{ "artifacts_complete": true, "camera_validation": { "episode": 5, "fovy_deg": { "left": 90.0, "right": 90.0 }, "frames": 173, "head_unique_frame_ratio": 0.953757225433526, "main_camera_policy": "native_dynamic", "maximum_mount_distance_error_m": 5.207255911188202e-08, "maximum_wrist_consecutive_dark_frames": 0, "maximum_wrist_dark_frame_fraction": 0.0, "minimum_wrist_median_luminance": 190.0818402777778, "parallel_head_unique_frame_ratio": 0.9565217391304348, "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": 190.37170572916668, "right": 190.0818402777778 } }, "collision_safe": true, "collision_summary": { "contact_step_indices": [], "first_risk_step": null, "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.16903893603049072, "moves": { "object_place": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.20679663820604288 }, "scanner_align": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.16903893603049072 }, "scanner_grasp+object_grasp": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.1969395115858915 }, "scanner_lift+object_lift": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.231676802161389 } }, "physics_steps_checked": 2308 }, "episode": 5, "frames": 173, "plan_success": true, "renderer_validation": { "camera_shader": "rt", "episode": 5, "ray_tracing_denoiser": "optix", "status": "passed" }, "replay_success": true, "seed": 84, "source_commits": { "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" }, "task_specific_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ 0.030698124319314957, -0.01907448284327984, 0.9498051404953003 ], "scanner_functional_point": [ -0.01693466920061454, -0.017606071401668824, 0.9551802481637126, 0.6577264261209872, -0.2527660823076333, 0.6612912521310454, -0.25729192733530953 ] }, "task_success": true, "timing_summary": { "active_left_frames": 106, "active_right_frames": 115, "active_union_frames": 146, "avoidable_idle_seconds": 2.456, "frames": 173, "overlap_frames": 75, "overlap_ratio_active": 0.5136986301369864, "overlap_ratio_all": 0.43352601156069365, "overlap_seconds": 2.5, "seconds": 5.766666666666667, "true_dependency_wait_seconds": 0.0 }, "training_action_collision_safe": true, "training_action_count": 172, "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": 307, "physics_steps": 87, "start_physics_step": 220 }, { "action_index": 5, "end_physics_step": 406, "physics_steps": 99, "start_physics_step": 307 }, { "action_index": 6, "end_physics_step": 515, "physics_steps": 109, "start_physics_step": 406 }, { "action_index": 7, "end_physics_step": 633, "physics_steps": 118, "start_physics_step": 515 }, { "action_index": 8, "end_physics_step": 758, "physics_steps": 125, "start_physics_step": 633 }, { "action_index": 9, "end_physics_step": 888, "physics_steps": 130, "start_physics_step": 758 }, { "action_index": 10, "end_physics_step": 1023, "physics_steps": 135, "start_physics_step": 888 }, { "action_index": 11, "end_physics_step": 1162, "physics_steps": 139, "start_physics_step": 1023 }, { "action_index": 12, "end_physics_step": 1304, "physics_steps": 142, "start_physics_step": 1162 }, { "action_index": 13, "end_physics_step": 1449, "physics_steps": 145, "start_physics_step": 1304 }, { "action_index": 14, "end_physics_step": 1595, "physics_steps": 146, "start_physics_step": 1449 }, { "action_index": 15, "end_physics_step": 1742, "physics_steps": 147, "start_physics_step": 1595 }, { "action_index": 16, "end_physics_step": 1890, "physics_steps": 148, "start_physics_step": 1742 }, { "action_index": 17, "end_physics_step": 2037, "physics_steps": 147, "start_physics_step": 1890 }, { "action_index": 18, "end_physics_step": 2183, "physics_steps": 146, "start_physics_step": 2037 }, { "action_index": 19, "end_physics_step": 2327, "physics_steps": 144, "start_physics_step": 2183 }, { "action_index": 20, "end_physics_step": 2469, "physics_steps": 142, "start_physics_step": 2327 }, { "action_index": 21, "end_physics_step": 2607, "physics_steps": 138, "start_physics_step": 2469 }, { "action_index": 22, "end_physics_step": 2741, "physics_steps": 134, "start_physics_step": 2607 }, { "action_index": 23, "end_physics_step": 2870, "physics_steps": 129, "start_physics_step": 2741 }, { "action_index": 24, "end_physics_step": 2993, "physics_steps": 123, "start_physics_step": 2870 }, { "action_index": 25, "end_physics_step": 3109, "physics_steps": 116, "start_physics_step": 