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"39c623bd78f638d06ce0db57631b66d3028db208", + "step": 20000, + "task": "bread_pick", + "tasks": [ + "bread_pick" + ], + "warmup": { + "hardware_started": false, + "seconds": [ + 0.3122134779987391, + 0.05323083099210635, + 0.052236741001252085, + 0.05275415399228223 + ], + "status": "passed" + } + }, + "server_prediction_seconds": 0.05462238199834246, + "source": "yam_v2_dp_http", + "task": "bread_pick", + "wire_action_dtype": "float32" + }, + "time_ns": 1789572496045235132 +} diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0004/event/event_dict.pkl b/eval/YAM/V2/dp/bread_pick/data/round_0004/event/event_dict.pkl index e0c0a670b79629faf341f9f1dd0d61f3a60440b7..ffed1d8181ed41126e803e04040adcbab139d8d9 100644 Binary files a/eval/YAM/V2/dp/bread_pick/data/round_0004/event/event_dict.pkl and b/eval/YAM/V2/dp/bread_pick/data/round_0004/event/event_dict.pkl differ diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0004/manifests/action.json b/eval/YAM/V2/dp/bread_pick/data/round_0004/manifests/action.json index 52b0083ae44967f13670e9d8c4d2885e93216274..4ae0420265423960e1ac93f51d2d38d1caa75b89 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0004/manifests/action.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0004/manifests/action.json @@ -1,21 +1,22 @@ { "prometheus_action_recorder": { "counts": { - "action.executed": 96, - "camera.base_0_rgb": 161, - "camera.left_wrist_0_rgb": 161, - "camera.right_wrist_0_rgb": 161, + "action.executed": 299, + "camera.base_0_rgb": 493, + "camera.left_wrist_0_rgb": 495, + "camera.right_wrist_0_rgb": 497, "dropped": 0, "event.workflow": 1, - "items": 1224, - "robot.robot_state": 644 + "items": 3875, + "robot.robot_state": 2090 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0004", - "executed_actions": 96, + "executed_actions": 299, "failure": "", "metadata": { + "purpose": "continuous cameras and robot state; retain failed/interrupted runs", "round_number": 4, - "run_id": "20260916_232510_243954_round_0004", + "run_id": "20260916_232753_053252_round_0004", "workflow": "openpi_rollout" }, "policy_action_chunks": 0, @@ -23,6 +24,6 @@ "record_mode": "action", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572448.8650787 + "updated_at_unix": 1789572496.5679271 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0004/manifests/camera.json b/eval/YAM/V2/dp/bread_pick/data/round_0004/manifests/camera.json index 70f392fcbfe1ca87e59faba88223746ed4fb0a2f..e37850f549b779a5c37deb1c9c462f2b8cedcea1 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0004/manifests/camera.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0004/manifests/camera.json @@ -1,27 +1,28 @@ { "prometheus_camera_base_0_recorder": { "camera_frames": { - "base_0_rgb": 161 + "base_0_rgb": 493 }, - "camera_timestamp_samples": 161, - "complete_sensor_bundles": 161, + "camera_timestamp_samples": 493, + "complete_sensor_bundles": 493, "counts": { - "action.executed": 96, - "camera.base_0_rgb": 161, - "camera.left_wrist_0_rgb": 161, - "camera.right_wrist_0_rgb": 161, + "action.executed": 299, + "camera.base_0_rgb": 493, + "camera.left_wrist_0_rgb": 495, + "camera.right_wrist_0_rgb": 497, "dropped": 0, "event.workflow": 1, - "items": 1224, - "robot.robot_state": 644 + "items": 3875, + "robot.robot_state": 2090 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0004", "failure": "", "metadata": { + "purpose": "continuous cameras and robot state; retain failed/interrupted runs", "round_number": 4, - "run_id": "20260916_232510_243954_round_0004", + "run_id": "20260916_232753_053252_round_0004", "workflow": "openpi_rollout" }, "record_id": "prometheus_camera_base_0_recorder", @@ -30,31 +31,32 @@ "sensor_kind": "camera", "sensor_name": "base_0", "status": "saved", - "updated_at_unix": 1789572448.8650787 + "updated_at_unix": 1789572496.5679271 }, "prometheus_camera_left_wrist_0_recorder": { "camera_frames": { - "left_wrist_0_rgb": 161 + "left_wrist_0_rgb": 495 }, - "camera_timestamp_samples": 161, - "complete_sensor_bundles": 161, + "camera_timestamp_samples": 495, + "complete_sensor_bundles": 495, "counts": { - "action.executed": 96, - "camera.base_0_rgb": 161, - "camera.left_wrist_0_rgb": 161, - "camera.right_wrist_0_rgb": 161, + "action.executed": 299, + "camera.base_0_rgb": 493, + "camera.left_wrist_0_rgb": 495, + "camera.right_wrist_0_rgb": 497, "dropped": 0, "event.workflow": 1, - "items": 1224, - "robot.robot_state": 644 + "items": 3875, + "robot.robot_state": 2090 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0004", "failure": "", "metadata": { + "purpose": "continuous cameras and robot state; retain failed/interrupted runs", "round_number": 4, - "run_id": "20260916_232510_243954_round_0004", + "run_id": "20260916_232753_053252_round_0004", "workflow": "openpi_rollout" }, "record_id": "prometheus_camera_left_wrist_0_recorder", @@ -63,31 +65,32 @@ "sensor_kind": "camera", "sensor_name": "left_wrist_0", "status": "saved", - "updated_at_unix": 1789572448.8650787 + "updated_at_unix": 1789572496.5679271 }, "prometheus_camera_right_wrist_0_recorder": { "camera_frames": { - "right_wrist_0_rgb": 161 + "right_wrist_0_rgb": 497 }, - "camera_timestamp_samples": 161, - "complete_sensor_bundles": 161, + "camera_timestamp_samples": 497, + "complete_sensor_bundles": 497, "counts": { - "action.executed": 96, - "camera.base_0_rgb": 161, - "camera.left_wrist_0_rgb": 161, - "camera.right_wrist_0_rgb": 161, + "action.executed": 299, + "camera.base_0_rgb": 493, + "camera.left_wrist_0_rgb": 495, + "camera.right_wrist_0_rgb": 497, "dropped": 0, "event.workflow": 1, - "items": 1224, - "robot.robot_state": 644 + "items": 3875, + "robot.robot_state": 2090 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0004", "failure": "", "metadata": { + "purpose": "continuous cameras and robot state; retain failed/interrupted runs", "round_number": 4, - "run_id": "20260916_232510_243954_round_0004", + "run_id": "20260916_232753_053252_round_0004", "workflow": "openpi_rollout" }, "record_id": "prometheus_camera_right_wrist_0_recorder", @@ -96,6 +99,6 @@ "sensor_kind": "camera", "sensor_name": "right_wrist_0", "status": "saved", - "updated_at_unix": 1789572448.8650787 + "updated_at_unix": 1789572496.5679271 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0004/manifests/event.json b/eval/YAM/V2/dp/bread_pick/data/round_0004/manifests/event.json index 1c9e24726a1fd78534c027b959d75d8f5e0c4acc..ccbafd3a8d8c86043bebd851ae6f6c8184aa4694 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0004/manifests/event.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0004/manifests/event.json @@ -1,27 +1,28 @@ { "prometheus_event_recorder": { "counts": { - "action.executed": 96, - "camera.base_0_rgb": 161, - "camera.left_wrist_0_rgb": 161, - "camera.right_wrist_0_rgb": 161, + "action.executed": 299, + "camera.base_0_rgb": 493, + "camera.left_wrist_0_rgb": 495, + "camera.right_wrist_0_rgb": 497, "dropped": 0, "event.workflow": 1, - "items": 1224, - "robot.robot_state": 644 + "items": 3875, + "robot.robot_state": 2090 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0004", "event_samples": 1, "failure": "", "metadata": { + "purpose": "continuous cameras and robot state; retain failed/interrupted runs", "round_number": 4, - "run_id": "20260916_232510_243954_round_0004", + "run_id": "20260916_232753_053252_round_0004", "workflow": "openpi_rollout" }, "record_id": "prometheus_event_recorder", "record_mode": "event", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572448.8650787 + "updated_at_unix": 1789572496.5679271 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0004/manifests/robot.json b/eval/YAM/V2/dp/bread_pick/data/round_0004/manifests/robot.json index aa7ed8ba2e15911682a9611c41c62c9f1b48fe59..f0a3b0e154f1e49067fcb0f1d24103107c2663f1 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0004/manifests/robot.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0004/manifests/robot.json @@ -1,24 +1,25 @@ { "prometheus_robot_recorder": { "counts": { - "action.executed": 96, - "camera.base_0_rgb": 161, - "camera.left_wrist_0_rgb": 161, - "camera.right_wrist_0_rgb": 161, + "action.executed": 299, + "camera.base_0_rgb": 493, + "camera.left_wrist_0_rgb": 495, + "camera.right_wrist_0_rgb": 497, "dropped": 0, "event.workflow": 1, - "items": 1224, - "robot.robot_state": 644 + "items": 3875, + "robot.robot_state": 2090 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0004", "failure": "", "incomplete_robot_samples": { - "left": 644, - "right": 644 + "left": 2090, + "right": 2090 }, "metadata": { + "purpose": "continuous cameras and robot state; retain failed/interrupted runs", "round_number": 4, - "run_id": "20260916_232510_243954_round_0004", + "run_id": "20260916_232753_053252_round_0004", "workflow": "openpi_rollout" }, "pending_robot_samples": 0, @@ -26,11 +27,11 @@ "record_id": "prometheus_robot_recorder", "record_mode": "robot", "robot_samples": { - "left": 644, - "right": 644 + "left": 2090, + "right": 2090 }, "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572448.8650787 + "updated_at_unix": 1789572496.5679271 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0004/robot/robot_state_dict.pkl b/eval/YAM/V2/dp/bread_pick/data/round_0004/robot/robot_state_dict.pkl index 082e8f3501e5bbfc14fbca6a040aa843768d2b90..cb3b21a82c3d83fce1c137c447c26311a105d0db 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0004/robot/robot_state_dict.pkl +++ b/eval/YAM/V2/dp/bread_pick/data/round_0004/robot/robot_state_dict.pkl @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:067b644754f706b8e90ee8eaa206455dccd765f23f91d1b9736d966fbc9908c5 -size 235979 +oid sha256:b48a9e40943b37c07475e00dedcffc61c4b51ffa44a6a5d0f13aac2e72ccb1ba +size 765327 diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0004/workflow_manifest.json b/eval/YAM/V2/dp/bread_pick/data/round_0004/workflow_manifest.json index 1622f6da4023ed01dbb5c09aa756da08db6584e4..73af8c7545fbdf49752439c38b22aa8d84b0d969 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0004/workflow_manifest.