }, { "action_index": 59, "end_physics_step": 5255, "physics_steps": 50, "start_physics_step": 5205 }, { "action_index": 60, "end_physics_step": 5305, "physics_steps": 50, "start_physics_step": 5255 }, { "action_index": 61, "end_physics_step": 5355, "physics_steps": 50, "start_physics_step": 5305 }, { "action_index": 62, "end_physics_step": 5405, "physics_steps": 50, "start_physics_step": 5355 }, { "action_index": 63, "end_physics_step": 5455, "physics_steps": 50, "start_physics_step": 5405 }, { "action_index": 64, "end_physics_step": 5505, "physics_steps": 50, "start_physics_step": 5455 }, { "action_index": 65, "end_physics_step": 5555, "physics_steps": 50, "start_physics_step": 5505 }, { "action_index": 66, "end_physics_step": 5605, "physics_steps": 50, "start_physics_step": 5555 }, { "action_index": 67, "end_physics_step": 5655, "physics_steps": 50, "start_physics_step": 5605 }, { "action_index": 68, "end_physics_step": 5705, "physics_steps": 50, "start_physics_step": 5655 }, { "action_index": 69, "end_physics_step": 5730, "physics_steps": 25, "start_physics_step": 5705 }, { "action_index": 70, "end_physics_step": 5755, "physics_steps": 25, "start_physics_step": 5730 }, { "action_index": 71, "end_physics_step": 5811, "physics_steps": 56, "start_physics_step": 5755 }, { "action_index": 72, "end_physics_step": 5887, "physics_steps": 76, "start_physics_step": 5811 }, { "action_index": 73, "end_physics_step": 5979, "physics_steps": 92, "start_physics_step": 5887 }, { "action_index": 74, "end_physics_step": 6084, "physics_steps": 105, "start_physics_step": 5979 }, { "action_index": 75, "end_physics_step": 6201, "physics_steps": 117, "start_physics_step": 6084 }, { "action_index": 76, "end_physics_step": 6326, "physics_steps": 125, "start_physics_step": 6201 }, { "action_index": 77, "end_physics_step": 6452, "physics_steps": 126, "start_physics_step": 6326 }, { "action_index": 78, "end_physics_step": 6575, "physics_steps": 123, "start_physics_step": 6452 }, { "action_index": 79, "end_physics_step": 6691, "physics_steps": 116, "start_physics_step": 6575 }, { "action_index": 80, "end_physics_step": 6795, "physics_steps": 104, "start_physics_step": 6691 }, { "action_index": 81, "end_physics_step": 6886, "physics_steps": 91, "start_physics_step": 6795 }, { "action_index": 82, "end_physics_step": 6961, "physics_steps": 75, "start_physics_step": 6886 }, { "action_index": 83, "end_physics_step": 7015, "physics_steps": 54, "start_physics_step": 6961 }, { "action_index": 84, "end_physics_step": 7037, "physics_steps": 22, "start_physics_step": 7015 }, { "action_index": 85, "end_physics_step": 7087, "physics_steps": 50, "start_physics_step": 7037 }, { "action_index": 86, "end_physics_step": 7137, "physics_steps": 50, "start_physics_step": 7087 }, { "action_index": 87, "end_physics_step": 7187, "physics_steps": 50, "start_physics_step": 7137 }, { "action_index": 88, "end_physics_step": 7237, "physics_steps": 50, "start_physics_step": 7187 }, { "action_index": 89, "end_physics_step": 7287, "physics_steps": 50, "start_physics_step": 7237 }, { "action_index": 90, "end_physics_step": 7356, "physics_steps": 69, "start_physics_step": 7287 }, { "action_index": 91, "end_physics_step": 7442, "physics_steps": 86, "start_physics_step": 7356 }, { "action_index": 92, "end_physics_step": 7541, "physics_steps": 99, "start_physics_step": 7442 }, { "action_index": 93, "end_physics_step": 7654, "physics_steps": 113, "start_physics_step": 7541 }, { "action_index": 94, "end_physics_step": 7779, "physics_steps": 125, "start_physics_step": 7654 }, { "action_index": 95, "end_physics_step": 7913, "physics_steps": 134, "start_physics_step": 7779 }, { "action_index": 96, "end_physics_step": 8056, "physics_steps": 143, "start_physics_step": 7913 }, { "action_index": 97, "end_physics_step": 8206, "physics_steps": 150, "start_physics_step": 8056 }, { "action_index": 98, "end_physics_step": 8363, "physics_steps": 157, "start_physics_step": 8206 }, { "action_index": 99, "end_physics_step": 8525, "physics_steps": 162, "start_physics_step": 8363 }, { "action_index": 100, "end_physics_step": 8690, "physics_steps": 165, "start_physics_step": 8525 }, { "action_index": 101, "end_physics_step": 8857, "physics_steps": 167, "start_physics_step": 8690 }, { "action_index": 102, "end_physics_step": 9025, "physics_steps": 168, "start_physics_step": 8857 }, { "action_index": 103, "end_physics_step": 9193, "physics_steps": 168, "start_physics_step": 9025 }, { "action_index": 104, "end_physics_step": 9359, "physics_steps": 166, "start_physics_step": 9193 }, { "action_index": 105, "end_physics_step": 9523, "physics_steps": 164, "start_physics_step": 9359 }, { "action_index": 106, "end_physics_step": 9684, "physics_steps": 161, "start_physics_step": 9523 }, { "action_index": 107, "end_physics_step": 9842, "physics_steps": 158, "start_physics_step": 9684 }, { "action_index": 108, "end_physics_step": 9996, "physics_steps": 154, "start_physics_step": 9842 }, { "action_index": 109, "end_physics_step": 10147, "physics_steps": 