2993 }, { "action_index": 26, "end_physics_step": 3216, "physics_steps": 107, "start_physics_step": 3109 }, { "action_index": 27, "end_physics_step": 3312, "physics_steps": 96, "start_physics_step": 3216 }, { "action_index": 28, "end_physics_step": 3395, "physics_steps": 83, "start_physics_step": 3312 }, { "action_index": 29, "end_physics_step": 3462, "physics_steps": 67, "start_physics_step": 3395 }, { "action_index": 30, "end_physics_step": 3505, "physics_steps": 43, "start_physics_step": 3462 }, { "action_index": 31, "end_physics_step": 3555, "physics_steps": 50, "start_physics_step": 3505 }, { "action_index": 32, "end_physics_step": 3605, "physics_steps": 50, "start_physics_step": 3555 }, { "action_index": 33, "end_physics_step": 3655, "physics_steps": 50, "start_physics_step": 3605 }, { "action_index": 34, "end_physics_step": 3700, "physics_steps": 45, "start_physics_step": 3655 }, { "action_index": 35, "end_physics_step": 3725, "physics_steps": 25, "start_physics_step": 3700 }, { "action_index": 36, "end_physics_step": 3781, "physics_steps": 56, "start_physics_step": 3725 }, { "action_index": 37, "end_physics_step": 3853, "physics_steps": 72, "start_physics_step": 3781 }, { "action_index": 38, "end_physics_step": 3935, "physics_steps": 82, "start_physics_step": 3853 }, { "action_index": 39, "end_physics_step": 4024, "physics_steps": 89, "start_physics_step": 3935 }, { "action_index": 40, "end_physics_step": 4118, "physics_steps": 94, "start_physics_step": 4024 }, { "action_index": 41, "end_physics_step": 4214, "physics_steps": 96, "start_physics_step": 4118 }, { "action_index": 42, "end_physics_step": 4311, "physics_steps": 97, "start_physics_step": 4214 }, { "action_index": 43, "end_physics_step": 4406, "physics_steps": 95, "start_physics_step": 4311 }, { "action_index": 44, "end_physics_step": 4498, "physics_steps": 92, "start_physics_step": 4406 }, { "action_index": 45, "end_physics_step": 4584, "physics_steps": 86, "start_physics_step": 4498 }, { "action_index": 46, "end_physics_step": 4661, "physics_steps": 77, "start_physics_step": 4584 }, { "action_index": 47, "end_physics_step": 4725, "physics_steps": 64, "start_physics_step": 4661 }, { "action_index": 48, "end_physics_step": 4769, "physics_steps": 44, "start_physics_step": 4725 }, { "action_index": 49, "end_physics_step": 4779, "physics_steps": 10, "start_physics_step": 4769 }, { "action_index": 50, "end_physics_step": 4829, "physics_steps": 50, "start_physics_step": 4779 }, { "action_index": 51, "end_physics_step": 4879, "physics_steps": 50, "start_physics_step": 4829 }, { "action_index": 52, "end_physics_step": 4929, "physics_steps": 50, "start_physics_step": 4879 }, { "action_index": 53, "end_physics_step": 4979, "physics_steps": 50, "start_physics_step": 4929 }, { "action_index": 54, "end_physics_step": 5029, "physics_steps": 50, "start_physics_step": 4979 }, { "action_index": 55, "end_physics_step": 5079, "physics_steps": 50, "start_physics_step": 5029 }, { "action_index": 56, "end_physics_step": 5129, "physics_steps": 50, "start_physics_step": 5079 }, { "action_index": 57, "end_physics_step": 5179, "physics_steps": 50, "start_physics_step": 5129 }, { "action_index": 58, "end_physics_step": 5229, "physics_steps": 50, "start_physics_step": 5179 }, { "action_index": 59, "end_physics_step": 5279, "physics_steps": 50, "start_physics_step": 5229 }, { "action_index": 60, "end_physics_step": 5329, "physics_steps": 50, "start_physics_step": 5279 }, { "action_index": 61, "end_physics_step": 5379, "physics_steps": 50, "start_physics_step": 5329 }, { "action_index": 62, "end_physics_step": 5429, "physics_steps": 50, "start_physics_step": 5379 }, { "action_index": 63, "end_physics_step": 5479, "physics_steps": 50, "start_physics_step": 5429 }, { "action_index": 64, "end_physics_step": 5529, "physics_steps": 50, "start_physics_step": 5479 }, { "action_index": 65, "end_physics_step": 5579, "physics_steps": 50, "start_physics_step": 5529 }, { "action_index": 66, "end_physics_step": 5629, "physics_steps": 50, "start_physics_step": 5579 }, { "action_index": 67, "end_physics_step": 5679, "physics_steps": 50, "start_physics_step": 5629 }, { "action_index": 68, "end_physics_step": 5729, "physics_steps": 50, "start_physics_step": 5679 }, { "action_index": 69, "end_physics_step": 5779, "physics_steps": 50, "start_physics_step": 5729 }, { "action_index": 70, "end_physics_step": 