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- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/debug/async_events.jsonl +51 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/manifests/action.json +28 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/manifests/camera.json +101 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/manifests/event.json +27 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/manifests/robot.json +36 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/debug/async_events.jsonl +21 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/manifests/action.json +28 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/manifests/camera.json +101 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/manifests/event.json +27 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/manifests/robot.json +36 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/debug/async_events.jsonl +33 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/manifests/action.json +28 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/manifests/camera.json +101 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/manifests/event.json +27 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/manifests/robot.json +36 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/debug/async_events.jsonl +39 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/manifests/action.json +29 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/manifests/camera.json +104 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/manifests/event.json +28 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/manifests/robot.json +37 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0006/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0006/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0006/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0006/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0006/debug/async_events.jsonl +35 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0006/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0006/manifests/action.json +28 -0
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/action/executed_action_dict.pkl
ADDED
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eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/camera/metadata.json
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{
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"base_0_rgb": {
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"codec": "h264",
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"container": "mp4",
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"encoder": "libx264",
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"encoding": "bgr8",
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"frames": 424,
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"height": 480,
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"lossless": false,
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"pixel_format": "yuv420p",
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"quality": {
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"mode": "crf",
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"value": 14
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},
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
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"timestamps": "camera/timestamp.pkl::base_0",
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"topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
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"video": "camera/base_0_rgb.mp4",
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"width": 640
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},
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"left_wrist_0_rgb": {
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"codec": "h264",
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"container": "mp4",
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"encoder": "libx264",
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"encoding": "bgr8",
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"frames": 424,
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"height": 480,
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"lossless": false,
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"pixel_format": "yuv420p",
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"quality": {
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"mode": "crf",
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"value": 14
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},
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
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"timestamps": "camera/timestamp.pkl::left_wrist_0",
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"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
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"video": "camera/left_wrist_0_rgb.mp4",
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"width": 640
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},
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"right_wrist_0_rgb": {
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"codec": "h264",
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"container": "mp4",
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"encoder": "libx264",
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"encoding": "bgr8",
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"frames": 424,
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"height": 480,
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"lossless": false,
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"pixel_format": "yuv420p",
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"quality": {
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"mode": "crf",
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"value": 14
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},
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
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"timestamps": "camera/timestamp.pkl::right_wrist_0",
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"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
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"video": "camera/right_wrist_0_rgb.mp4",
