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- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/debug/async_events.jsonl +61 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/manifests/action.json +29 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/manifests/camera.json +104 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/manifests/event.json +28 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/manifests/robot.json +37 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/debug/async_events.jsonl +59 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/manifests/action.json +29 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/manifests/camera.json +104 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/manifests/event.json +28 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/manifests/robot.json +37 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/debug/async_events.jsonl +75 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/manifests/action.json +28 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/manifests/camera.json +101 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/manifests/event.json +27 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/manifests/robot.json +36 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/debug/async_events.jsonl +47 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/manifests/action.json +28 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/manifests/camera.json +101 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/manifests/event.json +27 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/manifests/robot.json +36 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/manifests/camera.json +104 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/manifests/robot.json +37 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/manifests/tactile.json +1 -0
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/action/executed_action_dict.pkl
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eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/camera/metadata.json
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{
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"base_0_rgb": {
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"codec": "h264",
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"container": "mp4",
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"encoder": "libx264",
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"encoding": "bgr8",
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"frames": 523,
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"quality": {
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"mode": "crf",
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"value": 14
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},
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
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"timestamps": "camera/timestamp.pkl::base_0",
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"topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
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"video": "camera/base_0_rgb.mp4",
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"width": 640
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},
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"left_wrist_0_rgb": {
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"codec": "h264",
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"container": "mp4",
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"encoder": "libx264",
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"encoding": "bgr8",
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"frames": 525,
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"height": 480,
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"lossless": false,
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"pixel_format": "yuv420p",
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"quality": {
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"mode": "crf",
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"value": 14
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},
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
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"timestamps": "camera/timestamp.pkl::left_wrist_0",
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"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
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"video": "camera/left_wrist_0_rgb.mp4",
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"width": 640
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},
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"right_wrist_0_rgb": {
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"codec": "h264",
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"container": "mp4",
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"encoder": "libx264",
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"encoding": "bgr8",
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"frames": 527,
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"height": 480,
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"lossless": false,
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"pixel_format": "yuv420p",
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"quality": {
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"mode": "crf",
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"value": 14
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},
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
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"timestamps": "camera/timestamp.pkl::right_wrist_0",
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"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
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"video": "camera/right_wrist_0_rgb.mp4",
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"width": 640
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}
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}
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eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/camera/timestamp.pkl
ADDED
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Binary file (12.7 kB). View file
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eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/debug/actions.jsonl
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The diff for this file is too large to render.
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eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/debug/async_events.jsonl
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{"event": "prediction_requested", "time_ns": 1789903114929387556, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
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{"event": "prediction_requested", "time_ns": 1789903115674350512, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
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{"event": "plan_adopted", "time_ns": 1789903115749586592, "actions_sent": 20, "prediction": 1, "queue_remaining": 27, "skipped_prefix": 3, "observation_age_ms": 80.45790100004524, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789903116258839932, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
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{"event": "prediction_requested", "time_ns": 1789903116839213661, "actions_sent": 52, "prediction": 3, "queue_remaining": 12}
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{"event": "plan_adopted", "time_ns": 1789903127192578932, "actions_sent": 355, "prediction": 21, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 123.35777998669073, "blended_steps": 5}
|
| 45 |
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{"event": "prediction_requested", "time_ns": 1789903127670636024, "actions_sent": 369, "prediction": 22, "queue_remaining": 12}
|
| 46 |
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{"event": "plan_adopted", "time_ns": 1789903127763919123, "actions_sent": 371, "prediction": 22, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.99424400529824, "blended_steps": 5}
|
| 47 |
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{"event": "prediction_requested", "time_ns": 1789903128239354508, "actions_sent": 385, "prediction": 23, "queue_remaining": 12}
|
| 48 |
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{"event": "plan_adopted", "time_ns": 1789903128349927895, "actions_sent": 388, "prediction": 23, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 107.01923901797272, "blended_steps": 5}
|
| 49 |
+
{"event": "prediction_requested", "time_ns": 1789903128842914582, "actions_sent": 402, "prediction": 24, "queue_remaining": 12}
|
| 50 |
+
{"event": "plan_adopted", "time_ns": 1789903128949283711, "actions_sent": 405, "prediction": 24, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 112.03369597205892, "blended_steps": 5}
|
| 51 |
+
{"event": "prediction_requested", "time_ns": 1789903129419162268, "actions_sent": 419, "prediction": 25, "queue_remaining": 12}
|
| 52 |
+
{"event": "plan_adopted", "time_ns": 1789903129524737041, "actions_sent": 422, "prediction": 25, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.70944799738936, "blended_steps": 5}
|
| 53 |
+
{"event": "prediction_requested", "time_ns": 1789903130004686405, "actions_sent": 436, "prediction": 26, "queue_remaining": 12}
|
| 54 |
+
{"event": "plan_adopted", "time_ns": 1789903130109735939, "actions_sent": 439, "prediction": 26, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 138.50493301288225, "blended_steps": 5}
