{ "artifacts_complete": true, "camera_validation": { "episode": 47, "fovy_deg": { "left": 90.0, "right": 90.0 }, "frames": 166, "head_unique_frame_ratio": 0.9578313253012049, "main_camera_policy": "native_dynamic", "maximum_mount_distance_error_m": 3.842700331546656e-08, "maximum_wrist_consecutive_dark_frames": 0, "maximum_wrist_dark_frame_fraction": 0.0, "minimum_wrist_median_luminance": 194.53270182291666, "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": 210.53161458333332, "right": 194.53270182291666 } }, "collision_safe": true, "collision_summary": { "contact_step_indices": [], "first_risk_step": null, "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.18571912351108433, "moves": { "object_place": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.3050334291524703 }, "scanner_align": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.18571912351108433 }, "scanner_grasp+object_grasp": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.22257393798614955 }, "scanner_lift+object_lift": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.2502098868255593 } }, "physics_steps_checked": 2207 }, "episode": 47, "frames": 166, "plan_success": true, "renderer_validation": { "camera_shader": "rt", "episode": 47, "ray_tracing_denoiser": "optix", "status": "passed" }, "replay_success": true, "seed": 190, "source_commits": { "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" }, "task_specific_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ -0.029144298285245895, -0.020833835005760193, 0.950435996055603 ], "scanner_functional_point": [ 0.022723156033219425, -0.02127816253719928, 0.9553651654042962, 0.2696499898176453, 0.6548892575910176, -0.26260773920908975, -0.6553213857266681 ] }, "task_success": true, "timing_summary": { "active_left_frames": 110, "active_right_frames": 103, "active_union_frames": 141, "avoidable_idle_seconds": 2.3, "frames": 166, "overlap_frames": 72, "overlap_ratio_active": 0.5106382978723404, "overlap_ratio_all": 0.43373493975903615, "overlap_seconds": 2.4, "seconds": 5.533333333333333, "true_dependency_wait_seconds": 0.0 }, "training_action_collision_safe": true, "training_action_count": 165, "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": 1227, "physics_steps": 154, "start_physics_step": 1073 }, { "action_index": 12, "end_physics_step": 1385, "physics_steps": 158, "start_physics_step": 1227 }, { "action_index": 13, "end_physics_step": 1546, "physics_steps": 161, "start_physics_step": 1385 }, { "action_index": 14, "end_physics_step": 1710, "physics_steps": 164, "start_physics_step": 1546 }, { "action_index": 15, "end_physics_step": 1875, "physics_steps": 165, "start_physics_step": 1710 }, { "action_index": 16, "end_physics_step": 2040, "physics_steps": 165, "start_physics_step": 1875 }, { "action_index": 17, "end_physics_step": 2205, "physics_steps": 165, "start_physics_step": 2040 }, { "action_index": 18, "end_physics_step": 2368, "physics_steps": 163, "start_physics_step": 2205 }, { "action_index": 19, "end_physics_step": 2529, "physics_steps": 161, "start_physics_step": 2368 }, { "action_index": 20, "end_physics_step": 2687, "physics_steps": 158, "start_physics_step": 2529 }, { "action_index": 21, "end_physics_step": 2841, "physics_steps": 154, "start_physics_step": 2687 }, { "action_index": 22, "end_physics_step": 2989, "physics_steps": 148, "start_physics_step": 2841 }, { "action_index": 23, "end_physics_step": 3131, "physics_steps": 142, "start_physics_step": 2989 }, { "action_index": 24, "end_physics_step": 3265, "physics_steps": 134, "start_physics_step": 3131 }, { "action_index": 25, "end_physics_step": 3390, "physics_steps": 125, "start_physics_step": 3265 }, { "action_index": 26, "end_physics_step": 3504, "physics_steps": 114, "start_physics_step": 3390 }, { "action_index": 27, "end_physics_step": 3606, "physics_steps": 102, "start_physics_step": 3504 }, { "action_index": 28, "end_physics_step": 3693, "physics_steps": 87, "start_physics_step": 3606 }, { "action_index": 29, "end_physics_step": 3764, "physics_steps": 71, "start_physics_step": 3693 }, { "action_index": 30, "end_physics_step": 3813, "physics_steps": 49, "start_physics_step": 3764 }, { "action_index": 31, "end_physics_step": 3863, "physics_steps": 50, "start_physics_step": 3813 }, { "action_index": 