Add files using upload-large-folder tool
Browse files- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/camera/metadata.json +59 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/camera/timestamp.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/debug/actions.jsonl +0 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/debug/async_events.jsonl +86 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/event/event_dict.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/manifests/action.json +29 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/manifests/camera.json +104 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/manifests/event.json +28 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/manifests/robot.json +37 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/manifests/tactile.json +1 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/workflow_manifest.json +612 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0002/workflow_manifest.json +613 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0003/workflow_manifest.json +613 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0004/workflow_manifest.json +1508 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/camera/metadata.json +59 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/camera/timestamp.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/debug/actions.jsonl +0 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/debug/async_events.jsonl +75 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/event/event_dict.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/manifests/action.json +29 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/manifests/camera.json +104 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/manifests/event.json +28 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/manifests/robot.json +37 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/manifests/tactile.json +1 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/workflow_manifest.json +612 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0006/workflow_manifest.json +613 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0007/workflow_manifest.json +613 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0008/workflow_manifest.json +613 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0010/workflow_manifest.json +612 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0011/workflow_manifest.json +613 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/camera/metadata.json +59 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/camera/timestamp.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/debug/actions.jsonl +0 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/debug/async_events.jsonl +81 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/event/event_dict.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/manifests/action.json +28 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/manifests/camera.json +101 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/manifests/event.json +27 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/manifests/robot.json +36 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/manifests/tactile.json +1 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/workflow_manifest.json +613 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0013/workflow_manifest.json +613 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0014/camera/metadata.json +59 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0014/camera/timestamp.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0014/event/event_dict.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0014/manifests/camera.json +101 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0014/manifests/robot.json +36 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0014/manifests/tactile.json +1 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0014/workflow_manifest.json +614 -0
- eval/YAM/V2/pi0.5_2500/catch_and_place/metadata/rounds.json +182 -0
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/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": 728,
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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::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": 729,
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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": 731,
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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/V2/pi0.5_2500/catch_and_place/data/round_0001/camera/timestamp.pkl
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Binary file (17.6 kB). View file
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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/debug/actions.jsonl
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The diff for this file is too large to render.
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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/debug/async_events.jsonl
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Binary file (109 Bytes). View file
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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/manifests/action.json
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@@ -0,0 +1,29 @@
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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/manifests/camera.json
ADDED
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@@ -0,0 +1,104 @@
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|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/manifests/event.json
ADDED
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@@ -0,0 +1,28 @@
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"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data/round_0001",
|
| 14 |
+
"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
+
"round_number": 1,
|
| 19 |
+
"run_id": "20260917_224728_382215_round_0001",
|
| 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": 1789656479.7555537
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/manifests/robot.json
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 698,
|
| 5 |
+
"camera.base_0_rgb": 728,
|
| 6 |
+
"camera.left_wrist_0_rgb": 729,
|
| 7 |
+
"camera.right_wrist_0_rgb": 731,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 5915,
|
| 11 |
+
"robot.robot_state": 3028
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data/round_0001",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 3028,
|
| 17 |
+
"right": 3028
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 21 |
+
"round_number": 1,
|
| 22 |
+
"run_id": "20260917_224728_382215_round_0001",
|
| 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": 3028,
|
| 31 |
+
"right": 3028
|
| 32 |
+
},
|
| 33 |
+
"schema": "prometheus_raw_episode_v1",
|
| 34 |
+
"status": "saved",
|
| 35 |
+
"updated_at_unix": 1789656479.7555537
|
| 36 |
+
}
|
| 37 |
+
}
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0001/workflow_manifest.json
ADDED
|
@@ -0,0 +1,612 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
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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 |
+
{
|
| 2 |
+
"acceleration_limits": [
|
| 3 |
+
118.7426430016755,
|
| 4 |
+
165.012131490699,
|
| 5 |
+
134.04180689399348,
|
| 6 |
+
274.86399842805685,
|
| 7 |
+
195.25766555964873,
|
| 8 |
+
454.5340796113012,
|
| 9 |
+
109.40927818565227,
|
| 10 |
+
178.49339036295515,
|
| 11 |
+
476.6444930964641,
|
| 12 |
+
557.9080874526715,
|
| 13 |
+
587.1810202100611,
|
| 14 |
+
362.1711802492357,
|
| 15 |
+
208.8803265352197,
|
| 16 |
+
208.9010343469399
|
| 17 |
+
],
|
| 18 |
+
"actions_sent": 698,
|
| 19 |
+
"async_execution": {
|
| 20 |
+
"blend_steps": 5,
|
| 21 |
+
"chunk_counter_meaning": "completed groups of 30 acknowledged targets",
|
| 22 |
+
"expired_prefix_actions": 182,
|
| 23 |
+
"mode": "async_overlap",
|
| 24 |
+
"plans_adopted": 42,
|
| 25 |
+
"prediction_horizon": 30,
|
| 26 |
+
"predictions_requested": 43,
|
| 27 |