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0004/workflow_manifest.json @@ -15,12 +15,8 @@ 313.320489803, 313.35155152 ], - "actions_sent": 96, - "awaiting_failure_shutdown": false, - "chunks": 3, - "cleanup_errors": [ - "robot_client.release_control: timed out waiting for robot control result: yam_workflow:1151" - ], + "actions_sent": 299, + "chunks": 9, "command_velocity_limits": [ 7.326937734087213, 7.492612143357643, @@ -46,7 +42,7 @@ "data": { "bridge": { "enabled": true, - "name": "openpi_observe_20260916_232510_243954", + "name": "openpi_observe_20260916_232753_053252", "qos_depth": 10, "sensor_qos": "reliable", "stamp_source": "header", @@ -306,7 +302,7 @@ }, "run": { "action_steps": 32, - "id": "20260916_232510_243954_round_0004", + "id": "20260916_232753_053252_round_0004", "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0004", "prediction_horizon": 32, "runtime_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/metadata/runtime", @@ -314,678 +310,12 @@ "wait_ready_timeout_s": 30.0 } }, - "control_at_failure": { - "acceleration_limits": [ - 178.113964503, - 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{ - "alignment_wait_ms": 4.875333004747517, + "alignment_wait_ms": 5.65203299629502, "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/bread_pick/best-short.pt", "first_action_minus_state": [ 0.0, @@ -106,45 +106,45 @@ 0.0, 0.0, 0.0, - 0.004769995808601379, - 0.0690608024597168, - 0.07832562923431396, - -0.014053821563720703, - -0.024453401565551758, - 0.006047263741493225, - 0.00024367868900299072 + 0.003126285970211029, + -0.005827292799949646, + -0.005929136648774147, + -9.679654613137245e-05, + 0.000989805907011032, + 0.012554782442748547, + 0.00017236173152923584 ], - "history_anchor_offset": 0, - "history_interval_ms": 33.344814, + "history_anchor_offset": 1, + "history_interval_ms": 33.326366, "history_sample_stamp_ns": { "base_0_color": [ - 1789572495893568755, - 1789572495926913569 + 1789572528768141583, + 1789572528801467949 ], "left_wrist_0_color": [ - 1789572495899409795, - 1789572495932806501 + 1789572528774071621, + 1789572528807435892 ], "right_wrist_0_color": [ - 1789572495904835369, - 1789572495938147049 + 1789572528779216158, + 1789572528812676595 ], "robot_state": [ - 1789572495891099355, - 1789572495924253466 + 1789572528765795801, + 1789572528799187945 ] }, "history_stamp_ns": [ - 1789572495893568755, - 1789572495926913569 + 1789572528768141583, + 1789572528801467949 ], "model_seed": null, - "observation_age_at_response_ms": 97.143886, - "observation_stamp_ns": 1789572495926913569, + "observation_age_at_response_ms": 136.483144, + "observation_stamp_ns": 1789572528801467949, "prompt": "bread_pick", "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208", - "request_id": "a2ab8dc8b5b24ee08bee145048fbce38", - "round_trip_ms": 57.664844003738835, + "request_id": "c5f74e05b7e6434e879a7c06b3973da8", + "round_trip_ms": 78.33758999186102, "server_metadata": { "action_shape": [ 32, @@ -185,10 +185,10 @@ "status": "passed" } }, - "server_prediction_seconds": 0.05462238199834246, + "server_prediction_seconds": 0.07461754900577944, "source": "yam_v2_dp_http", "task": "bread_pick", "wire_action_dtype": "float32" }, - "time_ns": 1789572496045235132 + "time_ns": 1789572528958706670 } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0005/event/event_dict.pkl b/eval/YAM/V2/dp/bread_pick/data/round_0005/event/event_dict.pkl index ffed1d8181ed41126e803e04040adcbab139d8d9..81aa8b3e340a95a9a65fa1c17e76493c5e31769b 100644 Binary files a/eval/YAM/V2/dp/bread_pick/data/round_0005/event/event_dict.pkl and b/eval/YAM/V2/dp/bread_pick/data/round_0005/event/event_dict.pkl differ diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0005/manifests/action.json b/eval/YAM/V2/dp/bread_pick/data/round_0005/manifests/action.json index b47c00e852bb89fec44de6ba5c13a98f6e65aa67..7975f9bb9c210fbc1c91b2912845d93ddbe12fb9 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0005/manifests/action.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0005/manifests/action.json @@ -1,20 +1,19 @@ { "prometheus_action_recorder": { "counts": { - "action.executed": 299, - "camera.base_0_rgb": 493, - "camera.left_wrist_0_rgb": 495, - "camera.right_wrist_0_rgb": 497, + "action.executed": 320, + "camera.base_0_rgb": 504, + "camera.left_wrist_0_rgb": 503, + "camera.right_wrist_0_rgb": 503, "dropped": 0, "event.workflow": 1, - "items": 3875, - "robot.robot_state": 2090 + "items": 3846, + "robot.robot_state": 2015 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0005", - "executed_actions": 299, + "executed_actions": 320, "failure": "", "metadata": { - "purpose": "continuous cameras and robot state; retain failed/interrupted runs", "round_number": 5, "run_id": "20260916_232753_053252_round_0005", "workflow": "openpi_rollout" @@ -24,6 +23,6 @@ "record_mode": "action", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572496.5679271 + "updated_at_unix": 1789572530.3298688 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0005/manifests/camera.json b/eval/YAM/V2/dp/bread_pick/data/round_0005/manifests/camera.json index 9cc12f7a36d7833fe8af4930caa83e6f82a89187..b0aedccf24f6bc4e957f880a4275cb286dcc1826 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0005/manifests/camera.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0005/manifests/camera.json @@ -1,26 +1,25 @@ { "prometheus_camera_base_0_recorder": { "camera_frames": { - "base_0_rgb": 493 + "base_0_rgb": 504 }, - "camera_timestamp_samples": 493, - "complete_sensor_bundles": 493, + "camera_timestamp_samples": 504, + "complete_sensor_bundles": 504, "counts": { - "action.executed": 299, - "camera.base_0_rgb": 493, - "camera.left_wrist_0_rgb": 495, - "camera.right_wrist_0_rgb": 497, + "action.executed": 320, + "camera.base_0_rgb": 504, + "camera.left_wrist_0_rgb": 503, + "camera.right_wrist_0_rgb": 503, "dropped": 0, "event.workflow": 1, - "items": 3875, - "robot.robot_state": 2090 + "items": 3846, + "robot.robot_state": 2015 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0005", "failure": "", "metadata": { - "purpose": "continuous cameras and robot state; retain failed/interrupted runs", "round_number": 5, "run_id": "20260916_232753_053252_round_0005", "workflow": "openpi_rollout" @@ -31,30 +30,29 @@ "sensor_kind": "camera", "sensor_name": "base_0", "status": "saved", - "updated_at_unix": 1789572496.5679271 + "updated_at_unix": 1789572530.3298688 }, "prometheus_camera_left_wrist_0_recorder": { "camera_frames": { - "left_wrist_0_rgb": 495 + "left_wrist_0_rgb": 503 }, - "camera_timestamp_samples": 495, - "complete_sensor_bundles": 495, + "camera_timestamp_samples": 503, + "complete_sensor_bundles": 503, "counts": { - "action.executed": 299, - "camera.base_0_rgb": 493, - "camera.left_wrist_0_rgb": 495, - "camera.right_wrist_0_rgb": 497, + "action.executed": 320, + "camera.base_0_rgb": 504, + "camera.left_wrist_0_rgb": 503, + "camera.right_wrist_0_rgb": 503, "dropped": 0, "event.workflow": 1, - "items": 3875, - "robot.robot_state": 2090 + "items": 3846, + "robot.robot_state": 2015 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0005", "failure": "", "metadata": { - "purpose": "continuous cameras and robot state; retain failed/interrupted runs", "round_number": 5, "run_id": "20260916_232753_053252_round_0005", "workflow": "openpi_rollout" @@ -65,30 +63,29 @@ "sensor_kind": "camera", "sensor_name": "left_wrist_0", "status": "saved", - "updated_at_unix": 1789572496.5679271 + "updated_at_unix": 1789572530.3298688 }, "prometheus_camera_right_wrist_0_recorder": { "camera_frames": { - "right_wrist_0_rgb": 497 + "right_wrist_0_rgb": 503 }, - "camera_timestamp_samples": 497, - "complete_sensor_bundles": 497, + "camera_timestamp_samples": 503, + "complete_sensor_bundles": 503, "counts": { - "action.executed": 299, - "camera.base_0_rgb": 493, - "camera.left_wrist_0_rgb": 495, - "camera.right_wrist_0_rgb": 497, + "action.executed": 320, + "camera.base_0_rgb": 504, + "camera.left_wrist_0_rgb": 503, + "camera.right_wrist_0_rgb": 503, "dropped": 0, "event.workflow": 1, - "items": 3875, - "robot.robot_state": 2090 + "items": 3846, + "robot.robot_state": 2015 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0005", "failure": "", "metadata": { - "purpose": "continuous cameras and robot state; retain failed/interrupted runs", "round_number": 5, "run_id": "20260916_232753_053252_round_0005", "workflow": "openpi_rollout" @@ -99,6 +96,6 @@ "sensor_kind": "camera", "sensor_name": "right_wrist_0", "status": "saved", - "updated_at_unix": 1789572496.5679271 + "updated_at_unix": 1789572530.3298688 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0005/manifests/event.json b/eval/YAM/V2/dp/bread_pick/data/round_0005/manifests/event.json index 88da3f29534f41cbc8dc06708b20a18df25c3f7a..72856d80f9bb33ba4591f7b8cb68fd77f447d43e 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0005/manifests/event.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0005/manifests/event.json @@ -1,20 +1,19 @@ { "prometheus_event_recorder": { "counts": { - "action.executed": 299, - "camera.base_0_rgb": 493, - "camera.left_wrist_0_rgb": 495, - "camera.right_wrist_0_rgb": 497, + "action.executed": 320, + "camera.base_0_rgb": 504, + "camera.left_wrist_0_rgb": 503, + "camera.right_wrist_0_rgb": 503, "dropped": 0, "event.workflow": 1, - "items": 3875, - "robot.robot_state": 2090 + "items": 3846, + "robot.robot_state": 2015 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0005", "event_samples": 1, "failure": "", "metadata": { - "purpose": "continuous cameras and robot state; retain failed/interrupted runs", "round_number": 5, "run_id": "20260916_232753_053252_round_0005", "workflow": "openpi_rollout" @@ -23,6 +22,6 @@ "record_mode": "event", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572496.5679271 + "updated_at_unix": 1789572530.3298688 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0005/manifests/robot.json b/eval/YAM/V2/dp/bread_pick/data/round_0005/manifests/robot.json index fd075202a109377761f859e0bd40721bb2dbd9a6..494d19b8823474b4d81afc691c658ebdddf60931 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0005/manifests/robot.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0005/manifests/robot.json @@ -1,23 +1,22 @@ { "prometheus_robot_recorder": { "counts": { - "action.executed": 299, - "camera.base_0_rgb": 493, - "camera.left_wrist_0_rgb": 495, - "camera.right_wrist_0_rgb": 497, + "action.executed": 320, + "camera.base_0_rgb": 504, + "camera.left_wrist_0_rgb": 503, + "camera.right_wrist_0_rgb": 503, "dropped": 0, "event.workflow": 1, - "items": 3875, - "robot.robot_state": 2090 + "items": 3846, + "robot.robot_state": 2015 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0005", "failure": "", "incomplete_robot_samples": { - "left": 2090, - "right": 2090 + "left": 2015, + "right": 2015 }, "metadata": { - "purpose": "continuous cameras and robot state; retain failed/interrupted runs", "round_number": 5, "run_id": "20260916_232753_053252_round_0005", "workflow": "openpi_rollout" @@ -27,11 +26,11 @@ "record_id": "prometheus_robot_recorder", "record_mode": "robot", "robot_samples": { - "left": 2090, - "right": 2090 + "left": 2015, + "right": 2015 }, "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572496.5679271 + "updated_at_unix": 1789572530.3298688 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0005/robot/robot_state_dict.pkl b/eval/YAM/V2/dp/bread_pick/data/round_0005/robot/robot_state_dict.pkl index cb3b21a82c3d83fce1c137c447c26311a105d0db..8f68e6058cc477b0770a3c9278bc90e32adfd632 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0005/robot/robot_state_dict.pkl +++ b/eval/YAM/V2/dp/bread_pick/data/round_0005/robot/robot_state_dict.pkl @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b48a9e40943b37c07475e00dedcffc61c4b51ffa44a6a5d0f13aac2e72ccb1ba -size 765327 +oid sha256:48b66d8ae85c4cdad7e5b897f9a2276f04ef99dd9d370e2c00ec077d302a9d2a +size 737877 diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0005/workflow_manifest.json b/eval/YAM/V2/dp/bread_pick/data/round_0005/workflow_manifest.json index d3c779540f5414f129e73b02d9b8486ed460ba9f..4ed86614d57f3ccec47c2ef715d08e41c2a21205 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0005/workflow_manifest.