|
| 55 |
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{"event": "prediction_requested", "time_ns": 1789903130551010438, "actions_sent": 452, "prediction": 27, "queue_remaining": 12}
|
| 56 |
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{"event": "plan_adopted", "time_ns": 1789903130657896059, "actions_sent": 455, "prediction": 27, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.88923301012255, "blended_steps": 5}
|
| 57 |
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{"event": "prediction_requested", "time_ns": 1789903131131422518, "actions_sent": 469, "prediction": 28, "queue_remaining": 12}
|
| 58 |
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{"event": "plan_adopted", "time_ns": 1789903131233671685, "actions_sent": 472, "prediction": 28, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.81265697837807, "blended_steps": 5}
|
| 59 |
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{"event": "prediction_requested", "time_ns": 1789903131709480483, "actions_sent": 486, "prediction": 29, "queue_remaining": 12}
|
| 60 |
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{"event": "plan_adopted", "time_ns": 1789903131814710068, "actions_sent": 489, "prediction": 29, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 109.39384499215521, "blended_steps": 5}
|
| 61 |
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{"event": "operator_stopped", "time_ns": 1789903132134503764, "actions_sent": 499, "result": "success"}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/manifests/action.json
ADDED
|
@@ -0,0 +1,29 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
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"action.executed": 499,
|
| 5 |
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|
| 6 |
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| 7 |
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| 8 |
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| 10 |
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| 11 |
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|
| 12 |
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},
|
| 13 |
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|
| 14 |
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|
| 15 |
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"failure": "",
|
| 16 |
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"metadata": {
|
| 17 |
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"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
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|
| 19 |
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"run_id": "20260920_191827_703744_round_0003",
|
| 20 |
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|
| 21 |
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},
|
| 22 |
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|
| 23 |
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"record_id": "prometheus_action_recorder",
|
| 24 |
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|
| 25 |
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"schema": "prometheus_raw_episode_v1",
|
| 26 |
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"status": "saved",
|
| 27 |
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"updated_at_unix": 1789903132.2481945
|
| 28 |
+
}
|
| 29 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/manifests/camera.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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|
| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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|
| 19 |
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|
| 20 |
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"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0003",
|
| 21 |
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"failure": "",
|
| 22 |
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"metadata": {
|
| 23 |
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"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 24 |
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|
| 25 |
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"run_id": "20260920_191827_703744_round_0003",
|
| 26 |
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"workflow": "openpi_rollout"
|
| 27 |
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},
|
| 28 |
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"record_id": "prometheus_camera_base_0_recorder",
|
| 29 |
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"record_mode": "sensor",
|
| 30 |
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"schema": "prometheus_raw_episode_v1",
|
| 31 |
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|
| 32 |
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|
| 33 |
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"status": "saved",
|
| 34 |
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"updated_at_unix": 1789903132.2481945
|
| 35 |
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},
|
| 36 |
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"prometheus_camera_left_wrist_0_recorder": {
|
| 37 |
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|
| 38 |
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|
| 39 |
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},
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| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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| 44 |
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|
| 45 |
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| 47 |
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| 49 |
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| 50 |
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| 51 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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},
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| 62 |
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| 63 |
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| 64 |
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"schema": "prometheus_raw_episode_v1",
|
| 65 |
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|
| 66 |
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| 67 |
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| 68 |
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"updated_at_unix": 1789903132.2481945
|
| 69 |
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},
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| 70 |
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| 71 |
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|
| 72 |
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|
| 73 |
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},
|
| 74 |
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|
| 75 |
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|
| 76 |
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| 77 |
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|
| 78 |
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| 79 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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},
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| 87 |
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| 88 |
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| 89 |
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"failure": "",
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| 90 |
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"metadata": {
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| 91 |
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"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
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| 92 |
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| 93 |
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| 94 |
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"workflow": "openpi_rollout"
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| 95 |
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},
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| 96 |
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"record_id": "prometheus_camera_right_wrist_0_recorder",
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| 97 |
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|
| 98 |
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"schema": "prometheus_raw_episode_v1",
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| 99 |
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|
| 100 |
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|
| 101 |
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"status": "saved",
|
| 102 |
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"updated_at_unix": 1789903132.2481945
|
| 103 |
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}
|
| 104 |
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}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/manifests/event.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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"prometheus_event_recorder": {
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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| 10 |
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| 11 |
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|
| 12 |
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},
|
| 13 |
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|
| 14 |
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|
| 15 |