151, "start_physics_step": 9996 }, { "action_index": 110, "end_physics_step": 10295, "physics_steps": 148, "start_physics_step": 10147 }, { "action_index": 111, "end_physics_step": 10441, "physics_steps": 146, "start_physics_step": 10295 }, { "action_index": 112, "end_physics_step": 10584, "physics_steps": 143, "start_physics_step": 10441 }, { "action_index": 113, "end_physics_step": 10724, "physics_steps": 140, "start_physics_step": 10584 }, { "action_index": 114, "end_physics_step": 10860, "physics_steps": 136, "start_physics_step": 10724 }, { "action_index": 115, "end_physics_step": 10989, "physics_steps": 129, "start_physics_step": 10860 }, { "action_index": 116, "end_physics_step": 11110, "physics_steps": 121, "start_physics_step": 10989 }, { "action_index": 117, "end_physics_step": 11224, "physics_steps": 114, "start_physics_step": 11110 }, { "action_index": 118, "end_physics_step": 11329, "physics_steps": 105, "start_physics_step": 11224 }, { "action_index": 119, "end_physics_step": 11426, "physics_steps": 97, "start_physics_step": 11329 }, { "action_index": 120, "end_physics_step": 11512, "physics_steps": 86, "start_physics_step": 11426 }, { "action_index": 121, "end_physics_step": 11586, "physics_steps": 74, "start_physics_step": 11512 }, { "action_index": 122, "end_physics_step": 11644, "physics_steps": 58, "start_physics_step": 11586 }, { "action_index": 123, "end_physics_step": 11694, "physics_steps": 50, "start_physics_step": 11644 }, { "action_index": 124, "end_physics_step": 11744, "physics_steps": 50, "start_physics_step": 11694 }, { "action_index": 125, "end_physics_step": 11794, "physics_steps": 50, "start_physics_step": 11744 }, { "action_index": 126, "end_physics_step": 11844, "physics_steps": 50, "start_physics_step": 11794 }, { "action_index": 127, "end_physics_step": 11894, "physics_steps": 50, "start_physics_step": 11844 }, { "action_index": 128, "end_physics_step": 11944, "physics_steps": 50, "start_physics_step": 11894 }, { "action_index": 129, "end_physics_step": 11994, "physics_steps": 50, "start_physics_step": 11944 }, { "action_index": 130, "end_physics_step": 12044, "physics_steps": 50, "start_physics_step": 11994 }, { "action_index": 131, "end_physics_step": 12094, "physics_steps": 50, "start_physics_step": 12044 }, { "action_index": 132, "end_physics_step": 12144, "physics_steps": 50, "start_physics_step": 12094 }, { "action_index": 133, "end_physics_step": 12194, "physics_steps": 50, "start_physics_step": 12144 }, { "action_index": 134, "end_physics_step": 12244, "physics_steps": 50, "start_physics_step": 12194 }, { "action_index": 135, "end_physics_step": 12294, "physics_steps": 50, "start_physics_step": 12244 }, { "action_index": 136, "end_physics_step": 12344, "physics_steps": 50, "start_physics_step": 12294 }, { "action_index": 137, "end_physics_step": 12397, "physics_steps": 53, "start_physics_step": 12344 }, { "action_index": 138, "end_physics_step": 12470, "physics_steps": 73, "start_physics_step": 12397 }, { "action_index": 139, "end_physics_step": 12560, "physics_steps": 90, "start_physics_step": 12470 }, { "action_index": 140, "end_physics_step": 12664, "physics_steps": 104, "start_physics_step": 12560 }, { "action_index": 141, "end_physics_step": 12779, "physics_steps": 115, "start_physics_step": 12664 }, { "action_index": 142, "end_physics_step": 12903, "physics_steps": 124, "start_physics_step": 12779 }, { "action_index": 143, "end_physics_step": 13036, "physics_steps": 133, "start_physics_step": 12903 }, { "action_index": 144, "end_physics_step": 13175, "physics_steps": 139, "start_physics_step": 13036 }, { "action_index": 145, "end_physics_step": 13319, "physics_steps": 144, "start_physics_step": 13175 }, { "action_index": 146, "end_physics_step": 13467, "physics_steps": 148, "start_physics_step": 13319 }, { "action_index": 147, "end_physics_step": 13618, "physics_steps": 151, "start_physics_step": 13467 }, { "action_index": 148, "end_physics_step": 13769, "physics_steps": 151, "start_physics_step": 13618 }, { "action_index": 149, "end_physics_step": 13919, "physics_steps": 150, "start_physics_step": 13769 }, { "action_index": 150, "end_physics_step": 14065, "physics_steps": 146, "start_physics_step": 13919 }, { "action_index": 151, "end_physics_step": 14205, "physics_steps": 140, "start_physics_step": 14065 }, { "action_index": 152, "end_physics_step": 14330, "physics_steps": 125, "start_physics_step": 14205 } ], "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", "training_action_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ 0.030561763793230057, -0.01886872388422489, 0.950452446937561 ], "scanner_functional_point": [ -0.03246280095927431, -0.018655166517446274, 0.9371990423834916, 0.6151810286822657, -0.19645641905399924, 0.7487878547632675, -0.14924451722235 ] }, "training_action_input_frames": 171, "training_action_interarm_contact_steps": 0, "training_action_minimum_capsule_distance_m": 0.19648263133917027, "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": 14330, "training_actions_executed": 153 }