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"width": 640
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}
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}
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eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/camera/timestamp.pkl
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eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/debug/actions.jsonl
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eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/debug/async_events.jsonl
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{"event": "prediction_requested", "time_ns": 1789902821125029816, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
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{"event": "prediction_requested", "time_ns": 1789902821860898467, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
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{"event": "plan_adopted", "time_ns": 1789902821966732212, "actions_sent": 21, "prediction": 1, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.88303899997845, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789902822407894252, "actions_sent": 34, "prediction": 2, "queue_remaining": 12}
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{"event": "plan_adopted", "time_ns": 1789902822512688585, "actions_sent": 37, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 124.48874901747331, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789902822985659007, "actions_sent": 51, "prediction": 3, "queue_remaining": 12}
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{"event": "prediction_requested", "time_ns": 1789902823529860982, "actions_sent": 67, "prediction": 4, "queue_remaining": 12}
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| 46 |
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{"event": "plan_adopted", "time_ns": 1789902833709696449, "actions_sent": 365, "prediction": 22, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 117.63373800204135, "blended_steps": 5}
|
| 47 |
+
{"event": "prediction_requested", "time_ns": 1789902834182367035, "actions_sent": 379, "prediction": 23, "queue_remaining": 12}
|
| 48 |
+
{"event": "plan_adopted", "time_ns": 1789902834287631086, "actions_sent": 382, "prediction": 23, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.5244160098955, "blended_steps": 5}
|
| 49 |
+
{"event": "prediction_requested", "time_ns": 1789902834758254201, "actions_sent": 396, "prediction": 24, "queue_remaining": 12}
|
| 50 |
+
{"event": "plan_adopted", "time_ns": 1789902834861361808, "actions_sent": 399, "prediction": 24, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 137.7147189923562, "blended_steps": 5}
|
| 51 |
+
{"event": "operator_stopped", "time_ns": 1789902835060843885, "actions_sent": 405, "result": "success"}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/manifests/action.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 405,
|
| 5 |
+
"camera.base_0_rgb": 424,
|
| 6 |
+
"camera.left_wrist_0_rgb": 424,
|
| 7 |
+
"camera.right_wrist_0_rgb": 424,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 3375,
|
| 11 |
+
"robot.robot_state": 1697
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0002",
|
| 14 |
+
"executed_actions": 405,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 2,
|
| 18 |
+
"run_id": "20260920_191259_514938_round_0002",
|
| 19 |
+
"workflow": "openpi_rollout"
|
| 20 |
+
},
|
| 21 |
+
"policy_action_chunks": 0,
|
| 22 |
+
"record_id": "prometheus_action_recorder",
|
| 23 |
+
"record_mode": "action",
|
| 24 |
+
"schema": "prometheus_raw_episode_v1",
|
| 25 |
+
"status": "saved",
|
| 26 |
+
"updated_at_unix": 1789902835.1601183
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/manifests/camera.json
ADDED
|
@@ -0,0 +1,101 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_camera_base_0_recorder": {
|
| 3 |
+
"camera_frames": {
|
| 4 |
+
"base_0_rgb": 424
|
| 5 |
+
},
|
| 6 |
+
"camera_timestamp_samples": 424,
|
| 7 |
+
"complete_sensor_bundles": 424,
|
| 8 |
+
"counts": {
|
| 9 |
+
"action.executed": 405,
|
| 10 |
+
"camera.base_0_rgb": 424,
|
| 11 |
+
"camera.left_wrist_0_rgb": 424,
|
| 12 |
+
"camera.right_wrist_0_rgb": 424,
|
| 13 |
+
"dropped": 0,
|
| 14 |
+
"event.workflow": 1,
|
| 15 |
+
"items": 3375,
|
| 16 |
+
"robot.robot_state": 1697
|
| 17 |
+
},
|
| 18 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0002",
|
| 21 |
+
"failure": "",
|
| 22 |
+
"metadata": {
|
| 23 |
+
"round_number": 2,
|
| 24 |
+
"run_id": "20260920_191259_514938_round_0002",
|
| 25 |
+
"workflow": "openpi_rollout"
|
| 26 |
+
},
|
| 27 |
+
"record_id": "prometheus_camera_base_0_recorder",
|
| 28 |
+
"record_mode": "sensor",
|
| 29 |
+
"schema": "prometheus_raw_episode_v1",
|
| 30 |
+
"sensor_kind": "camera",
|
| 31 |
+
"sensor_name": "base_0",
|
| 32 |
+
"status": "saved",
|
| 33 |
+
"updated_at_unix": 1789902835.1601183
|
| 34 |
+
},
|
| 35 |
+
"prometheus_camera_left_wrist_0_recorder": {
|
| 36 |
+
"camera_frames": {
|
| 37 |
+
"left_wrist_0_rgb": 424
|
| 38 |
+
},
|
| 39 |
+
"camera_timestamp_samples": 424,
|
| 40 |
+
"complete_sensor_bundles": 424,
|
| 41 |
+
"counts": {
|
| 42 |
+
"action.executed": 405,
|
| 43 |
+
"camera.base_0_rgb": 424,
|
| 44 |
+
"camera.left_wrist_0_rgb": 424,
|
| 45 |
+
"camera.right_wrist_0_rgb": 424,
|
| 46 |
+
"dropped": 0,
|
| 47 |
+
"event.workflow": 1,
|
| 48 |
+
"items": 3375,
|
| 49 |
+
"robot.robot_state": 1697
|
| 50 |
+
},
|
| 51 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 52 |
+
"duplicate_sensor_messages": 0,
|
| 53 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0002",
|
| 54 |
+
"failure": "",
|
| 55 |
+
"metadata": {
|
| 56 |
+
"round_number": 2,
|
| 57 |
+
"run_id": "20260920_191259_514938_round_0002",
|
| 58 |
+
"workflow": "openpi_rollout"
|
| 59 |
+
},
|
| 60 |
+
"record_id": "prometheus_camera_left_wrist_0_recorder",
|
| 61 |
+
"record_mode": "sensor",
|
| 62 |
+
"schema": "prometheus_raw_episode_v1",
|
| 63 |
+
"sensor_kind": "camera",
|
| 64 |
+
"sensor_name": "left_wrist_0",
|
| 65 |
+
"status": "saved",
|
| 66 |
+
"updated_at_unix": 1789902835.1601183
|
| 67 |
+
},
|
| 68 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 69 |
+
"camera_frames": {
|
| 70 |
+
"right_wrist_0_rgb": 424
|
| 71 |
+
},
|
| 72 |
+
"camera_timestamp_samples": 424,
|
| 73 |
+