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0005/workflow_manifest.json @@ -15,8 +15,8 @@ 313.320489803, 313.35155152 ], - "actions_sent": 299, - "chunks": 9, + "actions_sent": 320, + "chunks": 10, "command_velocity_limits": [ 7.326937734087213, 7.492612143357643, @@ -312,9 +312,10 @@ }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0005", "next_round_confirmed": true, + "observation_not_before_ns": 1789572513656457980, "operator_command_file": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/metadata/runtime/operator_command", "operator_drag_verified": true, - "operator_result": "failure", + "operator_result": "success", "operator_stopped": true, "policy_control_limits": { "acceleration_limits": [ @@ -538,19 +539,19 @@ "robot": 0 }, "record_counts": { - "action.executed": 299, - "camera.base_0_rgb": 493, - 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b/eval/YAM/V2/dp/bread_pick/data/round_0006/manifests/action.json index 9554636b75562a65480234158ee61f0d4afc36ab..85e6c9895377b46cecbb059e988ad800b040a2f5 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0006/manifests/action.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0006/manifests/action.json @@ -1,17 +1,17 @@ { "prometheus_action_recorder": { "counts": { - "action.executed": 320, - "camera.base_0_rgb": 504, - "camera.left_wrist_0_rgb": 503, - "camera.right_wrist_0_rgb": 503, + "action.executed": 288, + "camera.base_0_rgb": 454, + "camera.left_wrist_0_rgb": 454, + "camera.right_wrist_0_rgb": 454, "dropped": 0, "event.workflow": 1, - "items": 3846, - "robot.robot_state": 2015 + "items": 3467, + "robot.robot_state": 1816 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0006", - "executed_actions": 320, + "executed_actions": 288, "failure": "", "metadata": { "round_number": 6, @@ -23,6 +23,6 @@ "record_mode": "action", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572530.3298688 + "updated_at_unix": 1789572569.9802177 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0006/manifests/camera.json b/eval/YAM/V2/dp/bread_pick/data/round_0006/manifests/camera.json index a69013a86ff0143472a8f3040deaff4fbca75e4b..88f2b72e078559855acb330b8e0fd19f3dd43267 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0006/manifests/camera.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0006/manifests/camera.json @@ -1,19 +1,19 @@ { "prometheus_camera_base_0_recorder": { "camera_frames": { - "base_0_rgb": 504 + "base_0_rgb": 454 }, - "camera_timestamp_samples": 504, - "complete_sensor_bundles": 504, + "camera_timestamp_samples": 454, + "complete_sensor_bundles": 454, "counts": { - "action.executed": 320, - "camera.base_0_rgb": 504, - "camera.left_wrist_0_rgb": 503, - "camera.right_wrist_0_rgb": 503, + "action.executed": 288, + "camera.base_0_rgb": 454, + 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3846, - "robot.robot_state": 2015 + "items": 3467, + "robot.robot_state": 1816 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -63,23 +63,23 @@ "sensor_kind": "camera", "sensor_name": "left_wrist_0", "status": "saved", - "updated_at_unix": 1789572530.3298688 + "updated_at_unix": 1789572569.9802177 }, "prometheus_camera_right_wrist_0_recorder": { "camera_frames": { - "right_wrist_0_rgb": 503 + "right_wrist_0_rgb": 454 }, - "camera_timestamp_samples": 503, - "complete_sensor_bundles": 503, + "camera_timestamp_samples": 454, + "complete_sensor_bundles": 454, "counts": { - "action.executed": 320, - "camera.base_0_rgb": 504, - "camera.left_wrist_0_rgb": 503, - "camera.right_wrist_0_rgb": 503, + "action.executed": 288, + "camera.base_0_rgb": 454, + "camera.left_wrist_0_rgb": 454, + "camera.right_wrist_0_rgb": 454, "dropped": 0, "event.workflow": 1, - "items": 3846, - "robot.robot_state": 2015 + "items": 3467, + "robot.robot_state": 1816 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -96,6 +96,6 @@ "sensor_kind": "camera", "sensor_name": "right_wrist_0", "status": "saved", - "updated_at_unix": 1789572530.3298688 + "updated_at_unix": 1789572569.9802177 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0006/manifests/event.json b/eval/YAM/V2/dp/bread_pick/data/round_0006/manifests/event.json index a9597b4b2057bce8ce4c64e840bc1c1b737f0eb6..8b6d4d904c21ac773bbdcecff903af59733ed094 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0006/manifests/event.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0006/manifests/event.json @@ -1,14 +1,14 @@ { "prometheus_event_recorder": { "counts": { - "action.executed": 320, - "camera.base_0_rgb": 504, - "camera.left_wrist_0_rgb": 503, - "camera.right_wrist_0_rgb": 503, + "action.executed": 288, + "camera.base_0_rgb": 454, + "camera.left_wrist_0_rgb": 454, + "camera.right_wrist_0_rgb": 454, "dropped": 0, "event.workflow": 1, - "items": 3846, - 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eval/YAM/V2/dp/bread_pick/data/round_0006/debug/validations/validation_0009.json rename to eval/YAM/V2/dp/bread_pick/data/round_0007/debug/validations/validation_0009.json index f332fc0609506506800557e41ee847e5ec985410..adc67803d1a5c729c9aea4bfd72fc2142fd78016 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0006/debug/validations/validation_0009.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0007/debug/validations/validation_0009.json @@ -23,80 +23,80 @@ 0.0001907377737087046, -0.1577401388570987, 0.09592362216114574, - -0.04673075455862907, - 0.052071412222476354, - 0.032234683756771076, - 0.00705729762722207, - -0.04215304798962016, - -0.010490577553978753, - 0.09582074116633152 + -0.07305256733043741, + 0.23174639505607608, + 0.19321736476691775, + -0.026894026092923795, + -0.05359731441214244, + -0.07076371404593296, + 0.09583453030738294 ], "current_velocity": [ - 0.0024420024420024333, - -0.0073260073260073, - 0.0024420024420024333, - -0.0073260073260073, - 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a/eval/YAM/V2/dp/bread_pick/data/round_0007/manifests/action.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0007/manifests/action.json @@ -1,17 +1,17 @@ { "prometheus_action_recorder": { "counts": { - "action.executed": 288, - "camera.base_0_rgb": 454, - "camera.left_wrist_0_rgb": 454, - "camera.right_wrist_0_rgb": 454, + "action.executed": 320, + "camera.base_0_rgb": 499, + "camera.left_wrist_0_rgb": 499, + "camera.right_wrist_0_rgb": 498, "dropped": 0, "event.workflow": 1, - "items": 3467, - "robot.robot_state": 1816 + "items": 3811, + "robot.robot_state": 1994 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0007", - "executed_actions": 288, + "executed_actions": 320, "failure": "", "metadata": { "round_number": 7, @@ -23,6 +23,6 @@ "record_mode": "action", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572569.9802177 + "updated_at_unix": 1789572600.9203067 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0007/manifests/camera.json b/eval/YAM/V2/dp/bread_pick/data/round_0007/manifests/camera.json index f977ffa39d8634e35c8dc4592188cc65ad2868a0..6911b9cd7deaacd75d2fc6804b07e7454185b1e0 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0007/manifests/camera.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0007/manifests/camera.json @@ -1,19 +1,19 @@ { "prometheus_camera_base_0_recorder": { "camera_frames": { - "base_0_rgb": 454 + "base_0_rgb": 499 }, - "camera_timestamp_samples": 454, - "complete_sensor_bundles": 454, + "camera_timestamp_samples": 499, + "complete_sensor_bundles": 499, "counts": { - "action.executed": 288, - "camera.base_0_rgb": 454, - "camera.left_wrist_0_rgb": 454, - "camera.right_wrist_0_rgb": 454, + "action.executed": 320, + "camera.base_0_rgb": 499, + "camera.left_wrist_0_rgb": 499, + "camera.right_wrist_0_rgb": 498, "dropped": 0, "event.workflow": 1, - "items": 3467, - "robot.robot_state": 1816 + "items": 3811, + "robot.robot_state": 1994 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -30,23 +30,23 @@ "sensor_kind": "camera", "sensor_name": "base_0", "status": "saved", - "updated_at_unix": 1789572569.9802177 + "updated_at_unix": 1789572600.9203067 }, "prometheus_camera_left_wrist_0_recorder": { "camera_frames": { - "left_wrist_0_rgb": 454 + "left_wrist_0_rgb": 499 }, - "camera_timestamp_samples": 454, - "complete_sensor_bundles": 454, + "camera_timestamp_samples": 499, + "complete_sensor_bundles": 499, "counts": { - "action.executed": 288, - "camera.base_0_rgb": 454, - "camera.left_wrist_0_rgb": 454, - "camera.right_wrist_0_rgb": 454, + "action.executed": 320, + "camera.base_0_rgb": 499, + "camera.left_wrist_0_rgb": 499, + "camera.right_wrist_0_rgb": 498, "dropped": 0, "event.workflow": 1, - "items": 3467, - "robot.robot_state": 1816 + "items": 3811, + "robot.robot_state": 1994 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -63,23 +63,23 @@ "sensor_kind": "camera", "sensor_name": "left_wrist_0", "status": "saved", - "updated_at_unix": 1789572569.9802177 + "updated_at_unix": 1789572600.9203067 }, "prometheus_camera_right_wrist_0_recorder": { "camera_frames": { - "right_wrist_0_rgb": 454 + "right_wrist_0_rgb": 498 }, - "camera_timestamp_samples": 454, - "complete_sensor_bundles": 454, + "camera_timestamp_samples": 498, + "complete_sensor_bundles": 498, "counts": { - "action.executed": 288, - "camera.base_0_rgb": 454, - "camera.left_wrist_0_rgb": 454, - "camera.right_wrist_0_rgb": 454, + "action.executed": 320, + "camera.base_0_rgb": 499, + "camera.left_wrist_0_rgb": 499, + "camera.right_wrist_0_rgb": 498, "dropped": 0, "event.workflow": 1, - "items": 3467, - "robot.robot_state": 1816 + "items": 3811, + "robot.robot_state": 1994 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -96,6 +96,6 @@ "sensor_kind": "camera", "sensor_name": "right_wrist_0", "status": "saved", - "updated_at_unix": 1789572569.9802177 + "updated_at_unix": 1789572600.9203067 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0007/manifests/event.json b/eval/YAM/V2/dp/bread_pick/data/round_0007/manifests/event.json index 2aef7641fcc1e874a1bed2a5cc32c292c60f8c10..92f148ccafd39c0617eb23af696c4be5cf24fcba 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0007/manifests/event.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0007/manifests/event.json @@ -1,14 +1,14 @@ { "prometheus_event_recorder": { "counts": { - "action.executed": 288, - "camera.base_0_rgb": 454, - "camera.left_wrist_0_rgb": 454, - "camera.right_wrist_0_rgb": 454, + "action.executed": 320, + "camera.base_0_rgb": 499, + "camera.left_wrist_0_rgb": 499, + "camera.right_wrist_0_rgb": 498, "dropped": 0, "event.workflow": 1, - "items": 3467, - "robot.robot_state": 1816 + "items": 3811, + "robot.robot_state": 1994 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0007", 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"bread_pick", "wire_action_dtype": "float32" }, - "time_ns": 1789572599554547293 + "time_ns": 1789572630137643844 } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0008/event/event_dict.pkl b/eval/YAM/V2/dp/bread_pick/data/round_0008/event/event_dict.pkl index 2cd5fc1f9a63aeb23a78ab21830582fae95a5ecb..c5ed1ba63a2ad9147b780de9508e5614efd3459a 100644 Binary files a/eval/YAM/V2/dp/bread_pick/data/round_0008/event/event_dict.pkl and b/eval/YAM/V2/dp/bread_pick/data/round_0008/event/event_dict.pkl differ diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0008/manifests/action.json b/eval/YAM/V2/dp/bread_pick/data/round_0008/manifests/action.json index 1c8c8e32eacb10d3bcf7284556a223329fbc9df5..afd421433de86e48fb3f5e90b363aca139c975d3 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0008/manifests/action.