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"failure": "",
|
| 16 |
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"metadata": {
|
| 17 |
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"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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},
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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"updated_at_unix": 1789903132.2481945
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/manifests/robot.json
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0003",
|
| 14 |
+
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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},
|
| 19 |
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"metadata": {
|
| 20 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 21 |
+
"round_number": 3,
|
| 22 |
+
"run_id": "20260920_191827_703744_round_0003",
|
| 23 |
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|
| 24 |
+
},
|
| 25 |
+
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|
| 26 |
+
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|
| 27 |
+
"record_id": "prometheus_robot_recorder",
|
| 28 |
+
"record_mode": "robot",
|
| 29 |
+
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|
| 30 |
+
"left": 2207,
|
| 31 |
+
"right": 2207
|
| 32 |
+
},
|
| 33 |
+
"schema": "prometheus_raw_episode_v1",
|
| 34 |
+
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|
| 35 |
+
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|
| 36 |
+
}
|
| 37 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0003/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/action/executed_action_dict.pkl
ADDED
|
Binary file (79.1 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/camera/metadata.json
ADDED
|
@@ -0,0 +1,59 @@
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| 1 |
+
{
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| 2 |
+
"base_0_rgb": {
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| 3 |
+
"codec": "h264",
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| 4 |
+
"container": "mp4",
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| 5 |
+
"encoder": "libx264",
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| 6 |
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"encoding": "bgr8",
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| 7 |
+
"frames": 499,
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| 8 |
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"height": 480,
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| 9 |
+
"lossless": false,
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| 10 |
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"pixel_format": "yuv420p",
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| 11 |
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"quality": {
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| 12 |
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"mode": "crf",
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| 13 |
+
"value": 14
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| 14 |
+
},
|
| 15 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
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| 16 |
+
"timestamps": "camera/timestamp.pkl::base_0",
|
| 17 |
+
"topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
|
| 18 |
+
"video": "camera/base_0_rgb.mp4",
|
| 19 |
+
"width": 640
|
| 20 |
+
},
|
| 21 |
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"left_wrist_0_rgb": {
|
| 22 |
+
"codec": "h264",
|
| 23 |
+
"container": "mp4",
|
| 24 |
+
"encoder": "libx264",
|
| 25 |
+
"encoding": "bgr8",
|
| 26 |
+
"frames": 501,
|
| 27 |
+
"height": 480,
|
| 28 |
+
"lossless": false,
|
| 29 |
+
"pixel_format": "yuv420p",
|
| 30 |
+
"quality": {
|
| 31 |
+
"mode": "crf",
|
| 32 |
+
"value": 14
|
| 33 |
+
},
|
| 34 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 35 |
+
"timestamps": "camera/timestamp.pkl::left_wrist_0",
|
| 36 |
+
"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
|
| 37 |
+
"video": "camera/left_wrist_0_rgb.mp4",
|
| 38 |
+
"width": 640
|
| 39 |
+
},
|
| 40 |
+
"right_wrist_0_rgb": {
|
| 41 |
+
"codec": "h264",
|
| 42 |
+
"container": "mp4",
|
| 43 |
+
"encoder": "libx264",
|
| 44 |
+
"encoding": "bgr8",
|
| 45 |
+
"frames": 503,
|
| 46 |
+
"height": 480,
|
| 47 |
+
"lossless": false,
|
| 48 |
+
"pixel_format": "yuv420p",
|
| 49 |
+
"quality": {
|
| 50 |
+
"mode": "crf",
|
| 51 |
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"value": 14
|
| 52 |
+
},
|
| 53 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 54 |
+
"timestamps": "camera/timestamp.pkl::right_wrist_0",
|
| 55 |
+
"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
|
| 56 |
+
"video": "camera/right_wrist_0_rgb.mp4",
|
| 57 |
+
"width": 640
|
| 58 |
+
}
|
| 59 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/camera/timestamp.pkl
ADDED
|
Binary file (12.1 kB). View file
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|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
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|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,59 @@
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|
| 1 |
+
{"event": "prediction_requested", "time_ns": 1789910307415782034, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
|
| 2 |
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{"event": "plan_adopted", "time_ns": 1789910307535402649, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 119.435083004646, "blended_steps": 0}
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| 3 |
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{"event": "prediction_requested", "time_ns": 1789910308149875207, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
|
| 4 |
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{"event": "plan_adopted", "time_ns": 1789910308251914101, "actions_sent": 21, "prediction": 1, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 115.15997897367924, "blended_steps": 5}
|
| 5 |
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{"event": "prediction_requested", "time_ns": 1789910308728239376, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
|
| 6 |
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{"event": "plan_adopted", "time_ns": 1789910308837360764, "actions_sent": 38, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.41964297695085, "blended_steps": 5}
|
| 7 |
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{"event": "prediction_requested", "time_ns": 1789910309314047910, "actions_sent": 52, "prediction": 3, "queue_remaining": 12}
|
| 8 |
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{"event": "plan_adopted", "time_ns": 1789910309388715438, "actions_sent": 54, "prediction": 3, "queue_remaining": 27, "skipped_prefix": 3, "observation_age_ms": 80.36619701306336, "blended_steps": 5}
|
| 9 |
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{"event": "prediction_requested", "time_ns": 1789910309901517892, "actions_sent": 69, "prediction": 4, "queue_remaining": 12}
|
| 10 |
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{"event": "plan_adopted", "time_ns": 1789910310006680609, "actions_sent": 72, "prediction": 4, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 132.6637450256385, "blended_steps": 5}
|
| 11 |
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{"event": "prediction_requested", "time_ns": 1789910310483972445, "actions_sent": 86, "prediction": 5, "queue_remaining": 12}
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| 12 |
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{"event": "prediction_requested", "time_ns": 1789910311066891812, "actions_sent": 103, "prediction": 6, "queue_remaining": 12}
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{"event": "prediction_requested", "time_ns": 1789910311657615210, "actions_sent": 120, "prediction": 7, "queue_remaining": 12}
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| 16 |
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| 17 |
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{"event": "prediction_requested", "time_ns": 1789910312235944603, "actions_sent": 137, "prediction": 8, "queue_remaining": 12}
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| 18 |
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|
| 19 |
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{"event": "prediction_requested", "time_ns": 1789910312820256151, "actions_sent": 154, "prediction": 9, "queue_remaining": 12}
|
| 20 |
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| 21 |
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{"event": "prediction_requested", "time_ns": 1789910313413134846, "actions_sent": 171, "prediction": 10, "queue_remaining": 12}
|
| 22 |
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{"event": "plan_adopted", "time_ns": 1789910313519799965, "actions_sent": 174, "prediction": 10, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.96477498323657, "blended_steps": 5}
|
| 23 |
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{"event": "prediction_requested", "time_ns": 1789910313963723100, "actions_sent": 187, "prediction": 11, "queue_remaining": 12}
|
| 24 |
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{"event": "plan_adopted", "time_ns": 1789910314072865689, "actions_sent": 190, "prediction": 11, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.34049997804686, "blended_steps": 5}
|
| 25 |
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{"event": "prediction_requested", "time_ns": 1789910314559033928, "actions_sent": 204, "prediction": 12, "queue_remaining": 12}
|
| 26 |
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| 27 |