+
"prefetch_steps": 12,
|
| 28 |
+
"queue_underruns": 0,
|
| 29 |
+
"target_budget": 1200
|
| 30 |
+
},
|
| 31 |
+
"chunks": 23,
|
| 32 |
+
"command_velocity_limits": [
|
| 33 |
+
7.326937734087213,
|
| 34 |
+
7.492612143357643,
|
| 35 |
+
9.039960411055707,
|
| 36 |
+
10.989442599937178,
|
| 37 |
+
11.822247140410347,
|
| 38 |
+
21.729793477053846,
|
| 39 |
+
4.549583926449072,
|
| 40 |
+
9.542591565847905,
|
| 41 |
+
16.49783855493206,
|
| 42 |
+
19.18122166486826,
|
| 43 |
+
20.271305218109156,
|
| 44 |
+
13.274309575261345,
|
| 45 |
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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0002/workflow_manifest.json
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@@ -0,0 +1,613 @@
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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0003/workflow_manifest.json
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@@ -0,0 +1,613 @@
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| 1 |
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| 53 |
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| 54 |
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| 127 |
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| 142 |
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| 155 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 181 |
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| 184 |
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| 188 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 195 |
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| 202 |
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|
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|
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| 209 |
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| 210 |
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| 211 |
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| 212 |
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| 213 |
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|
| 1 |
+
{
|
| 2 |
+
"acceleration_limits": [
|
| 3 |
+
118.7426430016755,
|
| 4 |
+
165.012131490699,
|
| 5 |
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134.04180689399348,
|
| 6 |
+
274.86399842805685,
|
| 7 |
+
195.25766555964873,
|
| 8 |
+
454.5340796113012,
|
| 9 |
+
109.40927818565227,
|
| 10 |
+
178.49339036295515,
|
| 11 |
+
476.6444930964641,
|
| 12 |
+
557.9080874526715,
|
| 13 |
+
587.1810202100611,
|
| 14 |
+
362.1711802492357,
|
| 15 |
+
208.8803265352197,
|
| 16 |
+
208.9010343469399
|
| 17 |
+
],
|
| 18 |
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|
| 19 |
+
"async_execution": {
|
| 20 |
+
"blend_steps": 5,
|
| 21 |
+
"chunk_counter_meaning": "completed groups of 30 acknowledged targets",
|
| 22 |
+
"expired_prefix_actions": 45,
|
| 23 |
+
"mode": "async_overlap",
|
| 24 |
+
"plans_adopted": 11,
|
| 25 |
+
"prediction_horizon": 30,
|
| 26 |
+
"predictions_requested": 12,
|
| 27 |
+
"prefetch_steps": 12,
|
| 28 |
+
"queue_underruns": 0,
|
| 29 |
+
"target_budget": 1200
|
| 30 |
+
},
|
| 31 |
+
"awaiting_failure_shutdown": false,
|
| 32 |
+
"chunks": 6,
|
| 33 |
+
"cleanup_errors": [],
|
| 34 |
+
"command_velocity_limits": [
|
| 35 |
+
7.326937734087213,
|
| 36 |
+
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|
| 37 |
+
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|
| 38 |
+
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|
| 39 |
+
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|
| 40 |
+
21.729793477053846,
|
| 41 |
+
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|
| 42 |
+
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|
| 43 |
+
16.49783855493206,
|
| 44 |
+
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|
| 45 |
+
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|
| 46 |
+
13.274309575261345,
|
| 47 |
+
14.009155302643812,
|
| 48 |
+
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|
| 49 |
+
],
|
| 50 |
+
"config": {
|
| 51 |
+
"async_inference": {
|
| 52 |
+
"blend_steps": 5,
|
| 53 |
+
"enabled": true,
|
| 54 |
+
"prefetch_steps": 12
|
| 55 |
+
},
|
| 56 |
+
"data": {
|
| 57 |
+
"bridge": {
|
| 58 |
+
"enabled": true,
|
| 59 |
+
"name": "openpi_observe_20260917_224728_382215",
|
| 60 |
+
"qos_depth": 10,
|
| 61 |
+
"sensor_qos": "reliable",
|
| 62 |
+
"stamp_source": "header",
|
| 63 |
+
"wait_all_streams": true
|
| 64 |
+
},
|
| 65 |
+
"history": 64,
|
| 66 |
+
"mode": "owned",
|
| 67 |
+
"name": "openpi_data",
|
| 68 |
+
"numpy": {
|
| 69 |
+
"enabled": true
|
| 70 |
+
},
|
| 71 |
+
"recording": {
|
| 72 |
+
"camera_encoder": "libx264",
|
| 73 |
+
"default_event_value": null,
|
| 74 |
+
"enable_plots": false,
|
| 75 |
+
"enabled": true,
|
| 76 |
+
"fps": 30.0,
|
| 77 |
+
"output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data",
|
| 78 |
+
"queue_size": 4096
|
| 79 |
+
},
|
| 80 |
+
"streams": {
|
| 81 |
+
"base_0_color": {
|
| 82 |
+
"domain": "sensor",
|
| 83 |
+
"msg_type": "sensor_msgs.msg.Image",
|
| 84 |
+
"ros_domain_id": 22,
|
| 85 |
+
"topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
|
| 86 |
+
},
|
| 87 |
+
"left_wrist_0_color": {
|
| 88 |
+
"domain": "sensor",
|
| 89 |
+
"msg_type": "sensor_msgs.msg.Image",
|
| 90 |
+
"ros_domain_id": 22,
|
| 91 |
+
"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
|
| 92 |
+
},
|
| 93 |
+
"right_wrist_0_color": {
|
| 94 |
+
"domain": "sensor",
|
| 95 |
+
"msg_type": "sensor_msgs.msg.Image",
|
| 96 |
+
"ros_domain_id": 22,
|
| 97 |
+
"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw"
|
| 98 |
+
},
|
| 99 |
+
"robot_state": {
|
| 100 |
+
"domain": "robot",
|
| 101 |
+
"msg_type": "sensor_msgs.msg.JointState",
|
| 102 |
+
"ros_domain_id": 21,
|
| 103 |
+
"topic": "/prometheus/robots/yam/state"
|
| 104 |
+
}
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
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"execute": true,
|
| 108 |
+
"execution": {
|
| 109 |
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|
| 110 |
+
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|
| 111 |
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"hold_settle_timeout_s": 5.0,
|
| 112 |
+
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|
| 113 |
+
"max_schedule_lateness_s": 0.105
|
| 114 |
+
},
|
| 115 |
+
"hardware": {
|
| 116 |
+
"mode": "owned",
|
| 117 |
+
"name": "openpi_hardware",
|
| 118 |
+
"sensors": "auto",
|
| 119 |
+
"streams": "auto"
|
| 120 |
+
},
|
| 121 |
+
"policy": {
|
| 122 |
+
"action_hz": 30.0,
|
| 123 |
+
"connect_timeout_s": 10.0,
|
| 124 |
+
"host": "127.0.0.1",
|
| 125 |
+
"max_observation_age_s": 0.5,
|
| 126 |
+
"observation_wait_timeout_s": 1.0,
|
| 127 |
+
"port": 8000,
|
| 128 |
+
"prompt": "Use the right arm to pick up the spatula, hand it over to the left arm, and place it in the frying pan.",
|
| 129 |
+
"response_timeout_s": 120.0,
|
| 130 |
+
"slop_ms": 20.0
|
| 131 |
+
},
|
| 132 |
+
"preview": {
|
| 133 |
+
"enabled": true,
|
| 134 |
+
"fps": 20.0,
|
| 135 |
+
"height": 720,
|
| 136 |
+
"host": "127.0.0.1",
|
| 137 |
+
"mode": "local",
|
| 138 |
+
"port": 7860,
|
| 139 |
+
"refresh_ms": 100,
|
| 140 |
+
"stale_timeout_s": 1.0,
|
| 141 |
+
"ui_mode": "openpi",
|
| 142 |
+
"width": 1280,
|
| 143 |
+
"window": "Pi0.5 - Async execution"
|
| 144 |
+
},
|
| 145 |
+
"robot": {
|
| 146 |
+
"_target_": "prometheus.nodes.robots.yam.resolve_robot",
|
| 147 |
+
"cameras": {
|
| 148 |
+
"camera_info": false,
|
| 149 |
+
"capture_height": 480,
|
| 150 |
+
"capture_hz": 30,
|
| 151 |
+
"capture_width": 640,
|
| 152 |
+
"collect_ir": false,
|
| 153 |
+
"ir": false,
|
| 154 |
+
"prepub_resize": 1.0,
|
| 155 |
+
"publish_hz": 30,
|
| 156 |
+
"qos": "reliable",
|
| 157 |
+
"serial_no": {
|
| 158 |
+
"base_0": "260322272085",
|
| 159 |
+
"left_wrist_0": "260422275825",
|
| 160 |
+
"right_wrist_0": "260322279382"
|
| 161 |
+
}
|
| 162 |
+
},
|
| 163 |
+
"collection_input_source": "pedal,tty",
|
| 164 |
+
"collection_pedal": {
|
| 165 |
+
"confirm_presses": 2,
|
| 166 |
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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/camera/metadata.json