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0008/manifests/action.json @@ -2,13 +2,13 @@ "prometheus_action_recorder": { "counts": { "action.executed": 320, - "camera.base_0_rgb": 499, - "camera.left_wrist_0_rgb": 499, - "camera.right_wrist_0_rgb": 498, + "camera.base_0_rgb": 487, + "camera.left_wrist_0_rgb": 487, + "camera.right_wrist_0_rgb": 487, "dropped": 0, "event.workflow": 1, - "items": 3811, - "robot.robot_state": 1994 + "items": 3729, + "robot.robot_state": 1947 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0008", "executed_actions": 320, @@ -23,6 +23,6 @@ "record_mode": "action", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572600.9203067 + "updated_at_unix": 1789572631.42686 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0008/manifests/camera.json b/eval/YAM/V2/dp/bread_pick/data/round_0008/manifests/camera.json index 6d03da7347a2999d318fbedc117a5cd41f3113dd..57c9919ee12a4f695835d1ccafaf6905f063dcd9 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0008/manifests/camera.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0008/manifests/camera.json @@ -1,19 +1,19 @@ { "prometheus_camera_base_0_recorder": { "camera_frames": { - "base_0_rgb": 499 + "base_0_rgb": 487 }, - "camera_timestamp_samples": 499, - "complete_sensor_bundles": 499, + "camera_timestamp_samples": 487, + "complete_sensor_bundles": 487, "counts": { "action.executed": 320, - "camera.base_0_rgb": 499, - "camera.left_wrist_0_rgb": 499, - "camera.right_wrist_0_rgb": 498, + "camera.base_0_rgb": 487, + "camera.left_wrist_0_rgb": 487, + "camera.right_wrist_0_rgb": 487, "dropped": 0, "event.workflow": 1, - "items": 3811, - "robot.robot_state": 1994 + "items": 3729, + "robot.robot_state": 1947 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -30,23 +30,23 @@ "sensor_kind": "camera", "sensor_name": "base_0", "status": "saved", - "updated_at_unix": 1789572600.9203067 + "updated_at_unix": 1789572631.42686 }, "prometheus_camera_left_wrist_0_recorder": { "camera_frames": { - "left_wrist_0_rgb": 499 + "left_wrist_0_rgb": 487 }, - "camera_timestamp_samples": 499, - "complete_sensor_bundles": 499, + "camera_timestamp_samples": 487, + "complete_sensor_bundles": 487, "counts": { "action.executed": 320, - "camera.base_0_rgb": 499, - "camera.left_wrist_0_rgb": 499, - "camera.right_wrist_0_rgb": 498, + "camera.base_0_rgb": 487, + "camera.left_wrist_0_rgb": 487, + "camera.right_wrist_0_rgb": 487, "dropped": 0, "event.workflow": 1, - "items": 3811, - "robot.robot_state": 1994 + "items": 3729, + "robot.robot_state": 1947 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -63,23 +63,23 @@ "sensor_kind": "camera", "sensor_name": "left_wrist_0", "status": "saved", - "updated_at_unix": 1789572600.9203067 + "updated_at_unix": 1789572631.42686 }, "prometheus_camera_right_wrist_0_recorder": { "camera_frames": { - "right_wrist_0_rgb": 498 + "right_wrist_0_rgb": 487 }, - "camera_timestamp_samples": 498, - "complete_sensor_bundles": 498, + "camera_timestamp_samples": 487, + "complete_sensor_bundles": 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"server_metadata": { "action_shape": [ 32, @@ -185,10 +185,10 @@ "status": "passed" } }, - "server_prediction_seconds": 0.07533154200064018, + "server_prediction_seconds": 0.07562442299968097, "source": "yam_v2_dp_http", "task": "bread_pick", "wire_action_dtype": "float32" }, - "time_ns": 1789572628633899350 + "time_ns": 1789572655752859457 } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0009/event/event_dict.pkl b/eval/YAM/V2/dp/bread_pick/data/round_0009/event/event_dict.pkl index c5ed1ba63a2ad9147b780de9508e5614efd3459a..08456886f3bdfd538a3c24feb1742ead9b772f18 100644 Binary files a/eval/YAM/V2/dp/bread_pick/data/round_0009/event/event_dict.pkl and b/eval/YAM/V2/dp/bread_pick/data/round_0009/event/event_dict.pkl differ diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0009/manifests/action.json b/eval/YAM/V2/dp/bread_pick/data/round_0009/manifests/action.json index 220d9364547efa7a7be96b5a1acaa074d86cfa92..930b031f0063117453c03dcd873ccf120b00dad8 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0009/manifests/action.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0009/manifests/action.json @@ -1,17 +1,17 @@ { "prometheus_action_recorder": { "counts": { - "action.executed": 320, - "camera.base_0_rgb": 487, - "camera.left_wrist_0_rgb": 487, - "camera.right_wrist_0_rgb": 487, + "action.executed": 269, + "camera.base_0_rgb": 427, + "camera.left_wrist_0_rgb": 427, + "camera.right_wrist_0_rgb": 427, "dropped": 0, "event.workflow": 1, - "items": 3729, - "robot.robot_state": 1947 + "items": 3261, + "robot.robot_state": 1710 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0009", - "executed_actions": 320, + "executed_actions": 269, "failure": "", "metadata": { "round_number": 9, @@ -23,6 +23,6 @@ "record_mode": "action", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572631.42686 + "updated_at_unix": 1789572656.3505785 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0009/manifests/camera.json b/eval/YAM/V2/dp/bread_pick/data/round_0009/manifests/camera.json index c736d21a0a0c17db9929c8581facf6ebef24e58a..a47d67060f7da32088a62af0decae6669f0fee53 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0009/manifests/camera.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0009/manifests/camera.json @@ -1,19 +1,19 @@ { "prometheus_camera_base_0_recorder": { "camera_frames": { - "base_0_rgb": 487 + "base_0_rgb": 427 }, - "camera_timestamp_samples": 487, - "complete_sensor_bundles": 487, + "camera_timestamp_samples": 427, + "complete_sensor_bundles": 427, "counts": { - "action.executed": 320, - "camera.base_0_rgb": 487, - "camera.left_wrist_0_rgb": 487, - "camera.right_wrist_0_rgb": 487, + "action.executed": 269, + "camera.base_0_rgb": 427, + "camera.left_wrist_0_rgb": 427, + "camera.right_wrist_0_rgb": 427, "dropped": 0, "event.workflow": 1, - "items": 3729, - "robot.robot_state": 1947 + "items": 3261, + "robot.robot_state": 1710 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -30,23 +30,23 @@ "sensor_kind": "camera", "sensor_name": "base_0", "status": "saved", - "updated_at_unix": 1789572631.42686 + "updated_at_unix": 1789572656.3505785 }, "prometheus_camera_left_wrist_0_recorder": { "camera_frames": { - "left_wrist_0_rgb": 487 + "left_wrist_0_rgb": 427 }, - "camera_timestamp_samples": 487, - "complete_sensor_bundles": 487, + "camera_timestamp_samples": 427, + "complete_sensor_bundles": 427, "counts": { - "action.executed": 320, - "camera.base_0_rgb": 487, - "camera.left_wrist_0_rgb": 487, - "camera.right_wrist_0_rgb": 487, + "action.executed": 269, + "camera.base_0_rgb": 427, + "camera.left_wrist_0_rgb": 427, + "camera.right_wrist_0_rgb": 427, "dropped": 0, "event.workflow": 1, - "items": 3729, - "robot.robot_state": 1947 + "items": 3261, + "robot.robot_state": 1710 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -63,23 +63,23 @@ "sensor_kind": "camera", "sensor_name": "left_wrist_0", "status": "saved", - "updated_at_unix": 1789572631.42686 + "updated_at_unix": 1789572656.3505785 }, "prometheus_camera_right_wrist_0_recorder": { "camera_frames": { - "right_wrist_0_rgb": 487 + "right_wrist_0_rgb": 427 }, - "camera_timestamp_samples": 487, - "complete_sensor_bundles": 487, + "camera_timestamp_samples": 427, + "complete_sensor_bundles": 427, "counts": { - "action.executed": 320, - "camera.base_0_rgb": 487, - "camera.left_wrist_0_rgb": 487, - "camera.right_wrist_0_rgb": 487, + "action.executed": 269, + "camera.base_0_rgb": 427, + "camera.left_wrist_0_rgb": 427, + "camera.right_wrist_0_rgb": 427, "dropped": 0, "event.workflow": 1, - "items": 3729, - "robot.robot_state": 1947 + "items": 3261, + "robot.robot_state": 1710 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -96,6 +96,6 @@ "sensor_kind": "camera", "sensor_name": "right_wrist_0", "status": "saved", - "updated_at_unix": 1789572631.42686 + "updated_at_unix": 1789572656.3505785 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0009/manifests/event.json b/eval/YAM/V2/dp/bread_pick/data/round_0009/manifests/event.json index 818694b4dfb9dabef3cc17cfb9155c0511df5da4..ffe3f6e53057dc15ddc094bd19683f25119aa572 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0009/manifests/event.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0009/manifests/event.json @@ -1,14 +1,14 @@ { "prometheus_event_recorder": { "counts": { - "action.executed": 320, - "camera.base_0_rgb": 487, - "camera.left_wrist_0_rgb": 487, - "camera.right_wrist_0_rgb": 487, + "action.executed": 269, + "camera.base_0_rgb": 427, + "camera.left_wrist_0_rgb": 427, + "camera.right_wrist_0_rgb": 427, "dropped": 0, "event.workflow": 1, - "items": 3729, - "robot.robot_state": 1947 + "items": 3261, + "robot.robot_state": 1710 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0009", "event_samples": 1, @@ -22,6 +22,6 @@ "record_mode": "event", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572631.42686 + "updated_at_unix": 1789572656.3505785 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0009/manifests/robot.json b/eval/YAM/V2/dp/bread_pick/data/round_0009/manifests/robot.json index bce57404264364fec6e87e1d09f879738c932988..479dc2f11c9acf0ac4496f85e1d3e8aedab3a244 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0009/manifests/robot.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0009/manifests/robot.json @@ -1,20 +1,20 @@ { "prometheus_robot_recorder": { "counts": { - "action.executed": 320, - "camera.base_0_rgb": 487, - "camera.left_wrist_0_rgb": 487, - "camera.right_wrist_0_rgb": 487, + "action.executed": 269, + "camera.base_0_rgb": 427, + "camera.left_wrist_0_rgb": 427, + "camera.right_wrist_0_rgb": 427, "dropped": 0, "event.workflow": 1, - "items": 3729, - "robot.robot_state": 1947 + "items": 3261, + 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b/eval/YAM/V2/dp/bread_pick/data/round_0009/robot/robot_state_dict.pkl @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e8f906a86b9f118b72bec49af4c8f7e842fa553e067b2d4b2a017d5261648ea9 -size 712960 +oid sha256:04d98bd6ab60a73cf32ab36f15b01563a08b7c0b58b3fc2bf4b4bf0805c70b44 +size 626209 diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0009/workflow_manifest.json b/eval/YAM/V2/dp/bread_pick/data/round_0009/workflow_manifest.json index 22d5261e7a0b97853018c0d8711df13707b0c8a2..4a1cb208e52dff6e5dea176fca2afbb272b0d10f 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0009/workflow_manifest.