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{"event": "prediction_requested", "time_ns": 1789910315133912322, "actions_sent": 221, "prediction": 13, "queue_remaining": 12}
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| 28 |
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| 29 |
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| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{"event": "prediction_requested", "time_ns": 1789910316841801864, "actions_sent": 271, "prediction": 16, "queue_remaining": 12}
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| 34 |
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{"event": "plan_adopted", "time_ns": 1789910316914463532, "actions_sent": 273, "prediction": 16, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 105.28589200112037, "blended_steps": 5}
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| 35 |
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{"event": "prediction_requested", "time_ns": 1789910317388554071, "actions_sent": 287, "prediction": 17, "queue_remaining": 12}
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| 36 |
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| 37 |
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{"event": "prediction_requested", "time_ns": 1789910317971759382, "actions_sent": 304, "prediction": 18, "queue_remaining": 12}
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| 38 |
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| 39 |
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{"event": "prediction_requested", "time_ns": 1789910318514439635, "actions_sent": 320, "prediction": 19, "queue_remaining": 12}
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| 40 |
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{"event": "plan_adopted", "time_ns": 1789910318619151601, "actions_sent": 323, "prediction": 19, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 143.3875469956547, "blended_steps": 5}
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| 41 |
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{"event": "prediction_requested", "time_ns": 1789910319069182137, "actions_sent": 336, "prediction": 20, "queue_remaining": 12}
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| 42 |
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{"event": "plan_adopted", "time_ns": 1789910319173100367, "actions_sent": 339, "prediction": 20, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 131.15869401372038, "blended_steps": 5}
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| 43 |
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{"event": "prediction_requested", "time_ns": 1789910319644283180, "actions_sent": 353, "prediction": 21, "queue_remaining": 12}
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| 44 |
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{"event": "plan_adopted", "time_ns": 1789910319747340561, "actions_sent": 356, "prediction": 21, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 139.37114100554027, "blended_steps": 5}
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| 45 |
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{"event": "prediction_requested", "time_ns": 1789910320188189407, "actions_sent": 369, "prediction": 22, "queue_remaining": 12}
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| 46 |
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{"event": "plan_adopted", "time_ns": 1789910320294446761, "actions_sent": 372, "prediction": 22, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 117.41930601419881, "blended_steps": 5}
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| 47 |
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{"event": "prediction_requested", "time_ns": 1789910320772855045, "actions_sent": 386, "prediction": 23, "queue_remaining": 12}
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| 48 |
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{"event": "plan_adopted", "time_ns": 1789910320876760612, "actions_sent": 389, "prediction": 23, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 134.81023299391381, "blended_steps": 5}
|
| 49 |
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{"event": "prediction_requested", "time_ns": 1789910321317471254, "actions_sent": 402, "prediction": 24, "queue_remaining": 12}
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| 50 |
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{"event": "plan_adopted", "time_ns": 1789910321419936694, "actions_sent": 405, "prediction": 24, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 113.04231299436651, "blended_steps": 5}
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| 51 |
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{"event": "prediction_requested", "time_ns": 1789910321894489134, "actions_sent": 419, "prediction": 25, "queue_remaining": 12}
|
| 52 |
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{"event": "plan_adopted", "time_ns": 1789910321999477173, "actions_sent": 422, "prediction": 25, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.6474639843218, "blended_steps": 5}
|
| 53 |
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{"event": "prediction_requested", "time_ns": 1789910322475716539, "actions_sent": 436, "prediction": 26, "queue_remaining": 12}
|
| 54 |
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{"event": "plan_adopted", "time_ns": 1789910322578716880, "actions_sent": 439, "prediction": 26, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 103.65815297700465, "blended_steps": 5}
|
| 55 |
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{"event": "prediction_requested", "time_ns": 1789910323053042230, "actions_sent": 453, "prediction": 27, "queue_remaining": 12}
|
| 56 |
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{"event": "plan_adopted", "time_ns": 1789910323161330861, "actions_sent": 456, "prediction": 27, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.32831901847385, "blended_steps": 5}
|
| 57 |
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{"event": "prediction_requested", "time_ns": 1789910323639507166, "actions_sent": 470, "prediction": 28, "queue_remaining": 12}
|
| 58 |
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{"event": "plan_adopted", "time_ns": 1789910323744164049, "actions_sent": 473, "prediction": 28, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 135.73990503209643, "blended_steps": 5}
|
| 59 |
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{"event": "operator_stopped", "time_ns": 1789910323800847755, "actions_sent": 475, "result": "failure"}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/manifests/action.json
ADDED
|
@@ -0,0 +1,29 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 475,
|
| 5 |
+
"camera.base_0_rgb": 499,
|
| 6 |
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"camera.left_wrist_0_rgb": 501,
|
| 7 |
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"camera.right_wrist_0_rgb": 503,
|
| 8 |
+
"dropped": 0,
|
| 9 |
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"event.workflow": 1,
|
| 10 |
+
"items": 4091,
|
| 11 |
+
"robot.robot_state": 2112
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0006",
|
| 14 |
+
"executed_actions": 475,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
+
"round_number": 6,
|
| 19 |
+
"run_id": "20260920_211820_110813_round_0006",
|
| 20 |
+
"workflow": "openpi_rollout"
|
| 21 |
+
},
|
| 22 |
+
"policy_action_chunks": 0,
|
| 23 |
+
"record_id": "prometheus_action_recorder",
|
| 24 |
+
"record_mode": "action",
|
| 25 |
+
"schema": "prometheus_raw_episode_v1",
|
| 26 |
+
"status": "saved",
|
| 27 |
+
"updated_at_unix": 1789910323.9173577
|
| 28 |
+
}
|
| 29 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/manifests/camera.json
ADDED
|
@@ -0,0 +1,104 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"prometheus_camera_base_0_recorder": {
|
| 3 |
+
"camera_frames": {
|
| 4 |
+
"base_0_rgb": 499
|
| 5 |
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},
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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"camera.right_wrist_0_rgb": 503,
|
| 13 |
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"dropped": 0,
|
| 14 |
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"event.workflow": 1,
|
| 15 |
+
"items": 4091,
|
| 16 |
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"robot.robot_state": 2112
|
| 17 |
+
},
|
| 18 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0006",
|
| 21 |
+
"failure": "",
|
| 22 |
+
"metadata": {
|
| 23 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 24 |
+
"round_number": 6,
|
| 25 |
+
"run_id": "20260920_211820_110813_round_0006",
|
| 26 |
+
"workflow": "openpi_rollout"
|
| 27 |
+
},
|
| 28 |
+
"record_id": "prometheus_camera_base_0_recorder",
|
| 29 |
+
"record_mode": "sensor",
|
| 30 |
+
"schema": "prometheus_raw_episode_v1",
|
| 31 |
+
"sensor_kind": "camera",
|
| 32 |
+
"sensor_name": "base_0",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1789910323.9173577
|
| 35 |
+
},
|
| 36 |
+
"prometheus_camera_left_wrist_0_recorder": {
|
| 37 |
+
"camera_frames": {
|
| 38 |
+
"left_wrist_0_rgb": 501
|
| 39 |
+
},
|
| 40 |
+
"camera_timestamp_samples": 501,
|
| 41 |
+
"complete_sensor_bundles": 501,
|
| 42 |
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"counts": {
|
| 43 |
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"action.executed": 475,
|
| 44 |
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"camera.base_0_rgb": 499,
|
| 45 |
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"camera.left_wrist_0_rgb": 501,
|
| 46 |
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"camera.right_wrist_0_rgb": 503,