ADDED
|
@@ -0,0 +1,59 @@
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| 1 |
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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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| 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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},
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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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| 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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|
| 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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|
| 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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|
| 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 |
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"width": 640
|
| 58 |
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}
|
| 59 |
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}
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/camera/timestamp.pkl
ADDED
|
Binary file (15.4 kB). View file
|
|
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/debug/actions.jsonl
ADDED
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The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,75 @@
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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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"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 92 |
+
"round_number": 5,
|
| 93 |
+
"run_id": "20260917_225138_167075_round_0005",
|
| 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": 1789656726.533444
|
| 103 |
+
}
|
| 104 |
+
}
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/manifests/event.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 610,
|
| 5 |
+
"camera.base_0_rgb": 638,
|
| 6 |
+
"camera.left_wrist_0_rgb": 639,
|
| 7 |
+
"camera.right_wrist_0_rgb": 641,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 5194,
|
| 11 |
+
"robot.robot_state": 2665
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data/round_0005",
|
| 14 |
+
"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
+
"round_number": 5,
|
| 19 |
+
"run_id": "20260917_225138_167075_round_0005",
|
| 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": 1789656726.533444
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/manifests/robot.json
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 610,
|
| 5 |
+
"camera.base_0_rgb": 638,
|
| 6 |
+
"camera.left_wrist_0_rgb": 639,
|
| 7 |
+
"camera.right_wrist_0_rgb": 641,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 5194,
|
| 11 |
+
"robot.robot_state": 2665
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data/round_0005",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 2665,
|
| 17 |
+
"right": 2665
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 21 |
+
"round_number": 5,
|
| 22 |
+
"run_id": "20260917_225138_167075_round_0005",
|
| 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": 2665,
|
| 31 |
+
"right": 2665
|
| 32 |
+
},
|
| 33 |
+
"schema": "prometheus_raw_episode_v1",
|
| 34 |
+
"status": "saved",
|
| 35 |
+
"updated_at_unix": 1789656726.533444
|
| 36 |
+
}
|
| 37 |
+
}
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0005/workflow_manifest.json
ADDED
|
@@ -0,0 +1,612 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
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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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|
|
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|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"acceleration_limits": [
|
| 3 |
+
118.7426430016755,
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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0006/workflow_manifest.json
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@@ -0,0 +1,613 @@
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|
| 1 |
+
{
|
| 2 |
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"acceleration_limits": [
|
| 3 |
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| 4 |
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| 6 |
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| 7 |
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| 8 |
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|
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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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208.8803265352197,
|
| 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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|
| 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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| 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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|
| 49 |
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|
| 50 |
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|
| 51 |
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"enabled": true,
|
| 52 |
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|
| 53 |
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},
|
| 54 |
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"data": {
|
| 55 |
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|
| 56 |
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|
| 57 |
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"name": "openpi_observe_20260917_225138_167075",
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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},
|
| 63 |
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|
| 64 |
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|
| 65 |
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"name": "openpi_data",
|
| 66 |
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|
| 67 |
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"enabled": true
|
| 68 |
+
},
|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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"enabled": true,
|
| 74 |
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|
| 75 |
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"output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data",
|
| 76 |
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|
| 77 |
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},
|
| 78 |
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|
| 79 |
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|
| 80 |
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"domain": "sensor",
|
| 81 |
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"msg_type": "sensor_msgs.msg.Image",
|
| 82 |
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|
| 83 |
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"topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
|
| 84 |
+
},
|
| 85 |
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"left_wrist_0_color": {
|
| 86 |
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"domain": "sensor",
|
| 87 |
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"msg_type": "sensor_msgs.msg.Image",
|
| 88 |
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|
| 89 |
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"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
|
| 90 |
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},
|
| 91 |
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|
| 92 |
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"domain": "sensor",
|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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},
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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}
|
| 103 |
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}
|
| 104 |
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},