"complete_sensor_bundles": 424,
|
| 74 |
+
"counts": {
|
| 75 |
+
"action.executed": 405,
|
| 76 |
+
"camera.base_0_rgb": 424,
|
| 77 |
+
"camera.left_wrist_0_rgb": 424,
|
| 78 |
+
"camera.right_wrist_0_rgb": 424,
|
| 79 |
+
"dropped": 0,
|
| 80 |
+
"event.workflow": 1,
|
| 81 |
+
"items": 3375,
|
| 82 |
+
"robot.robot_state": 1697
|
| 83 |
+
},
|
| 84 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 85 |
+
"duplicate_sensor_messages": 0,
|
| 86 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0002",
|
| 87 |
+
"failure": "",
|
| 88 |
+
"metadata": {
|
| 89 |
+
"round_number": 2,
|
| 90 |
+
"run_id": "20260920_191259_514938_round_0002",
|
| 91 |
+
"workflow": "openpi_rollout"
|
| 92 |
+
},
|
| 93 |
+
"record_id": "prometheus_camera_right_wrist_0_recorder",
|
| 94 |
+
"record_mode": "sensor",
|
| 95 |
+
"schema": "prometheus_raw_episode_v1",
|
| 96 |
+
"sensor_kind": "camera",
|
| 97 |
+
"sensor_name": "right_wrist_0",
|
| 98 |
+
"status": "saved",
|
| 99 |
+
"updated_at_unix": 1789902835.1601183
|
| 100 |
+
}
|
| 101 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/manifests/event.json
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 405,
|
| 5 |
+
"camera.base_0_rgb": 424,
|
| 6 |
+
"camera.left_wrist_0_rgb": 424,
|
| 7 |
+
"camera.right_wrist_0_rgb": 424,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 3375,
|
| 11 |
+
"robot.robot_state": 1697
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0002",
|
| 14 |
+
"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 2,
|
| 18 |
+
"run_id": "20260920_191259_514938_round_0002",
|
| 19 |
+
"workflow": "openpi_rollout"
|
| 20 |
+
},
|
| 21 |
+
"record_id": "prometheus_event_recorder",
|
| 22 |
+
"record_mode": "event",
|
| 23 |
+
"schema": "prometheus_raw_episode_v1",
|
| 24 |
+
"status": "saved",
|
| 25 |
+
"updated_at_unix": 1789902835.1601183
|
| 26 |
+
}
|
| 27 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 405,
|
| 5 |
+
"camera.base_0_rgb": 424,
|
| 6 |
+
"camera.left_wrist_0_rgb": 424,
|
| 7 |
+
"camera.right_wrist_0_rgb": 424,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 3375,
|
| 11 |
+
"robot.robot_state": 1697
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0002",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 1697,
|
| 17 |
+
"right": 1697
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"round_number": 2,
|
| 21 |
+
"run_id": "20260920_191259_514938_round_0002",
|
| 22 |
+
"workflow": "openpi_rollout"
|
| 23 |
+
},
|
| 24 |
+
"pending_robot_samples": 0,
|
| 25 |
+
"plot_outputs": [],
|
| 26 |
+
"record_id": "prometheus_robot_recorder",
|
| 27 |
+
"record_mode": "robot",
|
| 28 |
+
"robot_samples": {
|
| 29 |
+
"left": 1697,
|
| 30 |
+
"right": 1697
|
| 31 |
+
},
|
| 32 |
+
"schema": "prometheus_raw_episode_v1",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1789902835.1601183
|
| 35 |
+
}
|
| 36 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0002/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/action/executed_action_dict.pkl
ADDED
|
Binary file (26.5 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/camera/metadata.json
ADDED
|
@@ -0,0 +1,59 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base_0_rgb": {
|
| 3 |
+
"codec": "h264",
|
| 4 |
+
"container": "mp4",
|
| 5 |
+
"encoder": "libx264",
|
| 6 |
+
"encoding": "bgr8",
|
| 7 |
+
"frames": 172,
|
| 8 |
+
"height": 480,
|
| 9 |
+
"lossless": false,
|
| 10 |
+
"pixel_format": "yuv420p",
|
| 11 |
+
"quality": {
|
| 12 |
+
"mode": "crf",
|
| 13 |
+
"value": 14
|
| 14 |
+
},
|
| 15 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 16 |
+
"timestamps": "camera/timestamp.pkl::base_0",
|
| 17 |
+
"topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
|
| 18 |
+
"video": "camera/base_0_rgb.mp4",
|
| 19 |
+
"width": 640
|
| 20 |
+
},
|
| 21 |
+
"left_wrist_0_rgb": {
|
| 22 |
+
"codec": "h264",
|
| 23 |
+
"container": "mp4",
|
| 24 |
+
"encoder": "libx264",
|
| 25 |
+
"encoding": "bgr8",
|
| 26 |
+
"frames": 172,
|
| 27 |
+
"height": 480,
|
| 28 |
+
"lossless": false,
|
| 29 |
+
"pixel_format": "yuv420p",
|
| 30 |
+
"quality": {
|
| 31 |
+
"mode": "crf",
|
| 32 |
+
"value": 14
|
| 33 |
+
},
|
| 34 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 35 |
+
"timestamps": "camera/timestamp.pkl::left_wrist_0",
|
| 36 |
+
"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
|
| 37 |
+
"video": "camera/left_wrist_0_rgb.mp4",
|
| 38 |
+
"width": 640
|
| 39 |
+
},
|
| 40 |
+
"right_wrist_0_rgb": {
|
| 41 |
+
"codec": "h264",
|
| 42 |
+
"container": "mp4",
|
| 43 |
+
"encoder": "libx264",
|
| 44 |
+
"encoding": "bgr8",
|
| 45 |
+
"frames": 172,
|
| 46 |
+
"height": 480,
|
| 47 |
+
"lossless": false,
|
| 48 |
+
"pixel_format": "yuv420p",
|
| 49 |
+
"quality": {
|
| 50 |
+
"mode": "crf",
|
| 51 |
+
"value": 14
|
| 52 |
+
},
|
| 53 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 54 |
+
"timestamps": "camera/timestamp.pkl::right_wrist_0",
|
| 55 |
+
"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
|
| 56 |
+
"video": "camera/right_wrist_0_rgb.mp4",
|
| 57 |
+
"width": 640
|
| 58 |
+
}
|
| 59 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/camera/timestamp.pkl
ADDED
|
Binary file (4.2 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"event": "prediction_requested", "time_ns": 1789902853930536802, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
|
| 2 |
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{"event": "plan_adopted", "time_ns": 1789902854066539661, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 102.02486501657404, "blended_steps": 0}
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| 3 |
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{"event": "prediction_requested", "time_ns": 1789902854683886051, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
|
| 4 |
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{"event": "plan_adopted", "time_ns": 1789902854754261786, "actions_sent": 20, "prediction": 1, "queue_remaining": 27, "skipped_prefix": 3, "observation_age_ms": 91.8478130188305, "blended_steps": 5}
|
| 5 |
+
{"event": "prediction_requested", "time_ns": 1789902855265333666, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
|
| 6 |
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{"event": "plan_adopted", "time_ns": 1789902855367246597, "actions_sent": 38, "prediction": 2, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.3629439882934, "blended_steps": 5}