|
| 47 |
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"dropped": 0,
|
| 48 |
+
"event.workflow": 1,
|
| 49 |
+
"items": 4091,
|
| 50 |
+
"robot.robot_state": 2112
|
| 51 |
+
},
|
| 52 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 53 |
+
"duplicate_sensor_messages": 0,
|
| 54 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0006",
|
| 55 |
+
"failure": "",
|
| 56 |
+
"metadata": {
|
| 57 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 58 |
+
"round_number": 6,
|
| 59 |
+
"run_id": "20260920_211820_110813_round_0006",
|
| 60 |
+
"workflow": "openpi_rollout"
|
| 61 |
+
},
|
| 62 |
+
"record_id": "prometheus_camera_left_wrist_0_recorder",
|
| 63 |
+
"record_mode": "sensor",
|
| 64 |
+
"schema": "prometheus_raw_episode_v1",
|
| 65 |
+
"sensor_kind": "camera",
|
| 66 |
+
"sensor_name": "left_wrist_0",
|
| 67 |
+
"status": "saved",
|
| 68 |
+
"updated_at_unix": 1789910323.9173577
|
| 69 |
+
},
|
| 70 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 71 |
+
"camera_frames": {
|
| 72 |
+
"right_wrist_0_rgb": 503
|
| 73 |
+
},
|
| 74 |
+
"camera_timestamp_samples": 503,
|
| 75 |
+
"complete_sensor_bundles": 503,
|
| 76 |
+
"counts": {
|
| 77 |
+
"action.executed": 475,
|
| 78 |
+
"camera.base_0_rgb": 499,
|
| 79 |
+
"camera.left_wrist_0_rgb": 501,
|
| 80 |
+
"camera.right_wrist_0_rgb": 503,
|
| 81 |
+
"dropped": 0,
|
| 82 |
+
"event.workflow": 1,
|
| 83 |
+
"items": 4091,
|
| 84 |
+
"robot.robot_state": 2112
|
| 85 |
+
},
|
| 86 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 87 |
+
"duplicate_sensor_messages": 0,
|
| 88 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0006",
|
| 89 |
+
"failure": "",
|
| 90 |
+
"metadata": {
|
| 91 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 92 |
+
"round_number": 6,
|
| 93 |
+
"run_id": "20260920_211820_110813_round_0006",
|
| 94 |
+
"workflow": "openpi_rollout"
|
| 95 |
+
},
|
| 96 |
+
"record_id": "prometheus_camera_right_wrist_0_recorder",
|
| 97 |
+
"record_mode": "sensor",
|
| 98 |
+
"schema": "prometheus_raw_episode_v1",
|
| 99 |
+
"sensor_kind": "camera",
|
| 100 |
+
"sensor_name": "right_wrist_0",
|
| 101 |
+
"status": "saved",
|
| 102 |
+
"updated_at_unix": 1789910323.9173577
|
| 103 |
+
}
|
| 104 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/manifests/event.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 475,
|
| 5 |
+
"camera.base_0_rgb": 499,
|
| 6 |
+
"camera.left_wrist_0_rgb": 501,
|
| 7 |
+
"camera.right_wrist_0_rgb": 503,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 4091,
|
| 11 |
+
"robot.robot_state": 2112
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0006",
|
| 14 |
+
"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
+
"round_number": 6,
|
| 19 |
+
"run_id": "20260920_211820_110813_round_0006",
|
| 20 |
+
"workflow": "openpi_rollout"
|
| 21 |
+
},
|
| 22 |
+
"record_id": "prometheus_event_recorder",
|
| 23 |
+
"record_mode": "event",
|
| 24 |
+
"schema": "prometheus_raw_episode_v1",
|
| 25 |
+
"status": "saved",
|
| 26 |
+
"updated_at_unix": 1789910323.9173577
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/manifests/robot.json
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 475,
|
| 5 |
+
"camera.base_0_rgb": 499,
|
| 6 |
+
"camera.left_wrist_0_rgb": 501,
|
| 7 |
+
"camera.right_wrist_0_rgb": 503,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 4091,
|
| 11 |
+
"robot.robot_state": 2112
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0006",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 2112,
|
| 17 |
+
"right": 2112
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 21 |
+
"round_number": 6,
|
| 22 |
+
"run_id": "20260920_211820_110813_round_0006",
|
| 23 |
+
"workflow": "openpi_rollout"
|
| 24 |
+
},
|
| 25 |
+
"pending_robot_samples": 0,
|
| 26 |
+
"plot_outputs": [],
|
| 27 |
+
"record_id": "prometheus_robot_recorder",
|
| 28 |
+
"record_mode": "robot",
|
| 29 |
+
"robot_samples": {
|
| 30 |
+
"left": 2112,
|
| 31 |
+
"right": 2112
|
| 32 |
+
},
|
| 33 |
+
"schema": "prometheus_raw_episode_v1",
|
| 34 |
+
"status": "saved",
|
| 35 |
+
"updated_at_unix": 1789910323.9173577
|
| 36 |
+
}
|
| 37 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0006/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/camera/metadata.json
ADDED
|
@@ -0,0 +1,59 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base_0_rgb": {
|
| 3 |
+
"codec": "h264",
|
| 4 |
+
"container": "mp4",
|
| 5 |
+
"encoder": "libx264",
|
| 6 |
+
"encoding": "bgr8",
|
| 7 |
+
"frames": 632,
|
| 8 |
+
"height": 480,
|
| 9 |
+
"lossless": false,
|
| 10 |
+
"pixel_format": "yuv420p",
|
| 11 |
+
"quality": {
|
| 12 |
+
"mode": "crf",
|
| 13 |
+
"value": 14
|
| 14 |
+
},
|
| 15 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 16 |
+
"timestamps": "camera/timestamp.pkl::base_0",
|
| 17 |
+
"topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
|
| 18 |
+
"video": "camera/base_0_rgb.mp4",
|
| 19 |
+
"width": 640
|
| 20 |
+
},
|
| 21 |
+
"left_wrist_0_rgb": {
|
| 22 |
+
"codec": "h264",
|
| 23 |
+
"container": "mp4",
|
| 24 |
+
"encoder": "libx264",
|
| 25 |
+
"encoding": "bgr8",
|
| 26 |
+
"frames": 631,
|
| 27 |
+
"height": 480,
|
| 28 |
+
"lossless": false,
|
| 29 |
+
"pixel_format": "yuv420p",
|
| 30 |
+
"quality": {
|
| 31 |
+
"mode": "crf",
|
| 32 |
+
"value": 14
|
| 33 |
+
},
|
| 34 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 35 |
+
"timestamps": "camera/timestamp.pkl::left_wrist_0",
|
| 36 |
+
"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
|
| 37 |
+
"video": "camera/left_wrist_0_rgb.mp4",
|
| 38 |
+
"width": 640
|
| 39 |
+
},
|
| 40 |
+
"right_wrist_0_rgb": {
|
| 41 |
+
"codec": "h264",
|
| 42 |
+
"container": "mp4",
|
| 43 |
+
"encoder": "libx264",
|
| 44 |
+
"encoding": "bgr8",
|
| 45 |
+
"frames": 631,
|
| 46 |
+
"height": 480,
|
| 47 |
+
"lossless": false,
|
| 48 |
+
"pixel_format": "yuv420p",
|
| 49 |
+
"quality": {
|
| 50 |
+
"mode": "crf",
|
| 51 |
+
"value": 14
|
| 52 |
+
},
|
| 53 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 54 |
+
"timestamps": "camera/timestamp.pkl::right_wrist_0",
|
| 55 |
+
"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
|
| 56 |
+
"video": "camera/right_wrist_0_rgb.mp4",
|
| 57 |
+
"width": 640
|
| 58 |
+
}
|
| 59 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/camera/timestamp.pkl
ADDED
|
Binary file (15.2 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,75 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/event/event_dict.pkl
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Binary file (109 Bytes). View file
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|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/manifests/action.json
ADDED
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@@ -0,0 +1,28 @@
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{
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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|
| 19 |
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| 20 |
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| 23 |
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| 24 |
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| 25 |
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| 27 |
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}
|
| 28 |
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|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/manifests/camera.json
ADDED
|
@@ -0,0 +1,101 @@
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|
| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 10 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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"metadata": {
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| 23 |
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|
| 24 |
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"run_id": "20260920_211820_110813_round_0007",
|
| 25 |
+
"workflow": "openpi_rollout"
|
| 26 |
+
},
|
| 27 |
+
"record_id": "prometheus_camera_base_0_recorder",
|
| 28 |
+
"record_mode": "sensor",
|
| 29 |
+
"schema": "prometheus_raw_episode_v1",
|
| 30 |
+
"sensor_kind": "camera",
|
| 31 |
+
"sensor_name": "base_0",
|
| 32 |
+
"status": "saved",
|
| 33 |
+
"updated_at_unix": 1789910367.9216776
|
| 34 |
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},
|
| 35 |
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"prometheus_camera_left_wrist_0_recorder": {
|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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"items": 5026,
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0007",
|
| 54 |
+
"failure": "",
|
| 55 |
+
"metadata": {
|
| 56 |
+
"round_number": 7,
|
| 57 |
+
"run_id": "20260920_211820_110813_round_0007",
|
| 58 |
+
"workflow": "openpi_rollout"
|
| 59 |
+
},
|
| 60 |
+
"record_id": "prometheus_camera_left_wrist_0_recorder",
|
| 61 |
+
"record_mode": "sensor",
|
| 62 |
+
"schema": "prometheus_raw_episode_v1",
|
| 63 |
+
"sensor_kind": "camera",
|
| 64 |
+
"sensor_name": "left_wrist_0",
|
| 65 |
+
"status": "saved",
|
| 66 |
+
"updated_at_unix": 1789910367.9216776
|
| 67 |
+
},
|
| 68 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 69 |
+
"camera_frames": {
|
| 70 |
+
"right_wrist_0_rgb": 631
|
| 71 |
+
},
|
| 72 |
+
"camera_timestamp_samples": 631,
|
| 73 |
+
"complete_sensor_bundles": 631,
|
| 74 |
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"counts": {
|
| 75 |
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"action.executed": 604,
|
| 76 |
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"camera.base_0_rgb": 632,
|
| 77 |
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"camera.left_wrist_0_rgb": 631,
|
| 78 |
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"camera.right_wrist_0_rgb": 631,