|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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},
|
| 113 |
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|
| 114 |
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|
| 115 |
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"name": "openpi_hardware",
|
| 116 |
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|
| 117 |
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|
| 118 |
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},
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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"prompt": "Use the right arm to pick up the spatula, hand it over to the left arm, and place it in the frying pan.",
|
| 127 |
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|
| 128 |
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|
| 129 |
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},
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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"mode": "local",
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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"window": "Pi0.5 - Async execution"
|
| 142 |
+
},
|
| 143 |
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|
| 144 |
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"_target_": "prometheus.nodes.robots.yam.resolve_robot",
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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"publish_hz": 30,
|
| 154 |
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"qos": "reliable",
|
| 155 |
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"serial_no": {
|
| 156 |
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"base_0": "260322272085",
|
| 157 |
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"left_wrist_0": "260422275825",
|
| 158 |
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"right_wrist_0": "260322279382"
|
| 159 |
+
}
|
| 160 |
+
},
|
| 161 |
+
"collection_input_source": "pedal,tty",
|
| 162 |
+
"collection_pedal": {
|
| 163 |
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"confirm_presses": 2,
|
| 164 |
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"confirm_window_s": 1.0,
|
| 165 |
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"debounce_s": 0.05,
|
| 166 |
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"devices": [
|
| 167 |
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"/dev/input/prometheus-pedal",
|
| 168 |
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"/dev/input/prometheus-pedal-aux"
|
| 169 |
+
],
|
| 170 |
+
"exclusive": true,
|
| 171 |
+
"pedal_map": {
|
| 172 |
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"2": 0,
|
| 173 |
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"3": 1,
|
| 174 |
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"4": 2,
|
| 175 |
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"5": 3,
|
| 176 |
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"30": 0,
|
| 177 |
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"32": 3,
|
| 178 |
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"46": 2,
|
| 179 |
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"48": 1
|
| 180 |
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}
|
| 181 |
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},
|
| 182 |
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"control_domain_id": 21,
|
| 183 |
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"id": "yam",
|
| 184 |
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|
| 185 |
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"action_space": "abs_qpos",
|
| 186 |
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"alignment_duration_s": 3.0,
|
| 187 |
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"bilateral_kp": 0.0,
|
| 188 |
+
"collection_mode": "policy",
|
| 189 |
+
"control_hz": 120,
|
| 190 |
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"enable_auto_recovery": false,
|
| 191 |
+
"follower_arm": "yam_ultra",
|
| 192 |
+
"follower_can": {
|
| 193 |
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"left": "can_follower_l",
|
| 194 |
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"right": "can_follower_r"
|
| 195 |
+
},
|
| 196 |
+
"follower_gripper": "linear_4310",
|
| 197 |
+
"gripper_width_m": 0.096,
|
| 198 |
+
"home_return": {
|
| 199 |
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"enabled": false,
|
| 200 |
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"feedback_timeout_s": 0.5,
|
| 201 |
+
"kp_scale": 1.0,
|
| 202 |
+
"max_velocity": 0.3,
|
| 203 |
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"min_duration_s": 3.0,
|
| 204 |
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"position_tolerance": 0.05,
|
| 205 |
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"settle_s": 0.3,
|
| 206 |
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"timeout_s": 25.0,
|
| 207 |
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"tracking_error_limit": 0.35,
|
| 208 |
+
"velocity_tolerance": 0.1
|
| 209 |
+
},
|
| 210 |
+
"leader_arm": "yam",
|
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| 611 |
+
1.3316887146234513
|
| 612 |
+
]
|
| 613 |
+
}
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0008/workflow_manifest.json
ADDED
|
@@ -0,0 +1,613 @@
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"acceleration_limits": [
|
| 3 |
+
118.7426430016755,
|
| 4 |
+
165.012131490699,
|
| 5 |
+
134.04180689399348,
|
| 6 |
+
274.86399842805685,
|
| 7 |
+
195.25766555964873,
|
| 8 |
+
454.5340796113012,
|
| 9 |
+
109.40927818565227,
|
| 10 |
+
178.49339036295515,
|
| 11 |
+
476.6444930964641,
|
| 12 |
+
557.9080874526715,
|
| 13 |
+
587.1810202100611,
|
| 14 |
+
362.1711802492357,
|
| 15 |
+
208.8803265352197,
|
| 16 |
+
208.9010343469399
|
| 17 |
+
],
|
| 18 |
+
"actions_sent": 659,
|
| 19 |
+
"async_execution": {
|
| 20 |
+
"blend_steps": 5,
|
| 21 |
+
"chunk_counter_meaning": "completed groups of 30 acknowledged targets",
|
| 22 |
+
"expired_prefix_actions": 172,
|
| 23 |
+
"mode": "async_overlap",
|
| 24 |
+
"plans_adopted": 40,
|
| 25 |
+
"prediction_horizon": 30,
|
| 26 |
+
"predictions_requested": 40,
|
| 27 |
+
"prefetch_steps": 12,
|
| 28 |
+
"queue_underruns": 0,
|
| 29 |
+
"target_budget": 1200
|
| 30 |
+
},
|
| 31 |
+
"chunks": 21,
|
| 32 |
+
"command_velocity_limits": [
|
| 33 |
+
7.326937734087213,
|
| 34 |
+
7.492612143357643,
|
| 35 |
+
9.039960411055707,
|
| 36 |
+
10.989442599937178,
|
| 37 |
+
11.822247140410347,
|
| 38 |
+
21.729793477053846,
|
| 39 |
+
4.549583926449072,
|
| 40 |
+
9.542591565847905,
|
| 41 |
+
16.49783855493206,
|
| 42 |
+
19.18122166486826,
|
| 43 |
+
20.271305218109156,
|
| 44 |
+
13.274309575261345,
|
| 45 |
+
14.009155302643812,
|
| 46 |
+
4.764187300355128
|
| 47 |
+
],
|
| 48 |
+
"config": {
|
| 49 |
+
"async_inference": {
|
| 50 |
+
"blend_steps": 5,
|
| 51 |
+
"enabled": true,
|
| 52 |
+
"prefetch_steps": 12
|
| 53 |
+
},
|
| 54 |
+
"data": {
|
| 55 |
+
"bridge": {
|
| 56 |
+
"enabled": true,
|
| 57 |
+
"name": "openpi_observe_20260917_225138_167075",
|
| 58 |
+
"qos_depth": 10,
|
| 59 |
+
"sensor_qos": "reliable",
|
| 60 |
+
"stamp_source": "header",
|
| 61 |
+
"wait_all_streams": true
|
| 62 |
+
},
|
| 63 |
+
"history": 64,
|
| 64 |
+
"mode": "owned",
|
| 65 |
+
"name": "openpi_data",
|
| 66 |
+
"numpy": {
|
| 67 |
+
"enabled": true
|
| 68 |
+
},
|
| 69 |
+
"recording": {
|
| 70 |
+
"camera_encoder": "libx264",
|
| 71 |
+
"default_event_value": null,
|
| 72 |
+
"enable_plots": false,
|
| 73 |
+
"enabled": true,
|
| 74 |
+
"fps": 30.0,
|
| 75 |
+
"output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data",
|
| 76 |
+
"queue_size": 4096
|
| 77 |
+
},
|
| 78 |
+
"streams": {
|
| 79 |
+
"base_0_color": {
|
| 80 |
+
"domain": "sensor",
|
| 81 |
+
"msg_type": "sensor_msgs.msg.Image",
|
| 82 |
+
"ros_domain_id": 22,
|
| 83 |
+
"topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
|
| 84 |
+
},
|
| 85 |
+
"left_wrist_0_color": {
|
| 86 |
+
"domain": "sensor",
|
| 87 |
+
"msg_type": "sensor_msgs.msg.Image",
|
| 88 |
+
"ros_domain_id": 22,
|
| 89 |
+
