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a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0002/manifests/event.json b/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0002/manifests/event.json deleted file mode 100644 index ef26f5a94ddf221368f9c90632e48f4a8b510206..0000000000000000000000000000000000000000 --- a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0002/manifests/event.json +++ /dev/null @@ -1,27 +0,0 @@ -{ - "prometheus_event_recorder": { - "counts": { - "action.executed": 671, - "camera.base_0_rgb": 698, - "camera.left_wrist_0_rgb": 698, - "camera.right_wrist_0_rgb": 698, - "dropped": 0, - "event.workflow": 1, - "items": 5556, - "robot.robot_state": 2790 - }, - "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi/data/round_0002", - "event_samples": 1, - "failure": "", - "metadata": { - "round_number": 2, - "run_id": "20260920_205216_763105_round_0002", - "workflow": "openpi_rollout" - }, - "record_id": "prometheus_event_recorder", - "record_mode": "event", - "schema": "prometheus_raw_episode_v1", - "status": "saved", - "updated_at_unix": 1789908819.3370066 - } -} diff --git a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0002/manifests/robot.json b/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0002/manifests/robot.json deleted file mode 100644 index 5dfa2d19a3161b467b3b24fb18728248276ed6f0..0000000000000000000000000000000000000000 --- a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0002/manifests/robot.json +++ /dev/null @@ -1,36 +0,0 @@ -{ - "prometheus_robot_recorder": { - "counts": { - "action.executed": 671, - "camera.base_0_rgb": 698, - "camera.left_wrist_0_rgb": 698, - "camera.right_wrist_0_rgb": 698, - "dropped": 0, - "event.workflow": 1, - "items": 5556, - "robot.robot_state": 2790 - }, - "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi/data/round_0002", - "failure": "", - "incomplete_robot_samples": { - "left": 2790, - "right": 2790 - }, - "metadata": { - "round_number": 2, - "run_id": "20260920_205216_763105_round_0002", - "workflow": "openpi_rollout" - }, - "pending_robot_samples": 0, - "plot_outputs": [], - "record_id": "prometheus_robot_recorder", - "record_mode": "robot", - "robot_samples": { - "left": 2790, - "right": 2790 - }, - "schema": "prometheus_raw_episode_v1", - "status": "saved", - "updated_at_unix": 1789908819.3370066 - } -} diff --git a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0002/manifests/tactile.json b/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0002/manifests/tactile.json deleted file mode 100644 index 0967ef424bce6791893e9a57bb952f80fd536e93..0000000000000000000000000000000000000000 --- a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0002/manifests/tactile.json +++ /dev/null @@ -1 +0,0 @@ -{} diff --git a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0002/robot/robot_state_dict.pkl b/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0002/robot/robot_state_dict.pkl deleted file mode 100644 index 9c006a7f5e368e432b10f38be8eb2317d4b12f25..0000000000000000000000000000000000000000 --- a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0002/robot/robot_state_dict.pkl +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:48b5f9f991390377ce79551ca3872ca1b2201259fa3e3960e19ed30fefe1484f -size 1021563 diff --git a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0002/workflow_manifest.json b/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0002/workflow_manifest.json deleted file mode 100644 index 1800968e479426773d0ed4b786679ba0c5d8b71a..0000000000000000000000000000000000000000 --- a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0002/workflow_manifest.json +++ /dev/null @@ -1,1513 +0,0 @@ -{ - "acceleration_limits": [ - 118.7426430016755, - 165.012131490699, - 134.04180689399348, - 274.86399842805685, - 195.25766555964873, - 454.5340796113012, - 