|
| 79 |
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"dropped": 0,
|
| 80 |
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"event.workflow": 1,
|
| 81 |
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"items": 5026,
|
| 82 |
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"robot.robot_state": 2527
|
| 83 |
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},
|
| 84 |
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"dropped_incomplete_sensor_bundles": 0,
|
| 85 |
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"duplicate_sensor_messages": 0,
|
| 86 |
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"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0007",
|
| 87 |
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"failure": "",
|
| 88 |
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"metadata": {
|
| 89 |
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"round_number": 7,
|
| 90 |
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"run_id": "20260920_211820_110813_round_0007",
|
| 91 |
+
"workflow": "openpi_rollout"
|
| 92 |
+
},
|
| 93 |
+
"record_id": "prometheus_camera_right_wrist_0_recorder",
|
| 94 |
+
"record_mode": "sensor",
|
| 95 |
+
"schema": "prometheus_raw_episode_v1",
|
| 96 |
+
"sensor_kind": "camera",
|
| 97 |
+
"sensor_name": "right_wrist_0",
|
| 98 |
+
"status": "saved",
|
| 99 |
+
"updated_at_unix": 1789910367.9216776
|
| 100 |
+
}
|
| 101 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/manifests/event.json
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
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"action.executed": 604,
|
| 5 |
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"camera.base_0_rgb": 632,
|
| 6 |
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"camera.left_wrist_0_rgb": 631,
|
| 7 |
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"camera.right_wrist_0_rgb": 631,
|
| 8 |
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"dropped": 0,
|
| 9 |
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"event.workflow": 1,
|
| 10 |
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"items": 5026,
|
| 11 |
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"robot.robot_state": 2527
|
| 12 |
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},
|
| 13 |
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"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0007",
|
| 14 |
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"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
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"metadata": {
|
| 17 |
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"round_number": 7,
|
| 18 |
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"run_id": "20260920_211820_110813_round_0007",
|
| 19 |
+
"workflow": "openpi_rollout"
|
| 20 |
+
},
|
| 21 |
+
"record_id": "prometheus_event_recorder",
|
| 22 |
+
"record_mode": "event",
|
| 23 |
+
"schema": "prometheus_raw_episode_v1",
|
| 24 |
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"status": "saved",
|
| 25 |
+
"updated_at_unix": 1789910367.9216776
|
| 26 |
+
}
|
| 27 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
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"action.executed": 604,
|
| 5 |
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"camera.base_0_rgb": 632,
|
| 6 |
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"camera.left_wrist_0_rgb": 631,
|
| 7 |
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"camera.right_wrist_0_rgb": 631,
|
| 8 |
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"dropped": 0,
|
| 9 |
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|
| 10 |
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"items": 5026,
|
| 11 |
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|
| 12 |
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},
|
| 13 |
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"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0007",
|
| 14 |
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"failure": "",
|
| 15 |
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"incomplete_robot_samples": {
|
| 16 |
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"left": 2527,
|
| 17 |
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"right": 2527
|
| 18 |
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},
|
| 19 |
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"metadata": {
|
| 20 |
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"round_number": 7,
|
| 21 |
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"run_id": "20260920_211820_110813_round_0007",
|
| 22 |
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"workflow": "openpi_rollout"
|
| 23 |
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},
|
| 24 |
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"pending_robot_samples": 0,
|
| 25 |
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"plot_outputs": [],
|
| 26 |
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"record_id": "prometheus_robot_recorder",
|
| 27 |
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"record_mode": "robot",
|
| 28 |
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"robot_samples": {
|
| 29 |
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"left": 2527,
|
| 30 |
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"right": 2527
|
| 31 |
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},
|
| 32 |
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"schema": "prometheus_raw_episode_v1",
|
| 33 |
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"status": "saved",
|
| 34 |
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"updated_at_unix": 1789910367.9216776
|
| 35 |
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}
|
| 36 |
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}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0007/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/action/executed_action_dict.pkl
ADDED
|
Binary file (62.7 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/camera/metadata.json
ADDED
|
@@ -0,0 +1,59 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base_0_rgb": {
|
| 3 |
+
"codec": "h264",
|
| 4 |
+
"container": "mp4",
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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"mode": "crf",
|
| 13 |
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"value": 14
|
| 14 |
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},
|
| 15 |
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 16 |
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"timestamps": "camera/timestamp.pkl::base_0",
|
| 17 |
+
"topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
|
| 18 |
+
"video": "camera/base_0_rgb.mp4",
|
| 19 |
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"width": 640
|
| 20 |
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},
|
| 21 |
+
"left_wrist_0_rgb": {
|
| 22 |
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"codec": "h264",
|
| 23 |
+
"container": "mp4",
|
| 24 |
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"encoder": "libx264",
|
| 25 |
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"encoding": "bgr8",
|
| 26 |
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"frames": 396,
|
| 27 |
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"height": 480,
|
| 28 |
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|
| 29 |
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"pixel_format": "yuv420p",
|
| 30 |
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"quality": {
|
| 31 |
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"mode": "crf",
|
| 32 |
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"value": 14
|
| 33 |
+
},
|
| 34 |
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 35 |
+
"timestamps": "camera/timestamp.pkl::left_wrist_0",
|
| 36 |
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"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
|
| 37 |
+
"video": "camera/left_wrist_0_rgb.mp4",
|
| 38 |
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"width": 640
|
| 39 |
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},
|
| 40 |
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"right_wrist_0_rgb": {
|
| 41 |
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"codec": "h264",
|
| 42 |
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"container": "mp4",
|
| 43 |
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"encoder": "libx264",
|
| 44 |
+
"encoding": "bgr8",
|
| 45 |
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"frames": 396,
|
| 46 |
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"height": 480,
|
| 47 |
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"lossless": false,
|
| 48 |
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"pixel_format": "yuv420p",
|
| 49 |
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"quality": {
|
| 50 |
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"mode": "crf",
|
| 51 |
+
"value": 14
|
| 52 |
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},
|
| 53 |
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 54 |
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"timestamps": "camera/timestamp.pkl::right_wrist_0",
|
| 55 |
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"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
|
| 56 |
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"video": "camera/right_wrist_0_rgb.mp4",
|
| 57 |
+
"width": 640
|
| 58 |
+
}
|
| 59 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/camera/timestamp.pkl
ADDED
|