5829, "physics_steps": 50, "start_physics_step": 5779 }, { "action_index": 71, "end_physics_step": 5879, "physics_steps": 50, "start_physics_step": 5829 }, { "action_index": 72, "end_physics_step": 5929, "physics_steps": 50, "start_physics_step": 5879 }, { "action_index": 73, "end_physics_step": 5979, "physics_steps": 50, "start_physics_step": 5929 }, { "action_index": 74, "end_physics_step": 6006, "physics_steps": 27, "start_physics_step": 5979 }, { "action_index": 75, "end_physics_step": 6030, "physics_steps": 24, "start_physics_step": 6006 }, { "action_index": 76, "end_physics_step": 6086, "physics_steps": 56, "start_physics_step": 6030 }, { "action_index": 77, "end_physics_step": 6162, "physics_steps": 76, "start_physics_step": 6086 }, { "action_index": 78, "end_physics_step": 6254, "physics_steps": 92, "start_physics_step": 6162 }, { "action_index": 79, "end_physics_step": 6359, "physics_steps": 105, "start_physics_step": 6254 }, { "action_index": 80, "end_physics_step": 6475, "physics_steps": 116, "start_physics_step": 6359 }, { "action_index": 81, "end_physics_step": 6597, "physics_steps": 122, "start_physics_step": 6475 }, { "action_index": 82, "end_physics_step": 6722, "physics_steps": 125, "start_physics_step": 6597 }, { "action_index": 83, "end_physics_step": 6846, "physics_steps": 124, "start_physics_step": 6722 }, { "action_index": 84, "end_physics_step": 6966, "physics_steps": 120, "start_physics_step": 6846 }, { "action_index": 85, "end_physics_step": 7077, "physics_steps": 111, "start_physics_step": 6966 }, { "action_index": 86, "end_physics_step": 7176, "physics_steps": 99, "start_physics_step": 7077 }, { "action_index": 87, "end_physics_step": 7260, "physics_steps": 84, "start_physics_step": 7176 }, { "action_index": 88, "end_physics_step": 7327, "physics_steps": 67, "start_physics_step": 7260 }, { "action_index": 89, "end_physics_step": 7370, "physics_steps": 43, "start_physics_step": 7327 }, { "action_index": 90, "end_physics_step": 7420, "physics_steps": 50, "start_physics_step": 7370 }, { "action_index": 91, "end_physics_step": 7470, "physics_steps": 50, "start_physics_step": 7420 }, { "action_index": 92, "end_physics_step": 7520, "physics_steps": 50, "start_physics_step": 7470 }, { "action_index": 93, "end_physics_step": 7570, "physics_steps": 50, "start_physics_step": 7520 }, { "action_index": 94, "end_physics_step": 7620, "physics_steps": 50, "start_physics_step": 7570 }, { "action_index": 95, "end_physics_step": 7690, "physics_steps": 70, "start_physics_step": 7620 }, { "action_index": 96, "end_physics_step": 7775, "physics_steps": 85, "start_physics_step": 7690 }, { "action_index": 97, "end_physics_step": 7873, "physics_steps": 98, "start_physics_step": 7775 }, { "action_index": 98, "end_physics_step": 7981, "physics_steps": 108, "start_physics_step": 7873 }, { "action_index": 99, "end_physics_step": 8099, "physics_steps": 118, "start_physics_step": 7981 }, { "action_index": 100, "end_physics_step": 8224, "physics_steps": 125, "start_physics_step": 8099 }, { "action_index": 101, "end_physics_step": 8355, "physics_steps": 131, "start_physics_step": 8224 }, { "action_index": 102, "end_physics_step": 8492, "physics_steps": 137, "start_physics_step": 8355 }, { "action_index": 103, "end_physics_step": 8633, "physics_steps": 141, "start_physics_step": 8492 }, { "action_index": 104, "end_physics_step": 8778, "physics_steps": 145, "start_physics_step": 8633 }, { "action_index": 105, "end_physics_step": 8928, "physics_steps": 150, "start_physics_step": 8778 }, { "action_index": 106, "end_physics_step": 9080, "physics_steps": 152, "start_physics_step": 8928 }, { "action_index": 107, "end_physics_step": 9234, "physics_steps": 154, "start_physics_step": 9080 }, { "action_index": 108, "end_physics_step": 9390, "physics_steps": 156, "start_physics_step": 9234 }, { "action_index": 109, "end_physics_step": 9548, "physics_steps": 158, "start_physics_step": 9390 }, { "action_index": 110, "end_physics_step": 9706, "physics_steps": 158, "start_physics_step": 9548 }, { "action_index": 111, "end_physics_step": 9865, "physics_steps": 159, "start_physics_step": 9706 }, { "action_index": 112, "end_physics_step": 10023, "physics_steps": 158, "start_physics_step": 9865 }, { "action_index": 113, "end_physics_step": 10180, "physics_steps": 157, "start_physics_step": 10023 }, { "action_index": 114, "end_physics_step": 