109.40927818565227, - 178.49339036295515, - 476.6444930964641, - 557.9080874526715, - 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"20260920_205417_615796_round_0006", - "workflow": "openpi_rollout" - }, - "record_id": "prometheus_camera_base_0_recorder", - "record_mode": "sensor", - "schema": "prometheus_raw_episode_v1", - "sensor_kind": "camera", - "sensor_name": "base_0", - "status": "saved", - "updated_at_unix": 1789909053.6542199 - }, - "prometheus_camera_left_wrist_0_recorder": { - "camera_frames": { - "left_wrist_0_rgb": 67 - }, - "camera_timestamp_samples": 67, - "complete_sensor_bundles": 67, - "counts": { - "action.executed": 43, - "camera.base_0_rgb": 61, - "camera.left_wrist_0_rgb": 67, - "camera.right_wrist_0_rgb": 61, - "dropped": 0, - "event.workflow": 1, - "items": 477, - "robot.robot_state": 244 - }, - "dropped_incomplete_sensor_bundles": 0, - "duplicate_sensor_messages": 0, - "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi/data/round_0006", - "failure": "", - "metadata": { - "round_number": 6, - "run_id": "20260920_205417_615796_round_0006", - "workflow": "openpi_rollout" - }, - "record_id": "prometheus_camera_left_wrist_0_recorder", - "record_mode": "sensor", - "schema": "prometheus_raw_episode_v1", - "sensor_kind": "camera", - "sensor_name": "left_wrist_0", - "status": "saved", - "updated_at_unix": 1789909053.6542199 - }, - "prometheus_camera_right_wrist_0_recorder": { - "camera_frames": { - "right_wrist_0_rgb": 61 - }, - "camera_timestamp_samples": 61, - "complete_sensor_bundles": 61, - "counts": { - "action.executed": 43, - "camera.base_0_rgb": 61, - "camera.left_wrist_0_rgb": 67, - "camera.right_wrist_0_rgb": 61, - "dropped": 0, - "event.workflow": 1, - "items": 477, - "robot.robot_state": 244 - }, - "dropped_incomplete_sensor_bundles": 0, - "duplicate_sensor_messages": 0, - "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi/data/round_0006", - "failure": "", - "metadata": { - "round_number": 6, - "run_id": "20260920_205417_615796_round_0006", - "workflow": "openpi_rollout" - }, - "record_id": "prometheus_camera_right_wrist_0_recorder", - "record_mode": "sensor", - "schema": "prometheus_raw_episode_v1", - "sensor_kind": "camera", - "sensor_name": "right_wrist_0", - "status": "saved", - "updated_at_unix": 1789909053.6542199 - } -} diff --git a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0006/manifests/event.json b/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0006/manifests/event.json deleted file mode 100644 index 078997da2bb89a7d74bc0938a2ed808d564080a8..0000000000000000000000000000000000000000 --- a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0006/manifests/event.json +++ /dev/null @@ -1,27 +0,0 @@ -{ - "prometheus_event_recorder": { - "counts": { - "action.executed": 43, - "camera.base_0_rgb": 61, - "camera.left_wrist_0_rgb": 67, - "camera.right_wrist_0_rgb": 61, - "dropped": 0, - "event.workflow": 1, - "items": 477, - "robot.robot_state": 244 - }, - "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi/data/round_0006", - "event_samples": 1, - "failure": "", - "metadata": { - "round_number": 6, - "run_id": "20260920_205417_615796_round_0006", - "workflow": "openpi_rollout" - }, - "record_id": "prometheus_event_recorder", - "record_mode": "event", - "schema": "prometheus_raw_episode_v1", - "status": "saved", - "updated_at_unix": 1789909053.6542199 - } -} diff --git a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0006/manifests/robot.json b/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0006/manifests/robot.json deleted file mode 100644 index 77599c72ca4d2d4716937aa65526bd6b6c3177a4..0000000000000000000000000000000000000000 --- a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0006/manifests/robot.json +++ /dev/null @@ -1,36 +0,0 @@ -{ - "prometheus_robot_recorder": { - "counts": { - "action.executed": 