|
| 7 |
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{"event": "prediction_requested", "time_ns": 1789902855803880594, "actions_sent": 51, "prediction": 3, "queue_remaining": 12}
|
| 8 |
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{"event": "plan_adopted", "time_ns": 1789902855906302755, "actions_sent": 54, "prediction": 3, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 146.21585700660944, "blended_steps": 5}
|
| 9 |
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{"event": "prediction_requested", "time_ns": 1789902856351322410, "actions_sent": 67, "prediction": 4, "queue_remaining": 12}
|
| 10 |
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{"event": "plan_adopted", "time_ns": 1789902856454934002, "actions_sent": 70, "prediction": 4, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 125.712912005838, "blended_steps": 5}
|
| 11 |
+
{"event": "prediction_requested", "time_ns": 1789902856932446082, "actions_sent": 84, "prediction": 5, "queue_remaining": 12}
|
| 12 |
+
{"event": "plan_adopted", "time_ns": 1789902857035418600, "actions_sent": 87, "prediction": 5, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.46630999655463, "blended_steps": 5}
|
| 13 |
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{"event": "prediction_requested", "time_ns": 1789902857474640723, "actions_sent": 100, "prediction": 6, "queue_remaining": 12}
|
| 14 |
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{"event": "plan_adopted", "time_ns": 1789902857578270820, "actions_sent": 103, "prediction": 6, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 115.80370800220408, "blended_steps": 5}
|
| 15 |
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{"event": "prediction_requested", "time_ns": 1789902858051921023, "actions_sent": 117, "prediction": 7, "queue_remaining": 12}
|
| 16 |
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{"event": "plan_adopted", "time_ns": 1789902858154480581, "actions_sent": 120, "prediction": 7, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 127.22929296432994, "blended_steps": 5}
|
| 17 |
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{"event": "prediction_requested", "time_ns": 1789902858628615201, "actions_sent": 134, "prediction": 8, "queue_remaining": 12}
|
| 18 |
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{"event": "plan_adopted", "time_ns": 1789902858735883397, "actions_sent": 137, "prediction": 8, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 139.42940402193926, "blended_steps": 5}
|
| 19 |
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{"event": "prediction_requested", "time_ns": 1789902859176419506, "actions_sent": 150, "prediction": 9, "queue_remaining": 12}
|
| 20 |
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{"event": "plan_adopted", "time_ns": 1789902859282467265, "actions_sent": 153, "prediction": 9, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.10676601110026, "blended_steps": 5}
|
| 21 |
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{"event": "operator_stopped", "time_ns": 1789902859430834718, "actions_sent": 158, "result": "failure"}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/manifests/action.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
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"action.executed": 158,
|
| 5 |
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"camera.base_0_rgb": 172,
|
| 6 |
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"camera.left_wrist_0_rgb": 172,
|
| 7 |
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"camera.right_wrist_0_rgb": 172,
|
| 8 |
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"dropped": 0,
|
| 9 |
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|
| 10 |
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"items": 1365,
|
| 11 |
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|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0003",
|
| 14 |
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"executed_actions": 158,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 3,
|
| 18 |
+
"run_id": "20260920_191259_514938_round_0003",
|
| 19 |
+
"workflow": "openpi_rollout"
|
| 20 |
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},
|
| 21 |
+
"policy_action_chunks": 0,
|
| 22 |
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"record_id": "prometheus_action_recorder",
|
| 23 |
+
"record_mode": "action",
|
| 24 |
+
"schema": "prometheus_raw_episode_v1",
|
| 25 |
+
"status": "saved",
|
| 26 |
+
"updated_at_unix": 1789902859.5308955
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/manifests/camera.json
ADDED
|
@@ -0,0 +1,101 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"prometheus_camera_base_0_recorder": {
|
| 3 |
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"camera_frames": {
|
| 4 |
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"base_0_rgb": 172
|
| 5 |
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},
|
| 6 |
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"camera_timestamp_samples": 172,
|
| 7 |
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"complete_sensor_bundles": 172,
|
| 8 |
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"counts": {
|
| 9 |
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|
| 10 |
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|
| 11 |
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"camera.left_wrist_0_rgb": 172,
|
| 12 |
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"camera.right_wrist_0_rgb": 172,
|
| 13 |
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"dropped": 0,
|
| 14 |
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"event.workflow": 1,
|
| 15 |
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"items": 1365,
|
| 16 |
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"robot.robot_state": 690
|
| 17 |
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},
|
| 18 |
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"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
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"duplicate_sensor_messages": 0,
|
| 20 |
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"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0003",
|
| 21 |
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"failure": "",
|
| 22 |
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"metadata": {