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0009/workflow_manifest.json @@ -15,8 +15,8 @@ 313.320489803, 313.35155152 ], - "actions_sent": 320, - "chunks": 10, + "actions_sent": 269, + "chunks": 8, "command_velocity_limits": [ 7.326937734087213, 7.492612143357643, @@ -312,7 +312,7 @@ }, "episode_dir": 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1789572656234848968, "round_number": 9, "stationary_velocity_limits": [ 0.09619047798216343, diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0010/action/executed_action_dict.pkl b/eval/YAM/V2/dp/bread_pick/data/round_0010/action/executed_action_dict.pkl index 817faf39a17c4089e66beaf893e2302b85bf8203..e23112263e0bf52c500af8b9abadcbf1cf1972a9 100644 Binary files a/eval/YAM/V2/dp/bread_pick/data/round_0010/action/executed_action_dict.pkl and b/eval/YAM/V2/dp/bread_pick/data/round_0010/action/executed_action_dict.pkl differ diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0010/camera/base_0_rgb.mp4 b/eval/YAM/V2/dp/bread_pick/data/round_0010/camera/base_0_rgb.mp4 index fa5b6d4d371fd1a5573526e74c8aabbbb550a400..74ea5c3bdb7435db0db79533f490ee4b499249b7 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0010/camera/base_0_rgb.mp4 +++ b/eval/YAM/V2/dp/bread_pick/data/round_0010/camera/base_0_rgb.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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a/eval/YAM/V2/dp/bread_pick/data/round_0010/debug/validations/validation_0007.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0010/debug/validations/validation_0007.json @@ -17,86 +17,86 @@ ], "current": [ -0.012397955291065799, - 0.011253528648813571, + 0.01201647974364839, 0.013923857480735435, 0.0001907377737087046, 0.0001907377737087046, -0.15812161440451256, 0.09592362216114574, - -0.07953765163652982, - 0.22182803082322344, - 0.18825818265049143, - -0.093270771343553, - -0.0017166399633783413, - -0.02994583047226307, - 0.09568974432634302 + -0.10471503776607882, + 0.1577401388570987, + 0.11501487754634887, + -0.015449759670405072, + -0.07686732280460795, + -0.0001907377737087046, + 0.09582763573685724 ], "current_velocity": [ -0.0024420024420024333, - 0.012210012210012167, + -0.0024420024420024333, 0.0024420024420024333, + -0.0073260073260073, 0.0073260073260073, -0.0073260073260073, - -0.0219780219780219, 0.00013334456661521563, - -0.0073260073260073, + 0.0073260073260073, + 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"counts": { - "action.executed": 269, - "camera.base_0_rgb": 427, - "camera.left_wrist_0_rgb": 427, - "camera.right_wrist_0_rgb": 427, + "action.executed": 254, + "camera.base_0_rgb": 402, + "camera.left_wrist_0_rgb": 402, + "camera.right_wrist_0_rgb": 402, "dropped": 0, "event.workflow": 1, - "items": 3261, - "robot.robot_state": 1710 + "items": 3069, + "robot.robot_state": 1608 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0010", - "executed_actions": 269, + "executed_actions": 254, "failure": "", "metadata": { "round_number": 10, @@ -23,6 +23,6 @@ "record_mode": "action", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572656.3505785 + "updated_at_unix": 1789572682.3628387 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0010/manifests/camera.json b/eval/YAM/V2/dp/bread_pick/data/round_0010/manifests/camera.json index 931af649813bf57977637660f8afa6321b502a17..0cba3d1ba05a1951d0d472c2a348fcd822a9dd6f 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0010/manifests/camera.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0010/manifests/camera.json @@ -1,19 +1,19 @@ { "prometheus_camera_base_0_recorder": { "camera_frames": { - "base_0_rgb": 427 + "base_0_rgb": 402 }, - "camera_timestamp_samples": 427, - "complete_sensor_bundles": 427, + "camera_timestamp_samples": 402, + "complete_sensor_bundles": 402, "counts": { - "action.executed": 269, - "camera.base_0_rgb": 427, - "camera.left_wrist_0_rgb": 427, - "camera.right_wrist_0_rgb": 427, + "action.executed": 254, + "camera.base_0_rgb": 402, + "camera.left_wrist_0_rgb": 402, + "camera.right_wrist_0_rgb": 402, "dropped": 0, "event.workflow": 1, - "items": 3261, - "robot.robot_state": 1710 + "items": 3069, + "robot.robot_state": 1608 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -30,23 +30,23 @@ "sensor_kind": "camera", "sensor_name": "base_0", "status": "saved", - "updated_at_unix": 1789572656.3505785 + "updated_at_unix": 1789572682.3628387 }, "prometheus_camera_left_wrist_0_recorder": { "camera_frames": { - "left_wrist_0_rgb": 427 + "left_wrist_0_rgb": 402 }, - "camera_timestamp_samples": 427, - "complete_sensor_bundles": 427, + "camera_timestamp_samples": 402, + "complete_sensor_bundles": 402, "counts": { - "action.executed": 269, - "camera.base_0_rgb": 427, - "camera.left_wrist_0_rgb": 427, - "camera.right_wrist_0_rgb": 427, + "action.executed": 254, + "camera.base_0_rgb": 402, + "camera.left_wrist_0_rgb": 402, + "camera.right_wrist_0_rgb": 402, "dropped": 0, "event.workflow": 1, - "items": 3261, - "robot.robot_state": 1710 + "items": 3069, + "robot.robot_state": 1608 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -63,23 +63,23 @@ "sensor_kind": "camera", "sensor_name": "left_wrist_0", "status": "saved", - "updated_at_unix": 1789572656.3505785 + "updated_at_unix": 1789572682.3628387 }, "prometheus_camera_right_wrist_0_recorder": { "camera_frames": { - "right_wrist_0_rgb": 427 + "right_wrist_0_rgb": 402 }, - "camera_timestamp_samples": 427, - "complete_sensor_bundles": 427, + "camera_timestamp_samples": 402, + "complete_sensor_bundles": 402, "counts": { - "action.executed": 269, - "camera.base_0_rgb": 427, - "camera.left_wrist_0_rgb": 427, - "camera.right_wrist_0_rgb": 427, + "action.executed": 254, + "camera.base_0_rgb": 402, + "camera.left_wrist_0_rgb": 402, + "camera.right_wrist_0_rgb": 402, "dropped": 0, "event.workflow": 1, - "items": 3261, - "robot.robot_state": 1710 + "items": 3069, + "robot.robot_state": 1608 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -96,6 +96,6 @@ "sensor_kind": "camera", "sensor_name": "right_wrist_0", "status": "saved", - "updated_at_unix": 1789572656.3505785 + "updated_at_unix": 1789572682.3628387 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0010/manifests/event.json b/eval/YAM/V2/dp/bread_pick/data/round_0010/manifests/event.json index 960d8773f526a9cf0081ad24f071cac7be31fa64..56ac46ce2a6a28456bf05208ab471730b7b20a76 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0010/manifests/event.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0010/manifests/event.json @@ -1,14 +1,14 @@ { "prometheus_event_recorder": { "counts": { - "action.executed": 269, - "camera.base_0_rgb": 427, - "camera.left_wrist_0_rgb": 427, - "camera.right_wrist_0_rgb": 427, + "action.executed": 254, + "camera.base_0_rgb": 402, + "camera.left_wrist_0_rgb": 402, + "camera.right_wrist_0_rgb": 402, "dropped": 0, "event.workflow": 1, - "items": 3261, - "robot.robot_state": 1710 + "items": 3069, + "robot.robot_state": 1608 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0010", "event_samples": 1, @@ -22,6 +22,6 @@ "record_mode": "event", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 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1789572714413641916 ], "model_seed": null, - "observation_age_at_response_ms": 127.835004, - "observation_stamp_ns": 1789572629992944506, + "observation_age_at_response_ms": 284.277984, + "observation_stamp_ns": 1789572714413641916, "prompt": "bread_pick", "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208", - "request_id": "83ed45e2fdd940d7981938ae46ff29ea", - "round_trip_ms": 80.07844499661587, + "request_id": "b496b69dd1b846c59ba085192bf387a0", + "round_trip_ms": 79.38365399604663, "server_metadata": { "action_shape": [ 32, @@ -185,10 +185,10 @@ "status": "passed" } }, - "server_prediction_seconds": 0.07681202900130302, + "server_prediction_seconds": 0.07683669700054452, "source": "yam_v2_dp_http", "task": "bread_pick", "wire_action_dtype": "float32" }, - "time_ns": 1789572630137643844 + "time_ns": 1789572714722181688 } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0012/debug/validations/validation_0009.json b/eval/YAM/V2/dp/bread_pick/data/round_0011/debug/validations/validation_0009.json similarity index 100% rename from eval/YAM/V2/dp/bread_pick/data/round_0012/debug/validations/validation_0009.json rename to eval/YAM/V2/dp/bread_pick/data/round_0011/debug/validations/validation_0009.json diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0012/debug/validations/validation_0010.json b/eval/YAM/V2/dp/bread_pick/data/round_0011/debug/validations/validation_0010.json similarity index 100% rename from eval/YAM/V2/dp/bread_pick/data/round_0012/debug/validations/validation_0010.json rename to eval/YAM/V2/dp/bread_pick/data/round_0011/debug/validations/validation_0010.json diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0012/debug/validations/validation_0011.json b/eval/YAM/V2/dp/bread_pick/data/round_0011/debug/validations/validation_0011.json similarity index 100% rename from eval/YAM/V2/dp/bread_pick/data/round_0012/debug/validations/validation_0011.json rename to eval/YAM/V2/dp/bread_pick/data/round_0011/debug/validations/validation_0011.json diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0011/event/event_dict.pkl b/eval/YAM/V2/dp/bread_pick/data/round_0011/event/event_dict.pkl index edd6b7b04c8c1b5d8d275ba30d76250fc92b1ceb..7838c49bb93e75c405bd873cbaad3c7303916a1c 100644 Binary files a/eval/YAM/V2/dp/bread_pick/data/round_0011/event/event_dict.pkl and b/eval/YAM/V2/dp/bread_pick/data/round_0011/event/event_dict.pkl differ diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0011/manifests/action.json b/eval/YAM/V2/dp/bread_pick/data/round_0011/manifests/action.json index 5e4ec1f5b5ea0cdddb25eb4926e3a5d0e52264a0..1302a962f48736004187ed2a3289db3ad89f25d0 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0011/manifests/action.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0011/manifests/action.json @@ -1,17 +1,17 @@ { "prometheus_action_recorder": { "counts": { - "action.executed": 254, - "camera.base_0_rgb": 402, - "camera.left_wrist_0_rgb": 402, - "camera.right_wrist_0_rgb": 402, + "action.executed": 361, + "camera.base_0_rgb": 576, + "camera.left_wrist_0_rgb": 567, + "camera.right_wrist_0_rgb": 575, "dropped": 0, "event.workflow": 1, - "items": 3069, - "robot.robot_state": 1608 + "items": 4380, + "robot.robot_state": 2300 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0011", - "executed_actions": 254, + "executed_actions": 361, "failure": "", "metadata": { "round_number": 11, @@ -23,6 +23,6 @@ "record_mode": "action", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572682.3628387 + "updated_at_unix": 1789572719.9072356 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0011/manifests/camera.json b/eval/YAM/V2/dp/bread_pick/data/round_0011/manifests/camera.json index 78d4c6ff008b5fe2a86dd2dec2aaa9ec0c408f83..ce39e1fcb10fb9f80a5f89af44c25b6aa063b25f 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0011/manifests/camera.