32, "end_physics_step": 3913, "physics_steps": 50, "start_physics_step": 3863 }, { "action_index": 33, "end_physics_step": 3963, "physics_steps": 50, "start_physics_step": 3913 }, { "action_index": 34, "end_physics_step": 3999, "physics_steps": 36, "start_physics_step": 3963 }, { "action_index": 35, "end_physics_step": 4027, "physics_steps": 28, "start_physics_step": 3999 }, { "action_index": 36, "end_physics_step": 4084, "physics_steps": 57, "start_physics_step": 4027 }, { "action_index": 37, "end_physics_step": 4161, "physics_steps": 77, "start_physics_step": 4084 }, { "action_index": 38, "end_physics_step": 4251, "physics_steps": 90, "start_physics_step": 4161 }, { "action_index": 39, "end_physics_step": 4350, "physics_steps": 99, "start_physics_step": 4251 }, { "action_index": 40, "end_physics_step": 4454, "physics_steps": 104, "start_physics_step": 4350 }, { "action_index": 41, "end_physics_step": 4559, "physics_steps": 105, "start_physics_step": 4454 }, { "action_index": 42, "end_physics_step": 4659, "physics_steps": 100, "start_physics_step": 4559 }, { "action_index": 43, "end_physics_step": 4749, "physics_steps": 90, "start_physics_step": 4659 }, { "action_index": 44, "end_physics_step": 4823, "physics_steps": 74, "start_physics_step": 4749 }, { "action_index": 45, "end_physics_step": 4877, "physics_steps": 54, "start_physics_step": 4823 }, { "action_index": 46, "end_physics_step": 4897, "physics_steps": 20, "start_physics_step": 4877 }, { "action_index": 47, "end_physics_step": 4947, "physics_steps": 50, "start_physics_step": 4897 }, { "action_index": 48, "end_physics_step": 4997, "physics_steps": 50, "start_physics_step": 4947 }, { "action_index": 49, "end_physics_step": 5047, "physics_steps": 50, "start_physics_step": 4997 }, { "action_index": 50, "end_physics_step": 5097, "physics_steps": 50, "start_physics_step": 5047 }, { "action_index": 51, "end_physics_step": 5147, "physics_steps": 50, "start_physics_step": 5097 }, { "action_index": 52, "end_physics_step": 5197, "physics_steps": 50, "start_physics_step": 5147 }, { "action_index": 53, "end_physics_step": 5247, "physics_steps": 50, "start_physics_step": 5197 }, { "action_index": 54, "end_physics_step": 5297, "physics_steps": 50, "start_physics_step": 5247 }, { "action_index": 55, "end_physics_step": 5347, "physics_steps": 50, "start_physics_step": 5297 }, { "action_index": 56, "end_physics_step": 5397, "physics_steps": 50, "start_physics_step": 5347 }, { "action_index": 57, "end_physics_step": 5447, "physics_steps": 50, "start_physics_step": 5397 }, { "action_index": 58, "end_physics_step": 5497, "physics_steps": 50, "start_physics_step": 5447 }, { "action_index": 59, "end_physics_step": 5547, "physics_steps": 50, "start_physics_step": 5497 }, { "action_index": 60, "end_physics_step": 5597, "physics_steps": 50, "start_physics_step": 5547 }, { "action_index": 61, "end_physics_step": 5647, "physics_steps": 50, "start_physics_step": 5597 }, { "action_index": 62, "end_physics_step": 5697, "physics_steps": 50, "start_physics_step": 5647 }, { "action_index": 63, "end_physics_step": 5747, "physics_steps": 50, "start_physics_step": 5697 }, { "action_index": 64, "end_physics_step": 5797, "physics_steps": 50, "start_physics_step": 5747 }, { "action_index": 65, "end_physics_step": 5847, "physics_steps": 50, "start_physics_step": 5797 }, { "action_index": 66, "end_physics_step": 5897, "physics_steps": 50, "start_physics_step": 5847 }, { "action_index": 67, "end_physics_step": 5947, "physics_steps": 50, "start_physics_step": 5897 }, { "action_index": 68, "end_physics_step": 5997, "physics_steps": 50, "start_physics_step": 5947 }, { "action_index": 69, "end_physics_step": 6047, "physics_steps": 50, "start_physics_step": 5997 }, { "action_index": 70, "end_physics_step": 6097, "physics_steps": 50, "start_physics_step": 6047 }, { "action_index": 71, "end_physics_step": 6116, "physics_steps": 19, "start_physics_step": 6097 }, { "action_index": 72, "end_physics_step": 6141, "physics_steps": 25, "start_physics_step": 6116 }, { "action_index": 73, "end_physics_step": 6198, "physics_steps": 57, "start_physics_step": 6141 }, { "action_index": 74, "end_physics_step": 6275, "physics_steps": 77, "start_physics_step": 6198 }, { "action_index": 75, "end_physics_step": 