|
| 23 |
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"round_number": 3,
|
| 24 |
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"run_id": "20260920_191259_514938_round_0003",
|
| 25 |
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"workflow": "openpi_rollout"
|
| 26 |
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},
|
| 27 |
+
"record_id": "prometheus_camera_base_0_recorder",
|
| 28 |
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"record_mode": "sensor",
|
| 29 |
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"schema": "prometheus_raw_episode_v1",
|
| 30 |
+
"sensor_kind": "camera",
|
| 31 |
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"sensor_name": "base_0",
|
| 32 |
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"status": "saved",
|
| 33 |
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"updated_at_unix": 1789902859.5308955
|
| 34 |
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},
|
| 35 |
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"prometheus_camera_left_wrist_0_recorder": {
|
| 36 |
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"camera_frames": {
|
| 37 |
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"left_wrist_0_rgb": 172
|
| 38 |
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},
|
| 39 |
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"camera_timestamp_samples": 172,
|
| 40 |
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"complete_sensor_bundles": 172,
|
| 41 |
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"counts": {
|
| 42 |
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|
| 43 |
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|
| 44 |
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"camera.left_wrist_0_rgb": 172,
|
| 45 |
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"camera.right_wrist_0_rgb": 172,
|
| 46 |
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"dropped": 0,
|
| 47 |
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|
| 48 |
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"items": 1365,
|
| 49 |
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|
| 50 |
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},
|
| 51 |
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|
| 52 |
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|
| 53 |
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| 54 |
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"failure": "",
|
| 55 |
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"metadata": {
|
| 56 |
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"round_number": 3,
|
| 57 |
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"run_id": "20260920_191259_514938_round_0003",
|
| 58 |
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"workflow": "openpi_rollout"
|
| 59 |
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},
|
| 60 |
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"record_id": "prometheus_camera_left_wrist_0_recorder",
|
| 61 |
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"record_mode": "sensor",
|
| 62 |
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"schema": "prometheus_raw_episode_v1",
|
| 63 |
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"sensor_kind": "camera",
|
| 64 |
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"sensor_name": "left_wrist_0",
|
| 65 |
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"status": "saved",
|
| 66 |
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"updated_at_unix": 1789902859.5308955
|
| 67 |
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},
|
| 68 |
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"prometheus_camera_right_wrist_0_recorder": {
|
| 69 |
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"camera_frames": {
|
| 70 |
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"right_wrist_0_rgb": 172
|
| 71 |
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},
|
| 72 |
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"camera_timestamp_samples": 172,
|
| 73 |
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"complete_sensor_bundles": 172,
|
| 74 |
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"counts": {
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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"items": 1365,
|
| 82 |
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|
| 83 |
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},
|
| 84 |
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|
| 85 |
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|
| 86 |
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"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0003",
|
| 87 |
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"failure": "",
|
| 88 |
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"metadata": {
|
| 89 |
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"round_number": 3,
|
| 90 |
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"run_id": "20260920_191259_514938_round_0003",
|
| 91 |
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"workflow": "openpi_rollout"
|
| 92 |
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},
|
| 93 |
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"record_id": "prometheus_camera_right_wrist_0_recorder",
|
| 94 |
+
"record_mode": "sensor",
|
| 95 |
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"schema": "prometheus_raw_episode_v1",
|
| 96 |
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"sensor_kind": "camera",
|
| 97 |
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"sensor_name": "right_wrist_0",
|
| 98 |
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"status": "saved",
|
| 99 |
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"updated_at_unix": 1789902859.5308955
|
| 100 |
+
}
|
| 101 |
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}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/manifests/event.json
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
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"counts": {
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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"items": 1365,
|
| 11 |
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|
| 12 |
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},
|
| 13 |