"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
|
| 90 |
+
},
|
| 91 |
+
"right_wrist_0_color": {
|
| 92 |
+
"domain": "sensor",
|
| 93 |
+
"msg_type": "sensor_msgs.msg.Image",
|
| 94 |
+
"ros_domain_id": 22,
|
| 95 |
+
"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw"
|
| 96 |
+
},
|
| 97 |
+
"robot_state": {
|
| 98 |
+
"domain": "robot",
|
| 99 |
+
"msg_type": "sensor_msgs.msg.JointState",
|
| 100 |
+
"ros_domain_id": 21,
|
| 101 |
+
"topic": "/prometheus/robots/yam/state"
|
| 102 |
+
}
|
| 103 |
+
}
|
| 104 |
+
},
|
| 105 |
+
"execute": true,
|
| 106 |
+
"execution": {
|
| 107 |
+
"command_ack_timeout_s": 0.1,
|
| 108 |
+
"hold_settle_s": 0.2,
|
| 109 |
+
"hold_settle_timeout_s": 5.0,
|
| 110 |
+
"max_prediction_age_s": 0.5,
|
| 111 |
+
"max_schedule_lateness_s": 0.105
|
| 112 |
+
},
|
| 113 |
+
"hardware": {
|
| 114 |
+
"mode": "owned",
|
| 115 |
+
"name": "openpi_hardware",
|
| 116 |
+
"sensors": "auto",
|
| 117 |
+
"streams": "auto"
|
| 118 |
+
},
|
| 119 |
+
"policy": {
|
| 120 |
+
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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0010/workflow_manifest.json
ADDED
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@@ -0,0 +1,612 @@
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| 1 |
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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0011/workflow_manifest.json
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@@ -0,0 +1,613 @@
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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/camera/metadata.json
ADDED
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@@ -0,0 +1,59 @@
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|
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|
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|
| 37 |
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|
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| 41 |
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|
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|
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|
| 54 |
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|
| 55 |
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| 56 |
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|
| 57 |
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|
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}
|
| 59 |
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|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/camera/timestamp.pkl
ADDED
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Binary file (16.6 kB). View file
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|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/debug/actions.jsonl
ADDED
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The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,81 @@
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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/event/event_dict.pkl
ADDED
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Binary file (109 Bytes). View file
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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/manifests/action.json
ADDED
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@@ -0,0 +1,28 @@
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| 1 |
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{
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| 12 |
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| 13 |
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| 14 |
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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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| 23 |
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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/V2/pi0.5_2500/catch_and_place/data/round_0012/manifests/camera.json
ADDED
|
@@ -0,0 +1,101 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_camera_base_0_recorder": {
|
| 3 |
+
"camera_frames": {
|
| 4 |
+
"base_0_rgb": 687
|
| 5 |
+
},
|
| 6 |
+
"camera_timestamp_samples": 687,
|
| 7 |
+
"complete_sensor_bundles": 687,
|
| 8 |
+
"counts": {
|
| 9 |
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"action.executed": 658,
|
| 10 |
+
"camera.base_0_rgb": 687,
|
| 11 |
+
"camera.left_wrist_0_rgb": 687,
|
| 12 |
+
"camera.right_wrist_0_rgb": 687,
|
| 13 |
+
"dropped": 0,
|
| 14 |
+
"event.workflow": 1,
|
| 15 |
+
"items": 5467,
|
| 16 |
+
"robot.robot_state": 2747
|
| 17 |
+
},
|
| 18 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data/round_0012",
|
| 21 |
+
"failure": "",
|
| 22 |
+
"metadata": {
|
| 23 |
+
"round_number": 12,
|
| 24 |
+
"run_id": "20260917_225548_936830_round_0012",
|
| 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": 1789657981.8813756
|
| 34 |
+
},
|
| 35 |
+
"prometheus_camera_left_wrist_0_recorder": {
|
| 36 |
+
"camera_frames": {
|
| 37 |
+
"left_wrist_0_rgb": 687
|
| 38 |
+
},
|
| 39 |
+
"camera_timestamp_samples": 687,
|
| 40 |
+
"complete_sensor_bundles": 687,
|
| 41 |
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"counts": {
|
| 42 |
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"action.executed": 658,
|
| 43 |
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"camera.base_0_rgb": 687,
|
| 44 |
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"camera.left_wrist_0_rgb": 687,
|
| 45 |
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"camera.right_wrist_0_rgb": 687,
|
| 46 |
+
"dropped": 0,
|
| 47 |
+
"event.workflow": 1,
|
| 48 |
+
"items": 5467,
|
| 49 |
+
"robot.robot_state": 2747
|
| 50 |
+
},
|
| 51 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 52 |
+
"duplicate_sensor_messages": 0,
|
| 53 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data/round_0012",
|
| 54 |
+
"failure": "",
|
| 55 |
+
"metadata": {
|
| 56 |
+
"round_number": 12,
|
| 57 |
+
"run_id": "20260917_225548_936830_round_0012",
|
| 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": 1789657981.8813756
|
| 67 |
+
},
|
| 68 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 69 |
+
"camera_frames": {
|
| 70 |
+
"right_wrist_0_rgb": 687
|
| 71 |
+
},
|
| 72 |
+
"camera_timestamp_samples": 687,
|
| 73 |
+
"complete_sensor_bundles": 687,
|
| 74 |
+
"counts": {
|
| 75 |
+
"action.executed": 658,
|
| 76 |
+
"camera.base_0_rgb": 687,
|
| 77 |
+
"camera.left_wrist_0_rgb": 687,
|
| 78 |
+
"camera.right_wrist_0_rgb": 687,
|
| 79 |
+
"dropped": 0,
|
| 80 |
+
"event.workflow": 1,
|
| 81 |
+
"items": 5467,
|
| 82 |
+
"robot.robot_state": 2747
|
| 83 |
+
},
|
| 84 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 85 |
+
"duplicate_sensor_messages": 0,
|
| 86 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data/round_0012",
|
| 87 |
+
"failure": "",
|
| 88 |
+
"metadata": {
|
| 89 |
+
"round_number": 12,
|
| 90 |
+
"run_id": "20260917_225548_936830_round_0012",
|
| 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": 1789657981.8813756
|
| 100 |
+
}
|
| 101 |
+
}
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/manifests/event.json
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 658,
|
| 5 |
+
"camera.base_0_rgb": 687,
|
| 6 |
+
"camera.left_wrist_0_rgb": 687,
|
| 7 |
+
"camera.right_wrist_0_rgb": 687,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 5467,
|
| 11 |
+
"robot.robot_state": 2747
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data/round_0012",
|
| 14 |
+
"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 12,
|
| 18 |
+
"run_id": "20260917_225548_936830_round_0012",
|
| 19 |
+
"workflow": "openpi_rollout"
|
| 20 |
+
},
|
| 21 |
+
"record_id": "prometheus_event_recorder",
|
| 22 |
+
"record_mode": "event",
|
| 23 |
+
"schema": "prometheus_raw_episode_v1",
|
| 24 |
+
"status": "saved",
|
| 25 |
+
"updated_at_unix": 1789657981.8813756
|
| 26 |
+
}
|
| 27 |
+
}
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 658,
|
| 5 |
+
"camera.base_0_rgb": 687,
|
| 6 |
+
"camera.left_wrist_0_rgb": 687,
|
| 7 |
+
"camera.right_wrist_0_rgb": 687,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 5467,