43, - "camera.base_0_rgb": 61, - "camera.left_wrist_0_rgb": 67, - "camera.right_wrist_0_rgb": 61, - "dropped": 0, - "event.workflow": 1, - "items": 477, - "robot.robot_state": 244 - }, - "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi/data/round_0006", - "failure": "", - "incomplete_robot_samples": { - "left": 244, - "right": 244 - }, - "metadata": { - "round_number": 6, - "run_id": "20260920_205417_615796_round_0006", - "workflow": "openpi_rollout" - }, - "pending_robot_samples": 0, - "plot_outputs": [], - "record_id": "prometheus_robot_recorder", - "record_mode": "robot", - "robot_samples": { - "left": 244, - "right": 244 - }, - "schema": "prometheus_raw_episode_v1", - "status": "saved", - "updated_at_unix": 1789909053.6542199 - } -} diff --git a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0006/manifests/tactile.json b/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0006/manifests/tactile.json deleted file mode 100644 index 0967ef424bce6791893e9a57bb952f80fd536e93..0000000000000000000000000000000000000000 --- a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0006/manifests/tactile.json +++ /dev/null @@ -1 +0,0 @@ -{} diff --git a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0006/robot/robot_state_dict.pkl b/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0006/robot/robot_state_dict.pkl deleted file mode 100644 index 512191b1348a586fdd52f11d7068e30d98b614d6..0000000000000000000000000000000000000000 Binary files a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0006/robot/robot_state_dict.pkl and /dev/null differ diff --git a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0006/workflow_manifest.json b/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0006/workflow_manifest.json deleted file mode 100644 index 8968b61138c6e27f63f4426c4a32cbc6970cb19c..0000000000000000000000000000000000000000 --- a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0006/workflow_manifest.json +++ /dev/null @@ -1,1508 +0,0 @@ -{ - "acceleration_limits": [ - 118.7426430016755, - 165.012131490699, - 134.04180689399348, - 274.86399842805685, - 195.25766555964873, - 454.5340796113012, - 109.40927818565227, - 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"prefetch_steps": 12 - }, - "data": { - "bridge": { - "enabled": true, - "name": "openpi_observe_20260920_205417_615796", - "qos_depth": 10, - "sensor_qos": "reliable", - "stamp_source": "header", - "wait_all_streams": true - }, - "history": 64, - "mode": "owned", - "name": "openpi_data", - "numpy": { - "enabled": true - }, - "recording": { - "camera_encoder": "libx264", - "default_event_value": null, - "enable_plots": false, - "enabled": true, - "fps": 30.0, - "output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi/data", - "queue_size": 4096 - }, - "streams": { - "base_0_color": { - "domain": "sensor", - "msg_type": "sensor_msgs.msg.Image", - "ros_domain_id": 22, - "topic": "/prometheus/sensors/cameras/base_0/color/image_raw" - }, - "left_wrist_0_color": { - "domain": "sensor", - "msg_type": "sensor_msgs.msg.Image", - "ros_domain_id": 22, - "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw" - }, - "right_wrist_0_color": { - "domain": "sensor", - "msg_type": "sensor_msgs.msg.Image", - "ros_domain_id": 22, - "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw" - }, - "robot_state": { - "domain": "robot", - "msg_type": "sensor_msgs.msg.JointState", - "ros_domain_id": 21, - "topic": "/prometheus/robots/yam/state" - } - } - }, - "execute": true, - "execution": { - "command_ack_timeout_s": 0.1, - "hold_settle_s": 0.2, - "hold_settle_timeout_s": 5.0, - "max_prediction_age_s": 0.5, - "max_schedule_lateness_s": 0.105 - }, - "hardware": { - "mode": "owned", - "name": "openpi_hardware", - "sensors": "auto", - "streams": "auto" - }, - "policy": { - "action_hz": 30.0, - "connect_timeout_s": 