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0011/manifests/camera.json @@ -1,19 +1,19 @@ { "prometheus_camera_base_0_recorder": { "camera_frames": { - "base_0_rgb": 402 + "base_0_rgb": 576 }, - "camera_timestamp_samples": 402, - "complete_sensor_bundles": 402, + "camera_timestamp_samples": 576, + "complete_sensor_bundles": 576, "counts": { - "action.executed": 254, - "camera.base_0_rgb": 402, - "camera.left_wrist_0_rgb": 402, - "camera.right_wrist_0_rgb": 402, + "action.executed": 361, + "camera.base_0_rgb": 576, + "camera.left_wrist_0_rgb": 567, + "camera.right_wrist_0_rgb": 575, "dropped": 0, "event.workflow": 1, - "items": 3069, - "robot.robot_state": 1608 + "items": 4380, + "robot.robot_state": 2300 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -30,23 +30,23 @@ "sensor_kind": "camera", "sensor_name": "base_0", "status": "saved", - "updated_at_unix": 1789572682.3628387 + "updated_at_unix": 1789572719.9072356 }, "prometheus_camera_left_wrist_0_recorder": { "camera_frames": { - "left_wrist_0_rgb": 402 + "left_wrist_0_rgb": 567 }, - "camera_timestamp_samples": 402, - "complete_sensor_bundles": 402, + "camera_timestamp_samples": 567, + "complete_sensor_bundles": 567, "counts": { - "action.executed": 254, - "camera.base_0_rgb": 402, - "camera.left_wrist_0_rgb": 402, - "camera.right_wrist_0_rgb": 402, + "action.executed": 361, + "camera.base_0_rgb": 576, + "camera.left_wrist_0_rgb": 567, + "camera.right_wrist_0_rgb": 575, "dropped": 0, "event.workflow": 1, - "items": 3069, - "robot.robot_state": 1608 + "items": 4380, + "robot.robot_state": 2300 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -63,23 +63,23 @@ "sensor_kind": "camera", "sensor_name": "left_wrist_0", "status": "saved", - "updated_at_unix": 1789572682.3628387 + "updated_at_unix": 1789572719.9072356 }, "prometheus_camera_right_wrist_0_recorder": { "camera_frames": { - "right_wrist_0_rgb": 402 + "right_wrist_0_rgb": 575 }, - "camera_timestamp_samples": 402, - "complete_sensor_bundles": 402, + "camera_timestamp_samples": 575, + "complete_sensor_bundles": 575, "counts": { - "action.executed": 254, - "camera.base_0_rgb": 402, - "camera.left_wrist_0_rgb": 402, - "camera.right_wrist_0_rgb": 402, + "action.executed": 361, + "camera.base_0_rgb": 576, + "camera.left_wrist_0_rgb": 567, + "camera.right_wrist_0_rgb": 575, "dropped": 0, "event.workflow": 1, - "items": 3069, - "robot.robot_state": 1608 + "items": 4380, + "robot.robot_state": 2300 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -96,6 +96,6 @@ "sensor_kind": "camera", "sensor_name": "right_wrist_0", "status": "saved", - "updated_at_unix": 1789572682.3628387 + "updated_at_unix": 1789572719.9072356 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0011/manifests/event.json b/eval/YAM/V2/dp/bread_pick/data/round_0011/manifests/event.json index 1a2084abb3df731bb39e478c1c851996a82b8d0f..2caaf0ded1dc4eb986b16788c38fd13b23aa7792 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0011/manifests/event.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0011/manifests/event.json @@ -1,14 +1,14 @@ { "prometheus_event_recorder": { "counts": { - "action.executed": 254, - "camera.base_0_rgb": 402, - "camera.left_wrist_0_rgb": 402, - "camera.right_wrist_0_rgb": 402, + "action.executed": 361, + "camera.base_0_rgb": 576, + "camera.left_wrist_0_rgb": 567, + "camera.right_wrist_0_rgb": 575, "dropped": 0, "event.workflow": 1, - "items": 3069, - "robot.robot_state": 1608 + "items": 4380, + "robot.robot_state": 2300 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0011", "event_samples": 1, @@ -22,6 +22,6 @@ "record_mode": "event", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572682.3628387 + "updated_at_unix": 1789572719.9072356 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0011/manifests/robot.json b/eval/YAM/V2/dp/bread_pick/data/round_0011/manifests/robot.json index 2ef42e9c18f68d7bfff179e712b05995e6148bbe..312d7faebb4622509c6da043bc576a5eb7050469 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0011/manifests/robot.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0011/manifests/robot.json @@ -1,20 +1,20 @@ { "prometheus_robot_recorder": { "counts": { - "action.executed": 254, - "camera.base_0_rgb": 402, - "camera.left_wrist_0_rgb": 402, - "camera.right_wrist_0_rgb": 402, + "action.executed": 361, + "camera.base_0_rgb": 576, + "camera.left_wrist_0_rgb": 567, + "camera.right_wrist_0_rgb": 575, "dropped": 0, "event.workflow": 1, - "items": 3069, - "robot.robot_state": 1608 + "items": 4380, + "robot.robot_state": 2300 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0011", "failure": "", "incomplete_robot_samples": { - "left": 1608, - "right": 1608 + 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"wire_action_dtype": "float32" }, - "time_ns": 1789572714722181688 + "time_ns": 1789572753541768532 } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0012/event/event_dict.pkl b/eval/YAM/V2/dp/bread_pick/data/round_0012/event/event_dict.pkl index 7838c49bb93e75c405bd873cbaad3c7303916a1c..453873f8c67882344413f03ab5c2f7c67a654f28 100644 Binary files a/eval/YAM/V2/dp/bread_pick/data/round_0012/event/event_dict.pkl and b/eval/YAM/V2/dp/bread_pick/data/round_0012/event/event_dict.pkl differ diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0012/manifests/action.json b/eval/YAM/V2/dp/bread_pick/data/round_0012/manifests/action.json index 9c5b3d80e9f56b054107c4bc2a5c44ba83d14bd8..88289ea6d7131fff30f2b78d56de5246845c347d 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0012/manifests/action.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0012/manifests/action.json @@ -1,17 +1,17 @@ { "prometheus_action_recorder": { "counts": { - "action.executed": 361, - "camera.base_0_rgb": 576, - "camera.left_wrist_0_rgb": 567, - "camera.right_wrist_0_rgb": 575, + "action.executed": 288, + "camera.base_0_rgb": 467, + "camera.left_wrist_0_rgb": 461, + "camera.right_wrist_0_rgb": 458, "dropped": 0, "event.workflow": 1, - "items": 4380, - "robot.robot_state": 2300 + "items": 3559, + "robot.robot_state": 1884 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0012", - "executed_actions": 361, + "executed_actions": 288, "failure": "", "metadata": { "round_number": 12, @@ -23,6 +23,6 @@ "record_mode": "action", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572719.9072356 + "updated_at_unix": 1789572754.9714537 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0012/manifests/camera.json b/eval/YAM/V2/dp/bread_pick/data/round_0012/manifests/camera.json index 9be274868cb1b02cbefe1ec75e9bcabdd27409c9..ee89c3a4fa2c2d00e73a2a83a35e01627a48f528 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0012/manifests/camera.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0012/manifests/camera.json @@ -1,19 +1,19 @@ { "prometheus_camera_base_0_recorder": { "camera_frames": { - "base_0_rgb": 576 + "base_0_rgb": 467 }, - "camera_timestamp_samples": 576, - "complete_sensor_bundles": 576, + "camera_timestamp_samples": 467, + "complete_sensor_bundles": 467, "counts": { - "action.executed": 361, - "camera.base_0_rgb": 576, - "camera.left_wrist_0_rgb": 567, - "camera.right_wrist_0_rgb": 575, + "action.executed": 288, + "camera.base_0_rgb": 467, + "camera.left_wrist_0_rgb": 461, + "camera.right_wrist_0_rgb": 458, "dropped": 0, "event.workflow": 1, - "items": 4380, - "robot.robot_state": 2300 + "items": 3559, + "robot.robot_state": 1884 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -30,23 +30,23 @@ "sensor_kind": "camera", "sensor_name": "base_0", "status": "saved", - "updated_at_unix": 1789572719.9072356 + "updated_at_unix": 1789572754.9714537 }, "prometheus_camera_left_wrist_0_recorder": { "camera_frames": { - "left_wrist_0_rgb": 567 + "left_wrist_0_rgb": 461 }, - "camera_timestamp_samples": 567, - "complete_sensor_bundles": 567, + "camera_timestamp_samples": 461, + "complete_sensor_bundles": 461, "counts": { - "action.executed": 361, - "camera.base_0_rgb": 576, - "camera.left_wrist_0_rgb": 567, - "camera.right_wrist_0_rgb": 575, + "action.executed": 288, + "camera.base_0_rgb": 467, + "camera.left_wrist_0_rgb": 461, + "camera.right_wrist_0_rgb": 458, "dropped": 0, "event.workflow": 1, - "items": 4380, - "robot.robot_state": 2300 + "items": 3559, + "robot.robot_state": 1884 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -63,23 +63,23 @@ "sensor_kind": "camera", "sensor_name": "left_wrist_0", "status": "saved", - "updated_at_unix": 1789572719.9072356 + "updated_at_unix": 1789572754.9714537 }, "prometheus_camera_right_wrist_0_recorder": { "camera_frames": { - "right_wrist_0_rgb": 575 + "right_wrist_0_rgb": 458 }, - "camera_timestamp_samples": 575, - "complete_sensor_bundles": 575, + "camera_timestamp_samples": 458, + "complete_sensor_bundles": 458, "counts": { - "action.executed": 361, - "camera.base_0_rgb": 576, - "camera.left_wrist_0_rgb": 567, - "camera.right_wrist_0_rgb": 575, + "action.executed": 288, + "camera.base_0_rgb": 467, + "camera.left_wrist_0_rgb": 461, + "camera.right_wrist_0_rgb": 458, "dropped": 0, "event.workflow": 1, - "items": 4380, - "robot.robot_state": 2300 + "items": 3559, + "robot.robot_state": 1884 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -96,6 +96,6 @@ "sensor_kind": "camera", "sensor_name": "right_wrist_0", "status": "saved", - "updated_at_unix": 1789572719.9072356 + "updated_at_unix": 1789572754.9714537 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0012/manifests/event.json b/eval/YAM/V2/dp/bread_pick/data/round_0012/manifests/event.json index f7a8e9d679c7d3f29739fa5f51feb1f87f2632a2..15d84e3c69dc051182aa653d82a88efc1d8dbb6f 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0012/manifests/event.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0012/manifests/event.json @@ -1,14 +1,14 @@ { "prometheus_event_recorder": { "counts": { - "action.executed": 361, - "camera.base_0_rgb": 576, - "camera.left_wrist_0_rgb": 567, - "camera.right_wrist_0_rgb": 575, + "action.executed": 288, + "camera.base_0_rgb": 467, + "camera.left_wrist_0_rgb": 461, + "camera.right_wrist_0_rgb": 458, "dropped": 0, "event.workflow": 1, - "items": 4380, - "robot.robot_state": 2300 + "items": 3559, + "robot.robot_state": 1884 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0012", "event_samples": 1, @@ -22,6 +22,6 @@ "record_mode": "event", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572719.9072356 + "updated_at_unix": 1789572754.9714537 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0012/manifests/robot.json b/eval/YAM/V2/dp/bread_pick/data/round_0012/manifests/robot.json index ca1de7bcf93c36baa0d70ef38ade50cb89ca54e1..1e003214e3ebb9d1fcbc49e2913bf19b4b65b741 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0012/manifests/robot.