|
| 11 |
+
"robot.robot_state": 2747
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data/round_0012",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 2747,
|
| 17 |
+
"right": 2747
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"round_number": 12,
|
| 21 |
+
"run_id": "20260917_225548_936830_round_0012",
|
| 22 |
+
"workflow": "openpi_rollout"
|
| 23 |
+
},
|
| 24 |
+
"pending_robot_samples": 0,
|
| 25 |
+
"plot_outputs": [],
|
| 26 |
+
"record_id": "prometheus_robot_recorder",
|
| 27 |
+
"record_mode": "robot",
|
| 28 |
+
"robot_samples": {
|
| 29 |
+
"left": 2747,
|
| 30 |
+
"right": 2747
|
| 31 |
+
},
|
| 32 |
+
"schema": "prometheus_raw_episode_v1",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1789657981.8813756
|
| 35 |
+
}
|
| 36 |
+
}
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0012/workflow_manifest.json
ADDED
|
@@ -0,0 +1,613 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
| 1 |
+
{
|
| 2 |
+
"acceleration_limits": [
|
| 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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178.49339036295515,
|
| 11 |
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476.6444930964641,
|
| 12 |
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557.9080874526715,
|
| 13 |
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587.1810202100611,
|
| 14 |
+
362.1711802492357,
|
| 15 |
+
208.8803265352197,
|
| 16 |
+
208.9010343469399
|
| 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 |
+
"mode": "async_overlap",
|
| 24 |
+
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|
| 25 |
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|
| 26 |
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|
| 27 |
+
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|
| 28 |
+
"queue_underruns": 0,
|
| 29 |
+
"target_budget": 1200
|
| 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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|
| 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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"config": {
|
| 49 |
+
"async_inference": {
|
| 50 |
+
"blend_steps": 5,
|
| 51 |
+
"enabled": true,
|
| 52 |
+
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|
| 53 |
+
},
|
| 54 |
+
"data": {
|
| 55 |
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|
| 56 |
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"enabled": true,
|
| 57 |
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"name": "openpi_observe_20260917_225548_936830",
|
| 58 |
+
"qos_depth": 10,
|
| 59 |
+
"sensor_qos": "reliable",
|
| 60 |
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|
| 61 |
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|
| 62 |
+
},
|
| 63 |
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"history": 64,
|
| 64 |
+
"mode": "owned",
|
| 65 |
+
"name": "openpi_data",
|
| 66 |
+
"numpy": {
|
| 67 |
+
"enabled": true
|
| 68 |
+
},
|
| 69 |
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"recording": {
|
| 70 |
+
"camera_encoder": "libx264",
|
| 71 |
+
"default_event_value": null,
|
| 72 |
+
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|
| 73 |
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"enabled": true,
|
| 74 |
+
"fps": 30.0,
|
| 75 |
+
"output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data",
|
| 76 |
+
"queue_size": 4096
|
| 77 |
+
},
|
| 78 |
+
"streams": {
|
| 79 |
+
"base_0_color": {
|
| 80 |
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"domain": "sensor",
|
| 81 |
+
"msg_type": "sensor_msgs.msg.Image",
|
| 82 |
+
"ros_domain_id": 22,
|
| 83 |
+
"topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
|
| 84 |
+
},
|
| 85 |
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"left_wrist_0_color": {
|
| 86 |
+
"domain": "sensor",
|
| 87 |
+
"msg_type": "sensor_msgs.msg.Image",
|
| 88 |
+
"ros_domain_id": 22,
|
| 89 |
+
"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
|
| 90 |
+
},
|
| 91 |
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"right_wrist_0_color": {
|
| 92 |
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"domain": "sensor",
|
| 93 |
+
"msg_type": "sensor_msgs.msg.Image",
|
| 94 |
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|
| 95 |
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"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw"
|
| 96 |
+
},
|
| 97 |
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|
| 98 |
+
"domain": "robot",
|
| 99 |
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"msg_type": "sensor_msgs.msg.JointState",
|
| 100 |
+
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|
| 101 |
+
"topic": "/prometheus/robots/yam/state"
|
| 102 |
+
}
|
| 103 |
+
}
|
| 104 |
+
},
|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
+
},
|
| 113 |
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|
| 114 |
+
"mode": "owned",
|
| 115 |
+
"name": "openpi_hardware",
|
| 116 |
+
"sensors": "auto",
|
| 117 |
+
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|
| 118 |
+
},
|
| 119 |
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"policy": {
|
| 120 |
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|
| 121 |
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|
| 122 |
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"host": "127.0.0.1",
|
| 123 |
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|
| 124 |
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|
| 125 |
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"port": 8000,
|
| 126 |
+
"prompt": "Use the right arm to pick up the spatula, hand it over to the left arm, and place it in the frying pan.",
|
| 127 |
+
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|
| 128 |
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|
| 129 |
+
},
|
| 130 |
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|
| 131 |
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"enabled": true,
|
| 132 |
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|
| 133 |
+
"height": 720,
|
| 134 |
+
"host": "127.0.0.1",
|
| 135 |
+
"mode": "local",
|
| 136 |
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"port": 7860,
|
| 137 |
+
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|
| 138 |
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|
| 139 |
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"ui_mode": "openpi",
|
| 140 |
+
"width": 1280,
|
| 141 |
+
"window": "Pi0.5 - Async execution"
|
| 142 |
+
},
|
| 143 |
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|
| 144 |
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"_target_": "prometheus.nodes.robots.yam.resolve_robot",
|
| 145 |
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|
| 146 |
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|
| 147 |
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"capture_height": 480,
|
| 148 |
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|
| 149 |
+
"capture_width": 640,
|
| 150 |
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|
| 151 |
+
"ir": false,
|
| 152 |
+
"prepub_resize": 1.0,
|
| 153 |
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"publish_hz": 30,
|
| 154 |
+
"qos": "reliable",
|
| 155 |
+
"serial_no": {
|
| 156 |
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"base_0": "260322272085",
|
| 157 |
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"left_wrist_0": "260422275825",
|
| 158 |
+
"right_wrist_0": "260322279382"
|
| 159 |
+
}
|
| 160 |
+
},
|
| 161 |
+
"collection_input_source": "pedal,tty",
|
| 162 |
+
"collection_pedal": {
|
| 163 |
+
"confirm_presses": 2,
|
| 164 |
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"confirm_window_s": 1.0,
|
| 165 |
+
"debounce_s": 0.05,
|
| 166 |
+
"devices": [
|
| 167 |
+
"/dev/input/prometheus-pedal",
|
| 168 |
+
"/dev/input/prometheus-pedal-aux"
|
| 169 |
+
],
|
| 170 |
+
"exclusive": true,
|
| 171 |
+
"pedal_map": {
|
| 172 |
+
"2": 0,
|
| 173 |
+
"3": 1,
|
| 174 |
+
"4": 2,
|
| 175 |
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"5": 3,
|
| 176 |
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"30": 0,
|