10336, "physics_steps": 156, "start_physics_step": 10180 }, { "action_index": 115, "end_physics_step": 10490, "physics_steps": 154, "start_physics_step": 10336 }, { "action_index": 116, "end_physics_step": 10641, "physics_steps": 151, "start_physics_step": 10490 }, { "action_index": 117, "end_physics_step": 10788, "physics_steps": 147, "start_physics_step": 10641 }, { "action_index": 118, "end_physics_step": 10931, "physics_steps": 143, "start_physics_step": 10788 }, { "action_index": 119, "end_physics_step": 11070, "physics_steps": 139, "start_physics_step": 10931 }, { "action_index": 120, "end_physics_step": 11203, "physics_steps": 133, "start_physics_step": 11070 }, { "action_index": 121, "end_physics_step": 11330, "physics_steps": 127, "start_physics_step": 11203 }, { "action_index": 122, "end_physics_step": 11450, "physics_steps": 120, "start_physics_step": 11330 }, { "action_index": 123, "end_physics_step": 11560, "physics_steps": 110, "start_physics_step": 11450 }, { "action_index": 124, "end_physics_step": 11659, "physics_steps": 99, "start_physics_step": 11560 }, { "action_index": 125, "end_physics_step": 11746, "physics_steps": 87, "start_physics_step": 11659 }, { "action_index": 126, "end_physics_step": 11817, "physics_steps": 71, "start_physics_step": 11746 }, { "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": 12217, "physics_steps": 50, "start_physics_step": 12167 }, { "action_index": 135, "end_physics_step": 12267, "physics_steps": 50, "start_physics_step": 12217 }, { "action_index": 136, "end_physics_step": 12317, "physics_steps": 50, "start_physics_step": 12267 }, { "action_index": 137, "end_physics_step": 12367, "physics_steps": 50, "start_physics_step": 12317 }, { "action_index": 138, "end_physics_step": 12417, "physics_steps": 50, "start_physics_step": 12367 }, { "action_index": 139, "end_physics_step": 12467, "physics_steps": 50, "start_physics_step": 12417 }, { "action_index": 140, "end_physics_step": 12520, "physics_steps": 53, "start_physics_step": 12467 }, { "action_index": 141, "end_physics_step": 12593, "physics_steps": 73, "start_physics_step": 12520 }, { "action_index": 142, "end_physics_step": 12682, "physics_steps": 89, "start_physics_step": 12593 }, { "action_index": 143, "end_physics_step": 12785, "physics_steps": 103, "start_physics_step": 12682 }, { "action_index": 144, "end_physics_step": 12900, "physics_steps": 115, "start_physics_step": 12785 }, { "action_index": 145, "end_physics_step": 13026, "physics_steps": 126, "start_physics_step": 12900 }, { "action_index": 146, "end_physics_step": 13160, "physics_steps": 134, "start_physics_step": 13026 }, { "action_index": 147, "end_physics_step": 13302, "physics_steps": 142, "start_physics_step": 13160 }, { "action_index": 148, "end_physics_step": 13450, "physics_steps": 148, "start_physics_step": 13302 }, { "action_index": 149, "end_physics_step": 13603, "physics_steps": 153, "start_physics_step": 13450 }, { "action_index": 150, "end_physics_step": 13759, "physics_steps": 156, "start_physics_step": 13603 }, { "action_index": 151, "end_physics_step": 13916, "physics_steps": 157, "start_physics_step": 13759 }, { "action_index": 152, "end_physics_step": 14072, "physics_steps": 156, "start_physics_step": 13916 }, { "action_index": 153, "end_physics_step": 14226, "physics_steps": 154, "start_physics_step": 14072 }, { "action_index": 154, "end_physics_step": 14376, "physics_steps": 150, "start_physics_step": 14226 }, { "action_index": 155, "end_physics_step": 14519, "physics_steps": 143, "start_physics_step": 14376 }, { "action_index": 156, "end_physics_step": 14654, "physics_steps": 135, "start_physics_step": 14519 }, { "action_index": 157, "end_physics_step": 14730, "physics_steps": 76, "start_physics_step": 14654 } ], "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", "training_action_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ 0.03066912665963173, -0.019310487434267998, 0.9498987197875977 ], "scanner_functional_point": [ 0.00031135905510104936, -0.025004631125468177, 0.9295829520313685, 0.5853087009736389, -0.301041968663429, 0.7058824754917903, -0.2617582634061061 ] }, "training_action_input_frames": 173, "training_action_interarm_contact_steps": 0, "training_action_minimum_capsule_distance_m": 0.16831677267581488, "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": 14730, "training_actions_executed": 158 }