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0012/manifests/robot.json @@ -1,20 +1,20 @@ { "prometheus_robot_recorder": { "counts": { - "action.executed": 361, - "camera.base_0_rgb": 576, - "camera.left_wrist_0_rgb": 567, - "camera.right_wrist_0_rgb": 575, + "action.executed": 288, + "camera.base_0_rgb": 467, + "camera.left_wrist_0_rgb": 461, + "camera.right_wrist_0_rgb": 458, "dropped": 0, "event.workflow": 1, - "items": 4380, - "robot.robot_state": 2300 + "items": 3559, + "robot.robot_state": 1884 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0012", "failure": "", "incomplete_robot_samples": { - "left": 2300, - "right": 2300 + "left": 1884, + "right": 1884 }, "metadata": { "round_number": 12, @@ -26,11 +26,11 @@ "record_id": "prometheus_robot_recorder", "record_mode": "robot", "robot_samples": { - "left": 2300, - "right": 2300 + "left": 1884, + "right": 1884 }, "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572719.9072356 + "updated_at_unix": 1789572754.9714537 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0012/robot/robot_state_dict.pkl b/eval/YAM/V2/dp/bread_pick/data/round_0012/robot/robot_state_dict.pkl index 0bd833e34ef6c9bdcd44b97e1e35b180c72cd157..2b2ecc6b876c661c2af4984947b9eb7159e32d28 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0012/robot/robot_state_dict.pkl +++ b/eval/YAM/V2/dp/bread_pick/data/round_0012/robot/robot_state_dict.pkl @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f5b0f7dbc3fdcba76d108b51d9ae99f69167f1c1dd2e69d7d5cf34ab6f92de2c -size 842196 +oid sha256:b4fc1cbc3a50580981c1c40bbd00e1b5bc7fc602f2a4ec60c481d4c558f1b43c +size 689902 diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0012/workflow_manifest.json b/eval/YAM/V2/dp/bread_pick/data/round_0012/workflow_manifest.json index 4b00d8f8876b000ae97fb3e06543524686227c12..d5d256b7044b8e1d4d724aca3e156655533790c0 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0012/workflow_manifest.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0012/workflow_manifest.json @@ -15,8 +15,8 @@ 313.320489803, 313.35155152 ], - "actions_sent": 361, - "chunks": 11, + "actions_sent": 288, + "chunks": 9, "command_velocity_limits": [ 7.326937734087213, 7.492612143357643, @@ -312,7 +312,7 @@ }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0012", "next_round_confirmed": true, - "observation_not_before_ns": 1789572700857441332, + "observation_not_before_ns": 1789572739380444577, "operator_command_file": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/metadata/runtime/operator_command", "operator_drag_verified": true, "operator_result": "success", @@ -539,19 +539,19 @@ "robot": 0 }, "record_counts": { - "action.executed": 361, - "camera.base_0_rgb": 576, - "camera.left_wrist_0_rgb": 567, - "camera.right_wrist_0_rgb": 575, + "action.executed": 288, + "camera.base_0_rgb": 467, + "camera.left_wrist_0_rgb": 461, + "camera.right_wrist_0_rgb": 458, "dropped": 0, "event.workflow": 1, - "items": 4380, - "robot.robot_state": 2300 + "items": 3559, + "robot.robot_state": 1884 }, "recording": false, "recording_enabled": true }, - "reviewed_at_ns": 1789572719788647081, + "reviewed_at_ns": 1789572754813989043, "round_number": 12, "stationary_velocity_limits": [ 0.09619047798216343, diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0013/action/executed_action_dict.pkl b/eval/YAM/V2/dp/bread_pick/data/round_0013/action/executed_action_dict.pkl index 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a/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/action.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/action.json @@ -1,17 +1,17 @@ { "prometheus_action_recorder": { "counts": { - "action.executed": 288, - "camera.base_0_rgb": 467, - "camera.left_wrist_0_rgb": 461, - "camera.right_wrist_0_rgb": 458, + "action.executed": 282, + "camera.base_0_rgb": 447, + "camera.left_wrist_0_rgb": 436, + "camera.right_wrist_0_rgb": 435, "dropped": 0, "event.workflow": 1, - "items": 3559, - "robot.robot_state": 1884 + "items": 3395, + "robot.robot_state": 1794 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0013", - "executed_actions": 288, + "executed_actions": 282, "failure": "", "metadata": { "round_number": 13, @@ -23,6 +23,6 @@ "record_mode": "action", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572754.9714537 + "updated_at_unix": 1789572785.2821286 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/camera.json b/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/camera.json index e0f79c5c3cefdf64d92950464dc7a25baf3218a4..fbd797b412a919184223b50e41019397960c167b 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/camera.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/camera.json @@ -1,19 +1,19 @@ { "prometheus_camera_base_0_recorder": { "camera_frames": { - "base_0_rgb": 467 + "base_0_rgb": 447 }, - "camera_timestamp_samples": 467, - "complete_sensor_bundles": 467, + "camera_timestamp_samples": 447, + "complete_sensor_bundles": 447, "counts": { - "action.executed": 288, - "camera.base_0_rgb": 467, - "camera.left_wrist_0_rgb": 461, - "camera.right_wrist_0_rgb": 458, + "action.executed": 282, + "camera.base_0_rgb": 447, + "camera.left_wrist_0_rgb": 436, + "camera.right_wrist_0_rgb": 435, "dropped": 0, "event.workflow": 1, - "items": 3559, - "robot.robot_state": 1884 + "items": 3395, + "robot.robot_state": 1794 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -30,23 +30,23 @@ "sensor_kind": "camera", "sensor_name": "base_0", "status": "saved", - "updated_at_unix": 1789572754.9714537 + "updated_at_unix": 1789572785.2821286 }, "prometheus_camera_left_wrist_0_recorder": { "camera_frames": { - "left_wrist_0_rgb": 461 + "left_wrist_0_rgb": 436 }, - "camera_timestamp_samples": 461, - "complete_sensor_bundles": 461, + "camera_timestamp_samples": 436, + "complete_sensor_bundles": 436, "counts": { - "action.executed": 288, - "camera.base_0_rgb": 467, - "camera.left_wrist_0_rgb": 461, - "camera.right_wrist_0_rgb": 458, + "action.executed": 282, + "camera.base_0_rgb": 447, + "camera.left_wrist_0_rgb": 436, + "camera.right_wrist_0_rgb": 435, "dropped": 0, "event.workflow": 1, - "items": 3559, - "robot.robot_state": 1884 + "items": 3395, + "robot.robot_state": 1794 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -63,23 +63,23 @@ "sensor_kind": "camera", "sensor_name": "left_wrist_0", "status": "saved", - "updated_at_unix": 1789572754.9714537 + "updated_at_unix": 1789572785.2821286 }, "prometheus_camera_right_wrist_0_recorder": { "camera_frames": { - "right_wrist_0_rgb": 458 + "right_wrist_0_rgb": 435 }, - "camera_timestamp_samples": 458, - "complete_sensor_bundles": 458, + "camera_timestamp_samples": 435, + "complete_sensor_bundles": 435, "counts": { - "action.executed": 288, - "camera.base_0_rgb": 467, - "camera.left_wrist_0_rgb": 461, - "camera.right_wrist_0_rgb": 458, + "action.executed": 282, + "camera.base_0_rgb": 447, + "camera.left_wrist_0_rgb": 436, + "camera.right_wrist_0_rgb": 435, "dropped": 0, "event.workflow": 1, - "items": 3559, - "robot.robot_state": 1884 + "items": 3395, + "robot.robot_state": 1794 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -96,6 +96,6 @@ "sensor_kind": "camera", "sensor_name": "right_wrist_0", "status": "saved", - "updated_at_unix": 1789572754.9714537 + "updated_at_unix": 1789572785.2821286 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/event.json b/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/event.json index d8e1f637bfbbb534afbf847a9ca08697288f3909..febe56ffc63a8a9cf83e89d2a02cb62696c735df 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/event.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/event.json @@ -1,14 +1,14 @@ { "prometheus_event_recorder": { "counts": { - "action.executed": 288, - "camera.base_0_rgb": 467, - "camera.left_wrist_0_rgb": 461, - "camera.right_wrist_0_rgb": 458, + "action.executed": 282, + "camera.base_0_rgb": 447, + "camera.left_wrist_0_rgb": 436, + "camera.right_wrist_0_rgb": 435, "dropped": 0, "event.workflow": 1, - "items": 3559, - "robot.robot_state": 1884 + "items": 3395, + "robot.robot_state": 1794 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0013", "event_samples": 1, @@ -22,6 +22,6 @@ "record_mode": "event", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572754.9714537 + "updated_at_unix": 1789572785.2821286 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/robot.json b/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/robot.json index 9977bacde6017914caa062e47d6f04701ac608bd..0c02a4d43d2370798779c49d5b7f1ca06828d337 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/robot.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/robot.json @@ -1,20 +1,20 @@ { "prometheus_robot_recorder": { "counts": { - "action.executed": 288, - "camera.base_0_rgb": 467, - "camera.left_wrist_0_rgb": 461, - "camera.right_wrist_0_rgb": 458, + "action.executed": 282, + "camera.base_0_rgb": 447, + "camera.left_wrist_0_rgb": 436, + "camera.right_wrist_0_rgb": 435, "dropped": 0, "event.workflow": 1, - "items": 3559, - "robot.robot_state": 1884 + "items": 3395, + 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], "left_wrist_0_color": [ - 1789572783735506931, - 1789572783768857139 + 1789572826379021067, + 1789572826412405891 ], "right_wrist_0_color": [ - 1789572783740367844, - 1789572783773722970 + 1789572826383686873, + 1789572826417237767 ], "robot_state": [ - 1789572783733465517, - 1789572783767092953 + 1789572826374451476, + 1789572826407697370 ] }, "history_stamp_ns": [ - 1789572783730681356, - 1789572783764027120 + 1789572826374428633, + 1789572826407820743 ], "model_seed": null, - "observation_age_at_response_ms": 404.007979, - "observation_stamp_ns": 1789572783764027120, + "observation_age_at_response_ms": 284.572318, + "observation_stamp_ns": 1789572826407820743, "prompt": "bread_pick", "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208", - "request_id": "407a3e005bfc4aed8ecf440e28a1d151", - "round_trip_ms": 83.28861198970117, + "request_id": "32800c987ed04849b52b8a76f91dbede", + "round_trip_ms": 56.451112002832815, "server_metadata": { "action_shape": [ 32, @@ -185,10 +185,10 @@ "status": "passed" } }, - "server_prediction_seconds": 0.07997139000508469, + "server_prediction_seconds": 0.0538679309975123, "source": "yam_v2_dp_http", "task": "bread_pick", "wire_action_dtype": "float32" }, - "time_ns": 1789572784200573392 + "time_ns": 1789572826712492765 } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0015/debug/validations/validation_0009.json b/eval/YAM/V2/dp/bread_pick/data/round_0014/debug/validations/validation_0009.json similarity index 100% rename from eval/YAM/V2/dp/bread_pick/data/round_0015/debug/validations/validation_0009.json rename to eval/YAM/V2/dp/bread_pick/data/round_0014/debug/validations/validation_0009.json diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0014/event/event_dict.pkl b/eval/YAM/V2/dp/bread_pick/data/round_0014/event/event_dict.pkl index b368c20c87c31369b8524432d98ffbeabe1c0035..f8cb6f39c67af375c374fcf5a5d556b4c0cfdf9b 100644 Binary files a/eval/YAM/V2/dp/bread_pick/data/round_0014/event/event_dict.pkl and b/eval/YAM/V2/dp/bread_pick/data/round_0014/event/event_dict.pkl differ diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0014/manifests/action.json b/eval/YAM/V2/dp/bread_pick/data/round_0014/manifests/action.json index e492a59b3d4f6e0b32a321a274a40969dd6e60e3..074437be0d337e5aaa5b1c4c5c00b806beae9b42 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0014/manifests/action.