| 177 |
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"32": 3,
|
| 178 |
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"46": 2,
|
| 179 |
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"48": 1
|
| 180 |
+
}
|
| 181 |
+
},
|
| 182 |
+
"control_domain_id": 21,
|
| 183 |
+
"id": "yam",
|
| 184 |
+
"robot": {
|
| 185 |
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"action_space": "abs_qpos",
|
| 186 |
+
"alignment_duration_s": 3.0,
|
| 187 |
+
"bilateral_kp": 0.0,
|
| 188 |
+
"collection_mode": "policy",
|
| 189 |
+
"control_hz": 120,
|
| 190 |
+
"enable_auto_recovery": false,
|
| 191 |
+
"follower_arm": "yam_ultra",
|
| 192 |
+
"follower_can": {
|
| 193 |
+
"left": "can_follower_l",
|
| 194 |
+
"right": "can_follower_r"
|
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| 595 |
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0.07211417473852634
|
| 596 |
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],
|
| 597 |
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"velocity_limits": [
|
| 598 |
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6.503956017494202,
|
| 599 |
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7.554651925563812,
|
| 600 |
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9.670842275619506,
|
| 601 |
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10.588351378440857,
|
| 602 |
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8.72373610496521,
|
| 603 |
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13.252087483406067,
|
| 604 |
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1.2993822544813156,
|
| 605 |
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8.664541969299316,
|
| 606 |
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10.73633671760559,
|
| 607 |
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14.77633719921112,
|
| 608 |
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17.380879168510436,
|
| 609 |
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20.799341225624083,
|
| 610 |
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7.747032866477967,
|
| 611 |
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1.3316887146234513
|
| 612 |
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]
|
| 613 |
+
}
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0014/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": 652,
|
| 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": 652,
|
| 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": 652,
|
| 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/V2/pi0.5_2500/catch_and_place/data/round_0014/camera/timestamp.pkl
ADDED
|
Binary file (15.7 kB). View file
|
|
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0014/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0014/manifests/camera.json
ADDED
|
@@ -0,0 +1,101 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_camera_base_0_recorder": {
|
| 3 |
+
"camera_frames": {
|
| 4 |
+
"base_0_rgb": 652
|
| 5 |
+
},
|
| 6 |
+
"camera_timestamp_samples": 652,
|
| 7 |
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"complete_sensor_bundles": 652,
|
| 8 |
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"counts": {
|
| 9 |
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"action.executed": 626,
|
| 10 |
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"camera.base_0_rgb": 652,
|
| 11 |
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"camera.left_wrist_0_rgb": 652,
|
| 12 |
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"camera.right_wrist_0_rgb": 652,
|
| 13 |
+
"dropped": 0,
|
| 14 |
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"event.workflow": 1,
|
| 15 |
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"items": 5193,
|
| 16 |
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"robot.robot_state": 2610
|
| 17 |
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},
|
| 18 |
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"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data/round_0014",
|
| 21 |
+
"failure": "",
|
| 22 |
+
"metadata": {
|
| 23 |
+
"round_number": 14,
|
| 24 |
+
"run_id": "20260917_225548_936830_round_0014",
|
| 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": 1789658074.0866416
|
| 34 |
+
},
|
| 35 |
+
"prometheus_camera_left_wrist_0_recorder": {
|
| 36 |
+
"camera_frames": {
|
| 37 |
+
"left_wrist_0_rgb": 652
|
| 38 |
+
},
|
| 39 |
+
"camera_timestamp_samples": 652,
|
| 40 |
+
"complete_sensor_bundles": 652,
|
| 41 |
+
"counts": {
|
| 42 |
+
"action.executed": 626,
|
| 43 |
+
"camera.base_0_rgb": 652,
|
| 44 |
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"camera.left_wrist_0_rgb": 652,
|
| 45 |
+
"camera.right_wrist_0_rgb": 652,
|
| 46 |
+
"dropped": 0,
|
| 47 |
+
"event.workflow": 1,
|
| 48 |
+
"items": 5193,
|
| 49 |
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"robot.robot_state": 2610
|
| 50 |
+
},
|
| 51 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 52 |
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"duplicate_sensor_messages": 0,
|
| 53 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data/round_0014",
|
| 54 |
+
"failure": "",
|
| 55 |
+
"metadata": {
|
| 56 |
+
"round_number": 14,
|
| 57 |
+
"run_id": "20260917_225548_936830_round_0014",
|
| 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": 1789658074.0866416
|
| 67 |
+
},
|
| 68 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 69 |
+
"camera_frames": {
|
| 70 |
+
"right_wrist_0_rgb": 652
|
| 71 |
+
},
|
| 72 |
+
"camera_timestamp_samples": 652,
|
| 73 |
+
"complete_sensor_bundles": 652,
|
| 74 |
+
"counts": {
|
| 75 |
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"action.executed": 626,
|
| 76 |
+
"camera.base_0_rgb": 652,
|
| 77 |
+
"camera.left_wrist_0_rgb": 652,
|
| 78 |
+
"camera.right_wrist_0_rgb": 652,
|
| 79 |
+
"dropped": 0,
|
| 80 |
+
"event.workflow": 1,
|
| 81 |
+
"items": 5193,
|
| 82 |
+
"robot.robot_state": 2610
|
| 83 |
+
},
|
| 84 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 85 |
+
"duplicate_sensor_messages": 0,
|
| 86 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data/round_0014",
|
| 87 |
+
"failure": "",
|
| 88 |
+
"metadata": {
|
| 89 |
+
"round_number": 14,
|
| 90 |
+
"run_id": "20260917_225548_936830_round_0014",
|
| 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": 1789658074.0866416
|
| 100 |
+
}
|
| 101 |
+
}
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0014/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 626,
|
| 5 |
+
"camera.base_0_rgb": 652,
|
| 6 |
+
"camera.left_wrist_0_rgb": 652,
|
| 7 |
+
"camera.right_wrist_0_rgb": 652,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 5193,
|
| 11 |
+
"robot.robot_state": 2610
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data/round_0014",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 2610,
|
| 17 |
+
"right": 2610
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"round_number": 14,
|
| 21 |
+
"run_id": "20260917_225548_936830_round_0014",
|
| 22 |
+
"workflow": "openpi_rollout"
|
| 23 |
+
},
|
| 24 |
+
"pending_robot_samples": 0,
|
| 25 |
+
"plot_outputs": [],
|
| 26 |
+
"record_id": "prometheus_robot_recorder",
|
| 27 |
+
"record_mode": "robot",
|
| 28 |
+
"robot_samples": {
|
| 29 |
+
"left": 2610,
|
| 30 |
+
"right": 2610
|
| 31 |
+
},
|
| 32 |
+
"schema": "prometheus_raw_episode_v1",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1789658074.0866416
|
| 35 |
+
}
|
| 36 |
+
}
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0014/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0014/workflow_manifest.json
ADDED
|
@@ -0,0 +1,614 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"acceleration_limits": [
|
| 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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178.49339036295515,
|
| 11 |
+
476.6444930964641,
|
| 12 |
+
557.9080874526715,
|
| 13 |
+
587.1810202100611,
|
| 14 |
+
362.1711802492357,
|
| 15 |
+
208.8803265352197,
|
| 16 |
+
208.9010343469399
|
| 17 |
+
],
|
| 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 |
+
"mode": "async_overlap",
|
| 24 |
+