10.0, - "host": "127.0.0.1", - "max_observation_age_s": 0.5, - "observation_wait_timeout_s": 1.0, - "port": 8000, - "prompt": "Use the left arm to lift the lid of the pot, use the right arm to pick up the bread and place it in the pot, then use the left arm to put the lid back on the pot.", - "response_timeout_s": 120.0, - "slop_ms": 20.0 - }, - "preview": { - "enabled": true, - "fps": 20.0, - "height": 720, - "host": "127.0.0.1", - "mode": "local", - "port": 7860, - "refresh_ms": 100, - "stale_timeout_s": 1.0, - "ui_mode": "openpi", - "width": 1280, - "window": "Pi0.5 - Async execution" - }, - "robot": { - "_target_": "prometheus.nodes.robots.yam.resolve_robot", - "cameras": { - "camera_info": false, - "capture_height": 480, - "capture_hz": 30, - "capture_width": 640, - "collect_ir": false, - "ir": false, - "prepub_resize": 1.0, - "publish_hz": 30, - "qos": "reliable", - "serial_no": { - "base_0": "260322272085", - "left_wrist_0": "260422275825", - "right_wrist_0": "260322279382" - } - }, - "collection_input_source": "pedal,tty", - "collection_pedal": { - "confirm_presses": 2, - "confirm_window_s": 1.0, - "debounce_s": 0.05, - "devices": [ - "/dev/input/prometheus-pedal", - "/dev/input/prometheus-pedal-aux" - ], - "exclusive": true, - "pedal_map": { - "2": 0, - "3": 1, - "4": 2, - "5": 3, - "30": 0, - "32": 3, - "46": 2, - "48": 1 - } - }, - "control_domain_id": 21, - "id": "yam", - "robot": { - "action_space": "abs_qpos", - "alignment_duration_s": 3.0, - "bilateral_kp": 0.0, - "collection_mode": "policy", - "control_hz": 120, - "enable_auto_recovery": false, - "follower_arm": "yam_ultra", - "follower_can": { - "left": "can_follower_l", - "right": "can_follower_r" - }, - "follower_gripper": "linear_4310", - "gripper_width_m": 0.096, - "home_return": { - "enabled": false, - "feedback_timeout_s": 0.5, - "kp_scale": 1.0, - "max_velocity": 0.3, - "min_duration_s": 3.0, - "position_tolerance": 0.05, - "settle_s": 0.3, - "timeout_s": 25.0, - "tracking_error_limit": 0.35, - "velocity_tolerance": 0.1 - }, - "leader_arm": "yam", - "leader_can": null, - "leader_gripper": "yam_teaching_handle", - "policy_control": { - "acceleration_limits": [ - 118.7426430016755, - 165.012131490699, - 134.04180689399348, - 274.86399842805685, - 195.25766555964873, - 454.5340796113012, - 109.40927818565227, - 178.49339036295515, - 476.6444930964641, - 557.9080874526715, - 587.1810202100611, - 362.1711802492357, - 208.8803265352197, - 208.9010343469399 - ], - "command_timeout_s": 0.25, - "command_velocity_limits": [ - 7.326937734087213, - 7.492612143357643, - 9.039960411055707, - 10.989442599937178, - 11.822247140410347, - 21.729793477053846, - 4.549583926449072, - 9.542591565847905, - 16.49783855493206, - 19.18122166486826, - 20.271305218109156, - 13.274309575261345, - 14.009155302643812, - 4.764187300355128 - ], - "feedback_timeout_s": 0.2, - "hz": 30.0, - "stationary_velocity_limits": [ - 0.09619047798216343, - 0.09619047798216343, - 0.09125763334333897, - 0.09619047798216343, - 0.11098901189863682, - 0.18498168900609016, - 0.014679903751239181, - 0.10112332262098789, - 0.11098901189863682, - 0.10112332262098789, - 0.11098901189863682, - 0.14058608725667, - 0.2885714414715767, - 0.014345181323587895 - ], - "stop_file": "/tmp/prometheus_openpi/STOP", - "tracking_error_limits": [ - 0.20073625504970552, - 0.309388148188591, - 0.29782940477132797, - 0.22655070275068284, - 0.5001068050414323, - 0.7771305423974991, - 0.06952205713838339, - 0.268162048868835, - 0.3556229412555695, - 0.4542571985721588, - 0.3109293460845947, - 1.0653276860713958, - 0.45733958966098726, - 0.07211417473852634 - ], - "urdf": "/home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf", - "velocity_limits": [ - 6.503956017494202, - 7.554651925563812, - 9.670842275619506, - 10.588351378440857, - 8.72373610496521, - 