6367, "physics_steps": 92, "start_physics_step": 6275 }, { "action_index": 76, "end_physics_step": 6472, "physics_steps": 105, "start_physics_step": 6367 }, { "action_index": 77, "end_physics_step": 6587, "physics_steps": 115, "start_physics_step": 6472 }, { "action_index": 78, "end_physics_step": 6708, "physics_steps": 121, "start_physics_step": 6587 }, { "action_index": 79, "end_physics_step": 6830, "physics_steps": 122, "start_physics_step": 6708 }, { "action_index": 80, "end_physics_step": 6950, "physics_steps": 120, "start_physics_step": 6830 }, { "action_index": 81, "end_physics_step": 7063, "physics_steps": 113, "start_physics_step": 6950 }, { "action_index": 82, "end_physics_step": 7164, "physics_steps": 101, "start_physics_step": 7063 }, { "action_index": 83, "end_physics_step": 7251, "physics_steps": 87, "start_physics_step": 7164 }, { "action_index": 84, "end_physics_step": 7321, "physics_steps": 70, "start_physics_step": 7251 }, { "action_index": 85, "end_physics_step": 7369, "physics_steps": 48, "start_physics_step": 7321 }, { "action_index": 86, "end_physics_step": 7382, "physics_steps": 13, "start_physics_step": 7369 }, { "action_index": 87, "end_physics_step": 7432, "physics_steps": 50, "start_physics_step": 7382 }, { "action_index": 88, "end_physics_step": 7482, "physics_steps": 50, "start_physics_step": 7432 }, { "action_index": 89, "end_physics_step": 7532, "physics_steps": 50, "start_physics_step": 7482 }, { "action_index": 90, "end_physics_step": 7582, "physics_steps": 50, "start_physics_step": 7532 }, { "action_index": 91, "end_physics_step": 7632, "physics_steps": 50, "start_physics_step": 7582 }, { "action_index": 92, "end_physics_step": 7703, "physics_steps": 71, "start_physics_step": 7632 }, { "action_index": 93, "end_physics_step": 7790, "physics_steps": 87, "start_physics_step": 7703 }, { "action_index": 94, "end_physics_step": 7891, "physics_steps": 101, "start_physics_step": 7790 }, { "action_index": 95, "end_physics_step": 8004, "physics_steps": 113, "start_physics_step": 7891 }, { "action_index": 96, "end_physics_step": 8126, "physics_steps": 122, "start_physics_step": 8004 }, { "action_index": 97, "end_physics_step": 8256, "physics_steps": 130, "start_physics_step": 8126 }, { "action_index": 98, "end_physics_step": 8391, "physics_steps": 135, "start_physics_step": 8256 }, { "action_index": 99, "end_physics_step": 8531, "physics_steps": 140, "start_physics_step": 8391 }, { "action_index": 100, "end_physics_step": 8676, "physics_steps": 145, "start_physics_step": 8531 }, { "action_index": 101, "end_physics_step": 8825, "physics_steps": 149, "start_physics_step": 8676 }, { "action_index": 102, "end_physics_step": 8979, "physics_steps": 154, "start_physics_step": 8825 }, { "action_index": 103, "end_physics_step": 9137, "physics_steps": 158, "start_physics_step": 8979 }, { "action_index": 104, "end_physics_step": 9299, "physics_steps": 162, "start_physics_step": 9137 }, { "action_index": 105, "end_physics_step": 9464, "physics_steps": 165, "start_physics_step": 9299 }, { "action_index": 106, "end_physics_step": 9632, "physics_steps": 168, "start_physics_step": 9464 }, { "action_index": 107, "end_physics_step": 9801, "physics_steps": 169, "start_physics_step": 9632 }, { "action_index": 108, "end_physics_step": 9971, "physics_steps": 170, "start_physics_step": 9801 }, { "action_index": 109, "end_physics_step": 10140, "physics_steps": 169, "start_physics_step": 9971 }, { "action_index": 110, "end_physics_step": 10306, "physics_steps": 166, "start_physics_step": 10140 }, { "action_index": 111, "end_physics_step": 10469, "physics_steps": 163, "start_physics_step": 10306 }, { "action_index": 112, "end_physics_step": 10626, "physics_steps": 157, "start_physics_step": 10469 }, { "action_index": 113, "end_physics_step": 10776, "physics_steps": 150, "start_physics_step": 10626 }, { "action_index": 114, "end_physics_step": 10917, "physics_steps": 141, "start_physics_step": 10776 }, { "action_index": 115, "end_physics_step": 11048, "physics_steps": 131, "start_physics_step": 10917 }, { "action_index": 116, "end_physics_step": 11168, "physics_steps": 120, "start_physics_step": 11048 }, { "action_index": 117, "end_physics_step": 11277, "physics_steps": 109, "start_physics_step": 11168 }, { "action_index": 