Binary file (9.58 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"event": "prediction_requested", "time_ns": 1789910402708286592, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
|
| 2 |
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{"event": "plan_adopted", "time_ns": 1789910402831142778, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 99.29079600260593, "blended_steps": 0}
|
| 3 |
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{"event": "prediction_requested", "time_ns": 1789910403441420436, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
|
| 4 |
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{"event": "plan_adopted", "time_ns": 1789910403550631607, "actions_sent": 21, "prediction": 1, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 121.01947699557059, "blended_steps": 5}
|
| 5 |
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{"event": "prediction_requested", "time_ns": 1789910404025624597, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
|
| 6 |
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{"event": "plan_adopted", "time_ns": 1789910404100136707, "actions_sent": 37, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 101.4726139837876, "blended_steps": 5}
|
| 7 |
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{"event": "prediction_requested", "time_ns": 1789910404575004093, "actions_sent": 51, "prediction": 3, "queue_remaining": 12}
|
| 8 |
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{"event": "plan_adopted", "time_ns": 1789910404681603479, "actions_sent": 54, "prediction": 3, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 116.32385902339593, "blended_steps": 5}
|
| 9 |
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{"event": "prediction_requested", "time_ns": 1789910405152155912, "actions_sent": 68, "prediction": 4, "queue_remaining": 12}
|
| 10 |
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{"event": "plan_adopted", "time_ns": 1789910405256095826, "actions_sent": 71, "prediction": 4, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.8467239937745, "blended_steps": 5}
|
| 11 |
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{"event": "prediction_requested", "time_ns": 1789910405744061219, "actions_sent": 85, "prediction": 5, "queue_remaining": 12}
|
| 12 |
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{"event": "plan_adopted", "time_ns": 1789910405848866087, "actions_sent": 88, "prediction": 5, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.42463503126055, "blended_steps": 5}
|
| 13 |
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{"event": "prediction_requested", "time_ns": 1789910406331191679, "actions_sent": 102, "prediction": 6, "queue_remaining": 12}
|
| 14 |
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{"event": "plan_adopted", "time_ns": 1789910406407300669, "actions_sent": 104, "prediction": 6, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 106.88033400219865, "blended_steps": 5}
|
| 15 |
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{"event": "prediction_requested", "time_ns": 1789910406882648994, "actions_sent": 118, "prediction": 7, "queue_remaining": 12}
|
| 16 |
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{"event": "plan_adopted", "time_ns": 1789910406986370517, "actions_sent": 121, "prediction": 7, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 123.92362300306559, "blended_steps": 5}
|
| 17 |
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{"event": "prediction_requested", "time_ns": 1789910407463479639, "actions_sent": 135, "prediction": 8, "queue_remaining": 12}
|
| 18 |
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{"event": "plan_adopted", "time_ns": 1789910407538126569, "actions_sent": 137, "prediction": 8, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 106.36631998931989, "blended_steps": 5}
|
| 19 |
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{"event": "prediction_requested", "time_ns": 1789910408015735203, "actions_sent": 151, "prediction": 9, "queue_remaining": 12}
|
| 20 |
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{"event": "plan_adopted", "time_ns": 1789910408086836238, "actions_sent": 153, "prediction": 9, "queue_remaining": 27, "skipped_prefix": 3, "observation_age_ms": 91.91414501401596, "blended_steps": 5}
|
| 21 |
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{"event": "prediction_requested", "time_ns": 1789910408594416191, "actions_sent": 168, "prediction": 10, "queue_remaining": 12}
|
| 22 |
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{"event": "plan_adopted", "time_ns": 1789910408698097557, "actions_sent": 171, "prediction": 10, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 134.31854400550947, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789910409134791724, "actions_sent": 184, "prediction": 11, "queue_remaining": 12}
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| 24 |
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{"event": "plan_adopted", "time_ns": 1789910409236303392, "actions_sent": 187, "prediction": 11, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 141.32996898842975, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789910409672338430, "actions_sent": 200, "prediction": 12, "queue_remaining": 12}
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| 26 |
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{"event": "prediction_requested", "time_ns": 1789910410213710266, "actions_sent": 216, "prediction": 13, "queue_remaining": 12}
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{"event": "plan_adopted", "time_ns": 1789910410317726608, "actions_sent": 219, "prediction": 13, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 120.49011397175491, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789910410799868735, "actions_sent": 233, "prediction": 14, "queue_remaining": 12}
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| 30 |
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| 32 |
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| 33 |
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{"event": "prediction_requested", "time_ns": 1789910411931750566, "actions_sent": 266, "prediction": 16, "queue_remaining": 12}
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{"event": "plan_adopted", "time_ns": 1789910412040482290, "actions_sent": 269, "prediction": 16, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 137.76485100970604, "blended_steps": 5}
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| 35 |
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{"event": "prediction_requested", "time_ns": 1789910412482478254, "actions_sent": 282, "prediction": 17, "queue_remaining": 12}
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| 36 |
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{"event": "plan_adopted", "time_ns": 1789910412552173014, "actions_sent": 284, "prediction": 17, "queue_remaining": 27, "skipped_prefix": 3, "observation_age_ms": 90.27740597957745, "blended_steps": 5}
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| 37 |
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{"event": "prediction_requested", "time_ns": 1789910413067705046, "actions_sent": 299, "prediction": 18, "queue_remaining": 12}
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| 38 |
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{"event": "plan_adopted", "time_ns": 1789910413172630923, "actions_sent": 302, "prediction": 18, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.05218501552008, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789910413611835610, "actions_sent": 315, "prediction": 19, "queue_remaining": 12}
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| 40 |
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{"event": "plan_adopted", "time_ns": 1789910413716207327, "actions_sent": 318, "prediction": 19, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.16663900390267, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789910414188774242, "actions_sent": 332, "prediction": 20, "queue_remaining": 12}
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| 42 |
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{"event": "plan_adopted", "time_ns": 1789910414295141901, "actions_sent": 335, "prediction": 20, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.8335519968532, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789910415361660672, "actions_sent": 366, "prediction": 22, "queue_remaining": 12}
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| 47 |
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{"event": "operator_stopped", "time_ns": 1789910415703287355, "actions_sent": 376, "result": "failure"}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/manifests/action.json
ADDED
|
@@ -0,0 +1,28 @@
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|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
| 1 |
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{
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| 3 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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|
| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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|
| 26 |
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| 27 |
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}
|
| 28 |
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|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/manifests/camera.json
ADDED
|
@@ -0,0 +1,101 @@
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|
|
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|
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|
|
|