13.252087483406067, - 1.2993822544813156, - 8.664541969299316, - 10.73633671760559, - 14.77633719921112, - 17.380879168510436, - 20.799341225624083, - 7.747032866477967, - 1.3316887146234513 - ] - }, - "require_enable_button": false, - "sim": false, - "state_publish_hz": 120, - "teleoperation_enabled": false - }, - "sensor_domain_id": 22 - }, - "ros": { - "localhost_only": true - }, - "run": { - "action_steps": 30, - "id": "20260920_205417_615796_round_0006", - "output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi/data/round_0006", - "runtime_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi/metadata/runtime", - "steps": 40, - "wait_ready_timeout_s": 30.0 - } - }, - "control_at_failure": { - "acceleration_limits": [ - 118.7426430016755, - 165.012131490699, - 134.04180689399348, - 274.86399842805685, - 195.25766555964873, - 454.5340796113012, - 109.40927818565227, - 178.49339036295515, - 476.6444930964641, - 557.9080874526715, - 587.1810202100611, - 362.1711802492357, - 208.8803265352197, - 208.9010343469399 - ], - "armed": false, - "command_guard_failure": null, - "command_velocity_limits": [ - 7.326937734087213, - 7.492612143357643, - 9.039960411055707, - 10.989442599937178, - 11.822247140410347, - 21.729793477053846, - 4.549583926449072, - 9.542591565847905, - 16.49783855493206, - 19.18122166486826, - 20.271305218109156, - 13.274309575261345, - 14.009155302643812, - 4.764187300355128 - ], - "dragging": false, - "fault": null, - "holding": false, - "policy_finished": false, - "position_guard_failure": null, - "position_limit_source": "sdk", - "position_limits": [ - [ - -2.7679899999999997, - 3.29159 - ], - [ - -0.15, - 3.81519 - ], - [ - -0.15, - 3.29159 - ], - [ - -1.84297, - 1.7207999999999999 - ], - [ - -1.7207999999999999, - 1.7207999999999999 - ], - [ - -2.2443999999999997, - 2.2443999999999997 - ], - [ - 0.0, - 0.096 - ], - [ - -2.7679899999999997, - 3.29159 - ], - [ - -0.15, - 3.81519 - ], - [ - -0.15, - 3.29159 - ], - [ - -1.84297, - 1.7207999999999999 - ], - [ - -1.7207999999999999, - 1.7207999999999999 - ], - [ - -2.2443999999999997, - 2.2443999999999997 - ], - [ - 0.0, - 0.096 - ] - ], - "stationary_velocity_limits": [ - 0.09619047798216343, - 0.09619047798216343, - 0.09125763334333897, - 0.09619047798216343, - 0.11098901189863682, - 0.18498168900609016, - 0.014679903751239181, - 0.10112332262098789, - 0.11098901189863682, - 0.10112332262098789, - 0.11098901189863682, - 0.14058608725667, - 0.2885714414715767, - 0.014345181323587895 - ], - "stop_file": "/tmp/prometheus_openpi/STOP", - "tracking_error_limits": [ - 0.20073625504970552, - 0.309388148188591, - 0.29782940477132797, - 0.22655070275068284, - 0.5001068050414323, - 0.7771305423974991, - 0.06952205713838339, - 0.268162048868835, - 0.3556229412555695, - 0.4542571985721588, - 0.3109293460845947, - 1.0653276860713958, - 0.45733958966098726, - 0.07211417473852634 - ], - "velocity_limits": [ - 6.503956017494202, - 7.554651925563812, - 9.670842275619506, - 10.588351378440857, - 8.72373610496521, - 13.252087483406067, - 1.2993822544813156, - 8.664541969299316, - 10.73633671760559, - 14.77633719921112, - 17.380879168510436, - 20.799341225624083, - 7.747032866477967, - 1.3316887146234513 - ] - }, - "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi/data/round_0006", - "error": "RuntimeError: async overlap exhausted before the next prediction was ready", - "failure_traceback": "Traceback (most recent call last):\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 441, in run_from_config\n call_cancellable(lambda: execute_async_round(\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 70, in call_cancellable\n raise value\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 54, in work\n result.put((True, fn()))\n ^^^^\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 441, in \n call_cancellable(lambda: execute_async_round(\n ^^^^^^^^^^^^^^^^^^^^\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/async_action_execution.py\", line 190, in execute_async_round\n candidate = blend_overlap(plan, candidate, blend)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/async_action_execution.py\", line 124, in blend_overlap\n raise RuntimeError('async overlap exhausted before the next prediction was ready')\nRuntimeError: async overlap exhausted before the next prediction was ready\n", - "hardware_at_failure": { - "details": { - "cleanup_errors": [], - "robot_client": { - "action_space": "abs_qpos", - "closed": false, - "command_source": "yam_workflow", - "control_topic": "/prometheus/robots/yam/control", - "request_id": "", - "result_topic": "/prometheus/robots/yam/control_result", - "ros_domain_id": 21, - "type": "RobotControlClient" - }, - "robot_driver": { - "action_dim": 14, - "action_space": "abs_qpos", - "collection_mode": "policy", - "connected": true, - "control_hz": 120.0, - "errors": {}, - "follower_can": { - "left": "can_follower_l", - "right": "can_follower_r" - }, - "home_return": { - "active": false, - "feedback": {}, - "result": "not_requested", - "settings": { - 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6.503956017494202, - 7.554651925563812, - 9.670842275619506, - 10.588351378440857, - 8.72373610496521, - 13.252087483406067, - 1.2993822544813156, - 8.664541969299316, - 10.73633671760559, - 14.77633719921112, - 17.380879168510436, - 20.799341225624083, - 7.747032866477967, - 1.3316887146234513 - ] -} diff --git a/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/rounds.json b/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/rounds.json index e9b333dbec728a498e9f523ec08c851b0ccc52ab..23b8f22c05d013f161ab6a0cbead05d627b2c62f 100644 --- a/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/rounds.json +++ b/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/rounds.json @@ -13,17 +13,6 @@ "task_success": true, "termination_reason": "operator_review" }, - { - "actions_sent": 671, - "chunks": 22, - "data_saved": true, - "operator_result": "discard", - "output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi/data/round_0002", - "reviewed_at_ns": 1789908835198350483, - "round_number": 2, - "status": "failed", - "task_success": null - }, { "actions_sent": 740, "chunks": 24, @@ -63,17 +52,6 @@ "task_success": false, "termination_reason": "operator_review" }, - { - "actions_sent": 43, - "chunks": 1, - "data_saved": true, - "operator_result": null, - "output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi/data/round_0006", - "reviewed_at_ns": null, - "round_number": 6, - "status": "failed", - "task_success": null - }, { "actions_sent": 697, "chunks": 23, @@ -100,17 +78,6 @@ "task_success": false, "termination_reason": "operator_review" }, - { - "actions_sent": 91, - "chunks": 3, - "data_saved": false, - "operator_result": "discard", - "output_dir": null, - "reviewed_at_ns": 1789909319639778308, - "round_number": 9, - "status": "failed", - "task_success": null - }, { "actions_sent": 623, "chunks": 20, diff --git a/eval/YAM/V2/pi0_20eps_20000/pick_and_place_bread/metadata/rounds.json b/eval/YAM/V2/pi0_20eps_20000/pick_and_place_bread/metadata/rounds.json index 1465f003fc867908f9794ba4d3eacd288edd4b10..f150e28ea7a464e7f3b820ef48950bb96785fc93 100644 --- a/eval/YAM/V2/pi0_20eps_20000/pick_and_place_bread/metadata/rounds.json +++ b/eval/YAM/V2/pi0_20eps_20000/pick_and_place_bread/metadata/rounds.json @@ -143,17 +143,6 @@ "task_success": false, "termination_reason": "operator_review" }, - { - "actions_sent": 46, - "chunks": 1, - "data_saved": false, - "operator_result": "discard", - "output_dir": null, - "reviewed_at_ns": 1789910066341687989, - "round_number": 12, - "status": "failed", - "task_success": null - }, { "actions_sent": 297, "chunks": 9,