118, "end_physics_step": 11373, "physics_steps": 96, "start_physics_step": 11277 }, { "action_index": 119, "end_physics_step": 11454, "physics_steps": 81, "start_physics_step": 11373 }, { "action_index": 120, "end_physics_step": 11517, "physics_steps": 63, "start_physics_step": 11454 }, { "action_index": 121, "end_physics_step": 11567, "physics_steps": 50, "start_physics_step": 11517 }, { "action_index": 122, "end_physics_step": 11617, "physics_steps": 50, "start_physics_step": 11567 }, { "action_index": 123, "end_physics_step": 11667, "physics_steps": 50, "start_physics_step": 11617 }, { "action_index": 124, "end_physics_step": 11717, "physics_steps": 50, "start_physics_step": 11667 }, { "action_index": 125, "end_physics_step": 11767, "physics_steps": 50, "start_physics_step": 11717 }, { "action_index": 126, "end_physics_step": 11817, "physics_steps": 50, "start_physics_step": 11767 }, { "action_index": 127, "end_physics_step": 11867, "physics_steps": 50, "start_physics_step": 11817 }, { "action_index": 128, "end_physics_step": 11917, "physics_steps": 50, "start_physics_step": 11867 }, { "action_index": 129, "end_physics_step": 11967, "physics_steps": 50, "start_physics_step": 11917 }, { "action_index": 130, "end_physics_step": 12017, "physics_steps": 50, "start_physics_step": 11967 }, { "action_index": 131, "end_physics_step": 12067, "physics_steps": 50, "start_physics_step": 12017 }, { "action_index": 132, "end_physics_step": 12117, "physics_steps": 50, "start_physics_step": 12067 }, { "action_index": 133, "end_physics_step": 12167, "physics_steps": 50, "start_physics_step": 12117 }, { "action_index": 134, "end_physics_step": 12219, "physics_steps": 52, "start_physics_step": 12167 }, { "action_index": 135, "end_physics_step": 12290, "physics_steps": 71, "start_physics_step": 12219 }, { "action_index": 136, "end_physics_step": 12377, "physics_steps": 87, "start_physics_step": 12290 }, { "action_index": 137, "end_physics_step": 12477, "physics_steps": 100, "start_physics_step": 12377 }, { "action_index": 138, "end_physics_step": 12589, "physics_steps": 112, "start_physics_step": 12477 }, { "action_index": 139, "end_physics_step": 12710, "physics_steps": 121, "start_physics_step": 12589 }, { "action_index": 140, "end_physics_step": 12839, "physics_steps": 129, "start_physics_step": 12710 }, { "action_index": 141, "end_physics_step": 12974, "physics_steps": 135, "start_physics_step": 12839 }, { "action_index": 142, "end_physics_step": 13114, "physics_steps": 140, "start_physics_step": 12974 }, { "action_index": 143, "end_physics_step": 13258, "physics_steps": 144, "start_physics_step": 13114 }, { "action_index": 144, "end_physics_step": 13405, "physics_steps": 147, "start_physics_step": 13258 }, { "action_index": 145, "end_physics_step": 13553, "physics_steps": 148, "start_physics_step": 13405 }, { "action_index": 146, "end_physics_step": 13702, "physics_steps": 149, "start_physics_step": 13553 }, { "action_index": 147, "end_physics_step": 13850, "physics_steps": 148, "start_physics_step": 13702 }, { "action_index": 148, "end_physics_step": 13995, "physics_steps": 145, "start_physics_step": 13850 }, { "action_index": 149, "end_physics_step": 14136, "physics_steps": 141, "start_physics_step": 13995 }, { "action_index": 150, "end_physics_step": 14271, "physics_steps": 135, "start_physics_step": 14136 }, { "action_index": 151, "end_physics_step": 14397, "physics_steps": 126, "start_physics_step": 14271 }, { "action_index": 152, "end_physics_step": 14512, "physics_steps": 115, "start_physics_step": 14397 }, { "action_index": 153, "end_physics_step": 14581, "physics_steps": 69, "start_physics_step": 14512 } ], "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", "training_action_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ -0.030103035271167755, -0.0203294325619936, 0.9505266547203064 ], "scanner_functional_point": [ 0.03018389096383011, -0.00311736515743391, 0.941965048415384, 0.19316800989777977, 0.6790373271676549, -0.31578301577859735, -0.6339365230138682 ] }, "training_action_input_frames": 166, "training_action_interarm_contact_steps": 0, "training_action_minimum_capsule_distance_m": 0.1906478354399665, "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": 14581, "training_actions_executed": 154 }