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0014/manifests/action.json @@ -1,17 +1,17 @@ { "prometheus_action_recorder": { "counts": { - "action.executed": 282, - "camera.base_0_rgb": 447, - "camera.left_wrist_0_rgb": 436, - "camera.right_wrist_0_rgb": 435, + "action.executed": 295, + "camera.base_0_rgb": 495, + "camera.left_wrist_0_rgb": 478, + "camera.right_wrist_0_rgb": 482, "dropped": 0, "event.workflow": 1, - "items": 3395, - "robot.robot_state": 1794 + "items": 3712, + "robot.robot_state": 1961 }, "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0014", - "executed_actions": 282, + "executed_actions": 295, "failure": "", "metadata": { "round_number": 14, @@ -23,6 +23,6 @@ "record_mode": "action", "schema": "prometheus_raw_episode_v1", "status": "saved", - "updated_at_unix": 1789572785.2821286 + "updated_at_unix": 1789572828.8768296 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0014/manifests/camera.json b/eval/YAM/V2/dp/bread_pick/data/round_0014/manifests/camera.json index 8431f23bdb5f7042b21fcd59252b9671d956b664..6baf51f2d3730b1f0e863a603a355c8063257d29 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0014/manifests/camera.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0014/manifests/camera.json @@ -1,19 +1,19 @@ { "prometheus_camera_base_0_recorder": { "camera_frames": { - "base_0_rgb": 447 + "base_0_rgb": 495 }, - "camera_timestamp_samples": 447, - "complete_sensor_bundles": 447, + "camera_timestamp_samples": 495, + "complete_sensor_bundles": 495, "counts": { - "action.executed": 282, - "camera.base_0_rgb": 447, - "camera.left_wrist_0_rgb": 436, - "camera.right_wrist_0_rgb": 435, + "action.executed": 295, + "camera.base_0_rgb": 495, + "camera.left_wrist_0_rgb": 478, + "camera.right_wrist_0_rgb": 482, "dropped": 0, "event.workflow": 1, - "items": 3395, - "robot.robot_state": 1794 + "items": 3712, + "robot.robot_state": 1961 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -30,23 +30,23 @@ "sensor_kind": "camera", "sensor_name": "base_0", "status": "saved", - "updated_at_unix": 1789572785.2821286 + "updated_at_unix": 1789572828.8768296 }, "prometheus_camera_left_wrist_0_recorder": { "camera_frames": { - "left_wrist_0_rgb": 436 + "left_wrist_0_rgb": 478 }, - "camera_timestamp_samples": 436, - "complete_sensor_bundles": 436, + "camera_timestamp_samples": 478, + "complete_sensor_bundles": 478, "counts": { - "action.executed": 282, - "camera.base_0_rgb": 447, - "camera.left_wrist_0_rgb": 436, - "camera.right_wrist_0_rgb": 435, + "action.executed": 295, + "camera.base_0_rgb": 495, + "camera.left_wrist_0_rgb": 478, + "camera.right_wrist_0_rgb": 482, "dropped": 0, "event.workflow": 1, - "items": 3395, - "robot.robot_state": 1794 + "items": 3712, + "robot.robot_state": 1961 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -63,23 +63,23 @@ "sensor_kind": "camera", "sensor_name": "left_wrist_0", "status": "saved", - "updated_at_unix": 1789572785.2821286 + "updated_at_unix": 1789572828.8768296 }, "prometheus_camera_right_wrist_0_recorder": { "camera_frames": { - "right_wrist_0_rgb": 435 + "right_wrist_0_rgb": 482 }, - "camera_timestamp_samples": 435, - "complete_sensor_bundles": 435, + "camera_timestamp_samples": 482, + "complete_sensor_bundles": 482, "counts": { - "action.executed": 282, - "camera.base_0_rgb": 447, - "camera.left_wrist_0_rgb": 436, - "camera.right_wrist_0_rgb": 435, + "action.executed": 295, + "camera.base_0_rgb": 495, + "camera.left_wrist_0_rgb": 478, + "camera.right_wrist_0_rgb": 482, "dropped": 0, "event.workflow": 1, - "items": 3395, - "robot.robot_state": 1794 + "items": 3712, + "robot.robot_state": 1961 }, "dropped_incomplete_sensor_bundles": 0, "duplicate_sensor_messages": 0, @@ -96,6 +96,6 @@ "sensor_kind": "camera", "sensor_name": "right_wrist_0", "status": "saved", - "updated_at_unix": 1789572785.2821286 + "updated_at_unix": 1789572828.8768296 } } diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0014/manifests/event.json b/eval/YAM/V2/dp/bread_pick/data/round_0014/manifests/event.json index 5c3d8fc6bb602a65fba264338a81f97bc3890ec0..0c3153f7dcbc1f7d47000808d2bffe6b6377028e 100644 --- a/eval/YAM/V2/dp/bread_pick/data/round_0014/manifests/event.json +++ b/eval/YAM/V2/dp/bread_pick/data/round_0014/manifests/event.json @@ -1,14 +1,14 @@ { "prometheus_event_recorder": { "counts": { - "action.executed": 282, - "camera.base_0_rgb": 447, - "camera.left_wrist_0_rgb": 436, - 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1.3316887146234513 - ] -} diff --git a/eval/YAM/V2/dp/bread_pick/metadata/episode_renumbering_20260922.json b/eval/YAM/V2/dp/bread_pick/metadata/episode_renumbering_20260922.json new file mode 100644 index 0000000000000000000000000000000000000000..cae8291e59425ccbb87a3c68066eab5323d50dc5 --- /dev/null +++ b/eval/YAM/V2/dp/bread_pick/metadata/episode_renumbering_20260922.json @@ -0,0 +1,26 @@ +{ + "schema": "episode_renumbering_v1", + "created_at": "2026-09-22T11:12:51.971172+00:00", + "source_revision": "95c5e580f8e484bb012370bc8abc4670d20bdf59", + "reason": "User identified original round_0004 as a trial that should not be retained and requested removal and contiguous renumbering.", + "removed_original_round": 4, + "removed_original_label": null, + "old_to_new": { + "round_0001": "round_0001", + "round_0002": "round_0002", + "round_0003": "round_0003", + "round_0005": "round_0004", + "round_0006": "round_0005", + "round_0007": "round_0006", + "round_0008": "round_0007", + "round_0009": "round_0008", + "round_0010": "round_0009", + "round_0011": "round_0010", + "round_0012": "round_0011", + "round_0013": "round_0012", + "round_0014": "round_0013", + "round_0015": "round_0014" + }, + "unchanged_data": "All retained video, action, state, timestamp, prediction and raw log bytes are preserved. Raw logs/serialized events may contain original identifiers; use this mapping for provenance.", + "updated_metadata": "Episode directory names, structured JSON references and round_number fields, and rounds.json; retained success labels unchanged." +} diff --git a/eval/YAM/V2/dp/bread_pick/metadata/rounds.json b/eval/YAM/V2/dp/bread_pick/metadata/rounds.json index da1a17a65d237010bd700b6c4209903b7e9b3be1..7ac9de7b3c979cfa7652a3fb4dacc05531bc47a2 100644 --- a/eval/YAM/V2/dp/bread_pick/metadata/rounds.json +++ b/eval/YAM/V2/dp/bread_pick/metadata/rounds.json @@ -39,26 +39,15 @@ "task_success": true, "termination_reason": "operator_review" }, - { - "actions_sent": 96, - "chunks": 3, - "data_saved": true, - "operator_result": null, - "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0004", - "reviewed_at_ns": null, - "round_number": 4, - "status": "failed", - "task_success": null - }, { "actions_sent": 299, "chunks": 9, "data_saved": true, "operator_result": "failure", "operator_stopped": true, - "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0005", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0004", "reviewed_at_ns": 1789572496447332894, - "round_number": 5, + "round_number": 4, "status": "completed", "task_success": false, "termination_reason": "operator_review" @@ -69,9 +58,9 @@ "data_saved": true, "operator_result": "success", "operator_stopped": true, - "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0006", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0005", "reviewed_at_ns": 1789572530204285538, - "round_number": 6, + "round_number": 5, "status": "completed", "task_success": true, "termination_reason": "operator_review" @@ -82,9 +71,9 @@ "data_saved": true, "operator_result": "success", "operator_stopped": true, - "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0007", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0006", "reviewed_at_ns": 1789572569855980420, - "round_number": 7, + "round_number": 6, "status": "completed", "task_success": true, "termination_reason": "operator_review" @@ -95,9 +84,9 @@ "data_saved": true, "operator_result": "success", "operator_stopped": true, - "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0008", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0007", "reviewed_at_ns": 1789572600786005424, - "round_number": 8, + "round_number": 7, "status": "completed", "task_success": true, "termination_reason": "operator_review" @@ -108,9 +97,9 @@ "data_saved": true, "operator_result": "success", "operator_stopped": true, - "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0009", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0008", "reviewed_at_ns": 1789572631319121703, - "round_number": 9, + "round_number": 8, "status": "completed", "task_success": true, "termination_reason": "operator_review" @@ -121,9 +110,9 @@ "data_saved": true, "operator_result": "success", "operator_stopped": true, - "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0010", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0009", "reviewed_at_ns": 1789572656234848968, - "round_number": 10, + "round_number": 9, "status": "completed", "task_success": true, "termination_reason": "operator_review" @@ -134,9 +123,9 @@ "data_saved": true, "operator_result": "success", "operator_stopped": true, - "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0011", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0010", "reviewed_at_ns": 1789572682254697440, - "round_number": 11, + "round_number": 10, "status": "completed", "task_success": true, "termination_reason": "operator_review" @@ -147,9 +136,9 @@ "data_saved": true, "operator_result": "success", "operator_stopped": true, - "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0012", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0011", "reviewed_at_ns": 1789572719788647081, - "round_number": 12, + "round_number": 11, "status": "completed", "task_success": true, "termination_reason": "operator_review" @@ -160,9 +149,9 @@ "data_saved": true, "operator_result": "success", "operator_stopped": true, - "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0013", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0012", "reviewed_at_ns": 1789572754813989043, - "round_number": 13, + "round_number": 12, "status": "completed", "task_success": true, "termination_reason": "operator_review" @@ -173,9 +162,9 @@ "data_saved": true, "operator_result": "success", "operator_stopped": true, - "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0014", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0013", "reviewed_at_ns": 1789572785176816737, - "round_number": 14, + "round_number": 13, "status": "completed", "task_success": true, "termination_reason": "operator_review" @@ -186,9 +175,9 @@ "data_saved": true, "operator_result": "failure", "operator_stopped": true, - "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0015", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0014", "reviewed_at_ns": 1789572828768585381, - "round_number": 15, + "round_number": 14, "status": "completed", "task_success": false, "termination_reason": "operator_review"