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|
| 25 |
+
"prediction_horizon": 30,
|
| 26 |
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|
| 27 |
+
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|
| 28 |
+
"queue_underruns": 0,
|
| 29 |
+
"target_budget": 1200
|
| 30 |
+
},
|
| 31 |
+
"chunks": 20,
|
| 32 |
+
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|
| 33 |
+
"command_velocity_limits": [
|
| 34 |
+
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|
| 35 |
+
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|
| 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 |
+
14.009155302643812,
|
| 47 |
+
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|
| 48 |
+
],
|
| 49 |
+
"config": {
|
| 50 |
+
"async_inference": {
|
| 51 |
+
"blend_steps": 5,
|
| 52 |
+
"enabled": true,
|
| 53 |
+
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|
| 54 |
+
},
|
| 55 |
+
"data": {
|
| 56 |
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"bridge": {
|
| 57 |
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"enabled": true,
|
| 58 |
+
"name": "openpi_observe_20260917_225548_936830",
|
| 59 |
+
"qos_depth": 10,
|
| 60 |
+
"sensor_qos": "reliable",
|
| 61 |
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"stamp_source": "header",
|
| 62 |
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"wait_all_streams": true
|
| 63 |
+
},
|
| 64 |
+
"history": 64,
|
| 65 |
+
"mode": "owned",
|
| 66 |
+
"name": "openpi_data",
|
| 67 |
+
"numpy": {
|
| 68 |
+
"enabled": true
|
| 69 |
+
},
|
| 70 |
+
"recording": {
|
| 71 |
+
"camera_encoder": "libx264",
|
| 72 |
+
"default_event_value": null,
|
| 73 |
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|
| 74 |
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"enabled": true,
|
| 75 |
+
"fps": 30.0,
|
| 76 |
+
"output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data",
|
| 77 |
+
"queue_size": 4096
|
| 78 |
+
},
|
| 79 |
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|
| 80 |
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|
| 81 |
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"domain": "sensor",
|
| 82 |
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"msg_type": "sensor_msgs.msg.Image",
|
| 83 |
+
"ros_domain_id": 22,
|
| 84 |
+
"topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
|
| 85 |
+
},
|
| 86 |
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"left_wrist_0_color": {
|
| 87 |
+
"domain": "sensor",
|
| 88 |
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"msg_type": "sensor_msgs.msg.Image",
|
| 89 |
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|
| 90 |
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"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
|
| 91 |
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},
|
| 92 |
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|
| 93 |
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"domain": "sensor",
|
| 94 |
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"msg_type": "sensor_msgs.msg.Image",
|
| 95 |
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|
| 96 |
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"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw"
|
| 97 |
+
},
|
| 98 |
+
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|
| 99 |
+
"domain": "robot",
|
| 100 |
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"msg_type": "sensor_msgs.msg.JointState",
|
| 101 |
+
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|
| 102 |
+
"topic": "/prometheus/robots/yam/state"
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
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"execute": true,
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
+
},
|
| 114 |
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|
| 115 |
+
"mode": "owned",
|
| 116 |
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"name": "openpi_hardware",
|
| 117 |
+
"sensors": "auto",
|
| 118 |
+
"streams": "auto"
|
| 119 |
+
},
|
| 120 |
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"policy": {
|
| 121 |
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"action_hz": 30.0,
|
| 122 |
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|
| 123 |
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"host": "127.0.0.1",
|
| 124 |
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|
| 125 |
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|
| 126 |
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"port": 8000,
|
| 127 |
+
"prompt": "Use the right arm to pick up the spatula, hand it over to the left arm, and place it in the frying pan.",
|
| 128 |
+
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|
| 129 |
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|
| 130 |
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},
|
| 131 |
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"preview": {
|
| 132 |
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"enabled": true,
|
| 133 |
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|
| 134 |
+
"height": 720,
|
| 135 |
+
"host": "127.0.0.1",
|
| 136 |
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"mode": "local",
|
| 137 |
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"port": 7860,
|
| 138 |
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|
| 139 |
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|
| 140 |
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"ui_mode": "openpi",
|
| 141 |
+
"width": 1280,
|
| 142 |
+
"window": "Pi0.5 - Async execution"
|
| 143 |
+
},
|
| 144 |
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"robot": {
|
| 145 |
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"_target_": "prometheus.nodes.robots.yam.resolve_robot",
|
| 146 |
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|
| 147 |
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"camera_info": false,
|
| 148 |
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"capture_height": 480,
|
| 149 |
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|
| 150 |
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"capture_width": 640,
|
| 151 |
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"collect_ir": false,
|
| 152 |
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"ir": false,
|
| 153 |
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"prepub_resize": 1.0,
|
| 154 |
+
"publish_hz": 30,
|
| 155 |
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"qos": "reliable",
|
| 156 |
+
"serial_no": {
|
| 157 |
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"base_0": "260322272085",
|
| 158 |
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"left_wrist_0": "260422275825",
|
| 159 |
+
"right_wrist_0": "260322279382"
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"collection_input_source": "pedal,tty",
|
| 163 |
+
"collection_pedal": {
|
| 164 |
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"confirm_presses": 2,
|
| 165 |
+
"confirm_window_s": 1.0,
|
| 166 |
+
"debounce_s": 0.05,
|
| 167 |
+
"devices": [
|
| 168 |
+
"/dev/input/prometheus-pedal",
|
| 169 |
+
"/dev/input/prometheus-pedal-aux"
|
| 170 |
+
],
|
| 171 |
+
"exclusive": true,
|
| 172 |
+
"pedal_map": {
|
| 173 |
+
"2": 0,
|
| 174 |
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"3": 1,
|
| 175 |
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"4": 2,
|
| 176 |
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"5": 3,
|
| 177 |
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"30": 0,
|
| 178 |
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"32": 3,
|
| 179 |
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"46": 2,
|
| 180 |
+
"48": 1
|
| 181 |
+
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|
eval/YAM/V2/pi0.5_2500/catch_and_place/metadata/rounds.json
ADDED
|
@@ -0,0 +1,182 @@
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| 1 |
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| 2 |
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| 3 |
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| 9 |
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