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|
| 14 |
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|
| 15 |
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"failure": "",
|
| 16 |
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"metadata": {
|
| 17 |
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"round_number": 3,
|
| 18 |
+
"run_id": "20260920_191259_514938_round_0003",
|
| 19 |
+
"workflow": "openpi_rollout"
|
| 20 |
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},
|
| 21 |
+
"record_id": "prometheus_event_recorder",
|
| 22 |
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"record_mode": "event",
|
| 23 |
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"schema": "prometheus_raw_episode_v1",
|
| 24 |
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"status": "saved",
|
| 25 |
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"updated_at_unix": 1789902859.5308955
|
| 26 |
+
}
|
| 27 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 158,
|
| 5 |
+
"camera.base_0_rgb": 172,
|
| 6 |
+
"camera.left_wrist_0_rgb": 172,
|
| 7 |
+
"camera.right_wrist_0_rgb": 172,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 1365,
|
| 11 |
+
"robot.robot_state": 690
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0003",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 690,
|
| 17 |
+
"right": 690
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"round_number": 3,
|
| 21 |
+
"run_id": "20260920_191259_514938_round_0003",
|
| 22 |
+
"workflow": "openpi_rollout"
|
| 23 |
+
},
|
| 24 |
+
"pending_robot_samples": 0,
|
| 25 |
+
"plot_outputs": [],
|
| 26 |
+
"record_id": "prometheus_robot_recorder",
|
| 27 |
+
"record_mode": "robot",
|
| 28 |
+
"robot_samples": {
|
| 29 |
+
"left": 690,
|
| 30 |
+
"right": 690
|
| 31 |
+
},
|
| 32 |
+
"schema": "prometheus_raw_episode_v1",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1789902859.5308955
|
| 35 |
+
}
|
| 36 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0003/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/action/executed_action_dict.pkl
ADDED
|
Binary file (43.6 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/camera/metadata.json
ADDED
|
@@ -0,0 +1,59 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base_0_rgb": {
|
| 3 |
+
"codec": "h264",
|
| 4 |
+
"container": "mp4",
|
| 5 |
+
"encoder": "libx264",
|
| 6 |
+
"encoding": "bgr8",
|
| 7 |
+
"frames": 278,
|
| 8 |
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"height": 480,
|
| 9 |
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"lossless": false,
|
| 10 |
+
"pixel_format": "yuv420p",
|
| 11 |
+
"quality": {
|
| 12 |
+
"mode": "crf",
|
| 13 |
+
"value": 14
|
| 14 |
+
},
|
| 15 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 16 |
+
"timestamps": "camera/timestamp.pkl::base_0",
|
| 17 |
+
"topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
|
| 18 |
+
"video": "camera/base_0_rgb.mp4",
|
| 19 |
+
"width": 640
|
| 20 |
+
},
|
| 21 |
+
"left_wrist_0_rgb": {
|
| 22 |
+
"codec": "h264",
|
| 23 |
+
"container": "mp4",
|
| 24 |
+
"encoder": "libx264",
|
| 25 |
+
"encoding": "bgr8",
|
| 26 |
+
"frames": 278,
|
| 27 |
+
"height": 480,
|
| 28 |
+
"lossless": false,
|
| 29 |
+
"pixel_format": "yuv420p",
|
| 30 |
+
"quality": {
|
| 31 |
+
"mode": "crf",
|
| 32 |
+
"value": 14
|
| 33 |
+
},
|
| 34 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 35 |
+
"timestamps": "camera/timestamp.pkl::left_wrist_0",
|
| 36 |
+
"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
|
| 37 |
+
"video": "camera/left_wrist_0_rgb.mp4",
|
| 38 |
+
"width": 640
|
| 39 |
+
},
|
| 40 |
+
"right_wrist_0_rgb": {
|
| 41 |
+
"codec": "h264",
|
| 42 |
+
"container": "mp4",
|
| 43 |
+
"encoder": "libx264",
|
| 44 |
+
"encoding": "bgr8",
|
| 45 |
+
"frames": 278,
|
| 46 |
+
"height": 480,
|
| 47 |
+
"lossless": false,
|
| 48 |
+
"pixel_format": "yuv420p",
|
| 49 |
+
"quality": {
|
| 50 |
+
"mode": "crf",
|
| 51 |
+
"value": 14
|
| 52 |
+
},
|
| 53 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 54 |
+
"timestamps": "camera/timestamp.pkl::right_wrist_0",
|
| 55 |
+
"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
|
| 56 |
+
"video": "camera/right_wrist_0_rgb.mp4",
|
| 57 |
+
"width": 640
|
| 58 |
+
}
|
| 59 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/camera/timestamp.pkl
ADDED
|
Binary file (6.74 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,33 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{"event": "prediction_requested", "time_ns": 1789902881724598461, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
|
| 2 |
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{"event": "plan_adopted", "time_ns": 1789902881873339438, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 100.74215600616299, "blended_steps": 0}
|
| 3 |
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{"event": "prediction_requested", "time_ns": 1789902882481426446, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
|
| 4 |
+
{"event": "plan_adopted", "time_ns": 1789902882586764141, "actions_sent": 21, "prediction": 1, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 117.24530599894933, "blended_steps": 5}
|
| 5 |
+
{"event": "prediction_requested", "time_ns": 1789902883060940530, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
|
| 6 |
+
{"event": "plan_adopted", "time_ns": 1789902883165949846, "actions_sent": 38, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.5167640093714, "blended_steps": 5}
|
| 7 |
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{"event": "prediction_requested", "time_ns": 1789902883636769128, "actions_sent": 52, "prediction": 3, "queue_remaining": 12}
|
| 8 |
+
{"event": "plan_adopted", "time_ns": 1789902883713018088, "actions_sent": 54, "prediction": 3, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 109.91220199503005, "blended_steps": 5}
|
| 9 |
+
{"event": "prediction_requested", "time_ns": 1789902884188595900, "actions_sent": 68, "prediction": 4, "queue_remaining": 12}
|
| 10 |
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{"event": "plan_adopted", "time_ns": 1789902884295470751, "actions_sent": 71, "prediction": 4, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 125.62700599664822, "blended_steps": 5}
|
| 11 |
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{"event": "prediction_requested", "time_ns": 1789902884765468933, "actions_sent": 85, "prediction": 5, "queue_remaining": 12}