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|
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|
|
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|
|
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|
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|
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|
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 17 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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|
| 24 |
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| 25 |
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| 26 |
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},
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 62 |
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| 63 |
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| 65 |
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| 71 |
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},
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 100 |
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| 101 |
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|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/manifests/event.json
ADDED
|
@@ -0,0 +1,27 @@
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|
|
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|
| 1 |
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{
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},
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}
|
| 27 |
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|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
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|
| 1 |
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{
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| 14 |
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| 17 |
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| 19 |
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| 20 |
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| 22 |
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| 23 |
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| 25 |
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| 28 |
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|
| 29 |
+
"left": 1586,
|
| 30 |
+
"right": 1586
|
| 31 |
+
},
|
| 32 |
+
"schema": "prometheus_raw_episode_v1",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1789910415.8085032
|
| 35 |
+
}
|
| 36 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0008/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/action/executed_action_dict.pkl
ADDED
|
Binary file (95.6 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/camera/metadata.json
ADDED
|
@@ -0,0 +1,59 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base_0_rgb": {
|
| 3 |
+
"codec": "h264",
|
| 4 |
+
"container": "mp4",
|
| 5 |
+
"encoder": "libx264",
|
| 6 |
+
"encoding": "bgr8",
|
| 7 |
+
"frames": 598,
|
| 8 |
+
"height": 480,
|
| 9 |
+
"lossless": false,
|
| 10 |
+
"pixel_format": "yuv420p",
|
| 11 |
+
"quality": {
|
| 12 |
+
"mode": "crf",
|
| 13 |
+
"value": 14
|
| 14 |
+
},
|
| 15 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 16 |
+
"timestamps": "camera/timestamp.pkl::base_0",
|
| 17 |
+
"topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
|
| 18 |
+
"video": "camera/base_0_rgb.mp4",
|
| 19 |
+
"width": 640
|
| 20 |
+
},
|
| 21 |
+
"left_wrist_0_rgb": {
|
| 22 |
+
"codec": "h264",
|
| 23 |
+
"container": "mp4",
|
| 24 |
+
"encoder": "libx264",
|
| 25 |
+
"encoding": "bgr8",
|
| 26 |
+
"frames": 600,
|
| 27 |
+
"height": 480,
|
| 28 |
+
"lossless": false,
|
| 29 |
+
"pixel_format": "yuv420p",
|
| 30 |
+
"quality": {
|
| 31 |
+
"mode": "crf",
|
| 32 |
+
"value": 14
|
| 33 |
+
},
|
| 34 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 35 |
+
"timestamps": "camera/timestamp.pkl::left_wrist_0",
|
| 36 |
+
"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
|
| 37 |
+
"video": "camera/left_wrist_0_rgb.mp4",
|
| 38 |
+
"width": 640
|
| 39 |
+
},
|
| 40 |
+
"right_wrist_0_rgb": {
|
| 41 |
+
"codec": "h264",
|
| 42 |
+
"container": "mp4",
|
| 43 |
+
"encoder": "libx264",
|
| 44 |
+
"encoding": "bgr8",
|
| 45 |
+
"frames": 601,
|
| 46 |
+
"height": 480,
|
| 47 |
+
"lossless": false,
|
| 48 |
+
"pixel_format": "yuv420p",
|
| 49 |
+
"quality": {
|
| 50 |
+
"mode": "crf",
|
| 51 |
+
"value": 14
|
| 52 |
+
},
|
| 53 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 54 |
+
"timestamps": "camera/timestamp.pkl::right_wrist_0",
|
| 55 |
+
"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
|
| 56 |
+
"video": "camera/right_wrist_0_rgb.mp4",
|
| 57 |
+
"width": 640
|
| 58 |
+
}
|
| 59 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/camera/timestamp.pkl
ADDED
|
Binary file (14.5 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/manifests/camera.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_camera_base_0_recorder": {
|
| 3 |
+
"camera_frames": {
|
| 4 |
+
"base_0_rgb": 598
|
| 5 |
+
},
|
| 6 |
+
"camera_timestamp_samples": 598,
|
| 7 |
+
"complete_sensor_bundles": 598,
|
| 8 |
+
"counts": {
|
| 9 |
+
"action.executed": 574,
|
| 10 |
+
"camera.base_0_rgb": 598,
|
| 11 |
+
"camera.left_wrist_0_rgb": 600,
|
| 12 |
+
"camera.right_wrist_0_rgb": 601,
|
| 13 |
+
"dropped": 0,
|
| 14 |
+
"event.workflow": 1,
|
| 15 |
+
"items": 4882,
|
| 16 |
+
"robot.robot_state": 2508
|
| 17 |
+
},
|
| 18 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0011",
|
| 21 |
+
"failure": "",
|
| 22 |
+
"metadata": {
|
| 23 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 24 |
+
"round_number": 11,
|
| 25 |
+
"run_id": "20260920_212411_115893_round_0011",
|
| 26 |
+
"workflow": "openpi_rollout"
|
| 27 |
+
},
|
| 28 |
+
"record_id": "prometheus_camera_base_0_recorder",
|
| 29 |
+
"record_mode": "sensor",
|
| 30 |
+
"schema": "prometheus_raw_episode_v1",
|
| 31 |
+
"sensor_kind": "camera",
|
| 32 |
+
"sensor_name": "base_0",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1789910678.2569964
|
| 35 |
+
},
|
| 36 |
+
"prometheus_camera_left_wrist_0_recorder": {
|
| 37 |
+
"camera_frames": {
|
| 38 |
+
"left_wrist_0_rgb": 600
|
| 39 |
+
},
|
| 40 |
+
"camera_timestamp_samples": 600,
|
| 41 |
+
"complete_sensor_bundles": 600,
|
| 42 |
+
"counts": {
|
| 43 |
+
"action.executed": 574,
|
| 44 |
+
"camera.base_0_rgb": 598,
|
| 45 |
+
"camera.left_wrist_0_rgb": 600,
|
| 46 |
+
"camera.right_wrist_0_rgb": 601,
|
| 47 |
+
"dropped": 0,
|
| 48 |
+
"event.workflow": 1,
|
| 49 |
+
"items": 4882,
|
| 50 |
+
"robot.robot_state": 2508
|
| 51 |
+
},
|
| 52 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 53 |
+
"duplicate_sensor_messages": 0,
|
| 54 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0011",
|
| 55 |
+
"failure": "",
|
| 56 |
+
"metadata": {
|
| 57 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 58 |
+
"round_number": 11,
|
| 59 |
+
"run_id": "20260920_212411_115893_round_0011",
|
| 60 |
+
"workflow": "openpi_rollout"
|
| 61 |
+
},
|
| 62 |
+
"record_id": "prometheus_camera_left_wrist_0_recorder",
|
| 63 |
+
"record_mode": "sensor",
|
| 64 |
+
"schema": "prometheus_raw_episode_v1",
|
| 65 |
+
"sensor_kind": "camera",
|
| 66 |
+
"sensor_name": "left_wrist_0",
|
| 67 |
+
"status": "saved",
|
| 68 |
+
"updated_at_unix": 1789910678.2569964
|
| 69 |
+
},
|
| 70 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 71 |
+
"camera_frames": {
|
| 72 |
+
"right_wrist_0_rgb": 601
|
| 73 |
+
},
|
| 74 |
+
"camera_timestamp_samples": 601,
|
| 75 |
+
"complete_sensor_bundles": 601,
|
| 76 |
+
"counts": {
|
| 77 |
+
"action.executed": 574,
|
| 78 |
+
"camera.base_0_rgb": 598,
|
| 79 |
+
"camera.left_wrist_0_rgb": 600,
|
| 80 |
+
"camera.right_wrist_0_rgb": 601,
|
| 81 |
+
"dropped": 0,
|
| 82 |
+
"event.workflow": 1,
|
| 83 |
+
"items": 4882,
|
| 84 |
+
"robot.robot_state": 2508
|
| 85 |
+
},
|
| 86 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 87 |
+
"duplicate_sensor_messages": 0,
|
| 88 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0011",
|
| 89 |
+
"failure": "",
|
| 90 |
+
"metadata": {
|
| 91 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 92 |
+
"round_number": 11,
|
| 93 |
+
"run_id": "20260920_212411_115893_round_0011",
|
| 94 |
+
"workflow": "openpi_rollout"
|
| 95 |
+
},
|
| 96 |
+
"record_id": "prometheus_camera_right_wrist_0_recorder",
|
| 97 |
+
"record_mode": "sensor",
|
| 98 |
+
"schema": "prometheus_raw_episode_v1",
|
| 99 |
+
"sensor_kind": "camera",
|
| 100 |
+
"sensor_name": "right_wrist_0",
|
| 101 |
+
"status": "saved",
|
| 102 |
+
"updated_at_unix": 1789910678.2569964
|
| 103 |
+
}
|
| 104 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/manifests/robot.json
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 574,
|
| 5 |
+
"camera.base_0_rgb": 598,
|
| 6 |
+
"camera.left_wrist_0_rgb": 600,
|
| 7 |
+
"camera.right_wrist_0_rgb": 601,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 4882,
|
| 11 |
+
"robot.robot_state": 2508
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0011",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 2508,
|
| 17 |
+
"right": 2508
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 21 |
+
"round_number": 11,
|
| 22 |
+
"run_id": "20260920_212411_115893_round_0011",
|
| 23 |
+
"workflow": "openpi_rollout"
|
| 24 |
+
},
|
| 25 |
+
"pending_robot_samples": 0,
|
| 26 |
+
"plot_outputs": [],
|
| 27 |
+
"record_id": "prometheus_robot_recorder",
|
| 28 |
+
"record_mode": "robot",
|
| 29 |
+
"robot_samples": {
|
| 30 |
+
"left": 2508,
|
| 31 |
+
"right": 2508
|
| 32 |
+
},
|
| 33 |
+
"schema": "prometheus_raw_episode_v1",
|
| 34 |
+
"status": "saved",
|
| 35 |
+
"updated_at_unix": 1789910678.2569964
|
| 36 |
+
}
|
| 37 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|