|
| 12 |
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{"event": "plan_adopted", "time_ns": 1789902884869305694, "actions_sent": 88, "prediction": 5, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 135.8227200107649, "blended_steps": 5}
|
| 13 |
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{"event": "prediction_requested", "time_ns": 1789902885311179851, "actions_sent": 101, "prediction": 6, "queue_remaining": 12}
|
| 14 |
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{"event": "plan_adopted", "time_ns": 1789902885383393971, "actions_sent": 103, "prediction": 6, "queue_remaining": 27, "skipped_prefix": 3, "observation_age_ms": 81.04903300409205, "blended_steps": 5}
|
| 15 |
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{"event": "prediction_requested", "time_ns": 1789902885893986069, "actions_sent": 118, "prediction": 7, "queue_remaining": 12}
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| 16 |
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{"event": "plan_adopted", "time_ns": 1789902885999235747, "actions_sent": 121, "prediction": 7, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.90970398439094, "blended_steps": 5}
|
| 17 |
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{"event": "prediction_requested", "time_ns": 1789902886472763417, "actions_sent": 135, "prediction": 8, "queue_remaining": 12}
|
| 18 |
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{"event": "plan_adopted", "time_ns": 1789902886576467135, "actions_sent": 138, "prediction": 8, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.7674360089004, "blended_steps": 5}
|
| 19 |
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{"event": "prediction_requested", "time_ns": 1789902887017382380, "actions_sent": 151, "prediction": 9, "queue_remaining": 12}
|
| 20 |
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{"event": "plan_adopted", "time_ns": 1789902887124766098, "actions_sent": 154, "prediction": 9, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.01459998241626, "blended_steps": 5}
|
| 21 |
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{"event": "prediction_requested", "time_ns": 1789902887600714287, "actions_sent": 168, "prediction": 10, "queue_remaining": 12}
|
| 22 |
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{"event": "plan_adopted", "time_ns": 1789902887704408404, "actions_sent": 171, "prediction": 10, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 134.6007410029415, "blended_steps": 5}
|
| 23 |
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{"event": "prediction_requested", "time_ns": 1789902888140894175, "actions_sent": 184, "prediction": 11, "queue_remaining": 12}
|
| 24 |
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{"event": "plan_adopted", "time_ns": 1789902888211463414, "actions_sent": 186, "prediction": 11, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 110.44317000778392, "blended_steps": 5}
|
| 25 |
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{"event": "prediction_requested", "time_ns": 1789902888684946326, "actions_sent": 200, "prediction": 12, "queue_remaining": 12}
|
| 26 |
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{"event": "plan_adopted", "time_ns": 1789902888791066599, "actions_sent": 203, "prediction": 12, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.44097697758116, "blended_steps": 5}
|
| 27 |
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{"event": "prediction_requested", "time_ns": 1789902889266141223, "actions_sent": 217, "prediction": 13, "queue_remaining": 12}
|
| 28 |
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{"event": "plan_adopted", "time_ns": 1789902889369149642, "actions_sent": 220, "prediction": 13, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 133.7829140247777, "blended_steps": 5}
|
| 29 |
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{"event": "prediction_requested", "time_ns": 1789902889808191636, "actions_sent": 233, "prediction": 14, "queue_remaining": 12}
|
| 30 |
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{"event": "plan_adopted", "time_ns": 1789902889913952467, "actions_sent": 236, "prediction": 14, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.16755700181238, "blended_steps": 5}
|
| 31 |
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{"event": "prediction_requested", "time_ns": 1789902890352802664, "actions_sent": 249, "prediction": 15, "queue_remaining": 12}
|
| 32 |
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{"event": "plan_adopted", "time_ns": 1789902890460448044, "actions_sent": 252, "prediction": 15, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.75597598636523, "blended_steps": 5}
|
| 33 |
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{"event": "operator_stopped", "time_ns": 1789902890747550338, "actions_sent": 261, "result": "failure"}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/manifests/action.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"prometheus_action_recorder": {
|
| 3 |
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"counts": {
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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"items": 2209,
|
| 11 |
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|
| 12 |
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},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0004",
|
| 14 |
+
"executed_actions": 261,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 4,
|
| 18 |
+
"run_id": "20260920_191259_514938_round_0004",
|
| 19 |
+
"workflow": "openpi_rollout"
|
| 20 |
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},
|
| 21 |
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"policy_action_chunks": 0,
|
| 22 |
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"record_id": "prometheus_action_recorder",
|
| 23 |
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"record_mode": "action",
|
| 24 |
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"schema": "prometheus_raw_episode_v1",
|
| 25 |
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"status": "saved",
|
| 26 |
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"updated_at_unix": 1789902890.8512058
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/manifests/camera.json
ADDED
|
@@ -0,0 +1,101 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_camera_base_0_recorder": {
|
| 3 |
+
"camera_frames": {
|
| 4 |
+
"base_0_rgb": 278
|
| 5 |
+
},
|
| 6 |
+
"camera_timestamp_samples": 278,
|
| 7 |
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"complete_sensor_bundles": 278,
|
| 8 |
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"counts": {
|
| 9 |
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"action.executed": 261,
|
| 10 |
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|
| 11 |
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"camera.left_wrist_0_rgb": 278,
|
| 12 |
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"camera.right_wrist_0_rgb": 278,
|
| 13 |
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"dropped": 0,
|
| 14 |
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"event.workflow": 1,
|
| 15 |
+
"items": 2209,
|
| 16 |
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"robot.robot_state": 1113
|
| 17 |
+
},
|
| 18 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
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"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0004",
|
| 21 |
+
"failure": "",
|
| 22 |
+
"metadata": {
|
| 23 |
+
"round_number": 4,
|
| 24 |
+
"run_id": "20260920_191259_514938_round_0004",
|
| 25 |
+
"workflow": "openpi_rollout"
|
| 26 |
+
},
|
| 27 |
+
"record_id": "prometheus_camera_base_0_recorder",
|
| 28 |
+
"record_mode": "sensor",
|
| 29 |
+
"schema": "prometheus_raw_episode_v1",
|
| 30 |
+
"sensor_kind": "camera",
|
| 31 |
+
"sensor_name": "base_0",
|
| 32 |
+
"status": "saved",
|
| 33 |
+
"updated_at_unix": 1789902890.8512058
|
| 34 |
+
},
|
| 35 |
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"prometheus_camera_left_wrist_0_recorder": {
|
| 36 |
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"camera_frames": {
|
| 37 |
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|
| 38 |
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},
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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"items": 2209,
|
| 49 |
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|
| 50 |
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},
|
| 51 |
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|
| 52 |
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|
| 53 |
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"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0004",
|
| 54 |
+
"failure": "",
|
| 55 |
+
"metadata": {
|
| 56 |
+
"round_number": 4,
|
| 57 |
+
"run_id": "20260920_191259_514938_round_0004",
|
| 58 |
+
"workflow": "openpi_rollout"
|
| 59 |
+
},
|
| 60 |
+
"record_id": "prometheus_camera_left_wrist_0_recorder",
|
| 61 |
+
"record_mode": "sensor",
|
| 62 |
+
"schema": "prometheus_raw_episode_v1",
|
| 63 |
+
"sensor_kind": "camera",
|
| 64 |
+
"sensor_name": "left_wrist_0",
|
| 65 |
+
"status": "saved",
|
| 66 |
+
"updated_at_unix": 1789902890.8512058
|
| 67 |
+
},
|
| 68 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 69 |
+
"camera_frames": {
|
| 70 |
+
"right_wrist_0_rgb": 278
|
| 71 |
+
},
|
| 72 |
+
"camera_timestamp_samples": 278,
|
| 73 |
+
"complete_sensor_bundles": 278,
|
| 74 |
+
"counts": {
|
| 75 |
+
"action.executed": 261,
|
| 76 |
+
"camera.base_0_rgb": 278,
|
| 77 |
+
"camera.left_wrist_0_rgb": 278,
|
| 78 |
+
"camera.right_wrist_0_rgb": 278,
|
| 79 |
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"dropped": 0,
|
| 80 |
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"event.workflow": 1,
|
| 81 |
+
"items": 2209,
|
| 82 |
+
"robot.robot_state": 1113
|
| 83 |
+
},
|
| 84 |
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"dropped_incomplete_sensor_bundles": 0,
|
| 85 |
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"duplicate_sensor_messages": 0,
|
| 86 |
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"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0004",
|
| 87 |
+
"failure": "",
|
| 88 |
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"metadata": {
|
| 89 |
+
"round_number": 4,
|
| 90 |
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"run_id": "20260920_191259_514938_round_0004",
|
| 91 |
+
"workflow": "openpi_rollout"
|
| 92 |
+
},
|
| 93 |
+
"record_id": "prometheus_camera_right_wrist_0_recorder",
|
| 94 |
+
"record_mode": "sensor",
|
| 95 |
+
"schema": "prometheus_raw_episode_v1",
|
| 96 |
+
"sensor_kind": "camera",
|
| 97 |
+
"sensor_name": "right_wrist_0",
|
| 98 |
+
"status": "saved",
|
| 99 |
+
"updated_at_unix": 1789902890.8512058
|
| 100 |
+
}
|
| 101 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/manifests/event.json
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
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"action.executed": 261,
|
| 5 |
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"camera.base_0_rgb": 278,
|
| 6 |
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"camera.left_wrist_0_rgb": 278,
|
| 7 |
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"camera.right_wrist_0_rgb": 278,
|
| 8 |
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"dropped": 0,
|
| 9 |
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"event.workflow": 1,
|
| 10 |
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"items": 2209,
|
| 11 |
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"robot.robot_state": 1113
|
| 12 |
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},
|
| 13 |
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"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0004",
|
| 14 |
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"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 4,
|
| 18 |
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"run_id": "20260920_191259_514938_round_0004",
|
| 19 |
+
"workflow": "openpi_rollout"
|
| 20 |
+
},
|
| 21 |
+
"record_id": "prometheus_event_recorder",
|
| 22 |
+
"record_mode": "event",
|
| 23 |
+
"schema": "prometheus_raw_episode_v1",
|
| 24 |
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"status": "saved",
|
| 25 |
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"updated_at_unix": 1789902890.8512058
|
| 26 |
+
}
|
| 27 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
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"action.executed": 261,
|
| 5 |
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"camera.base_0_rgb": 278,
|
| 6 |
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"camera.left_wrist_0_rgb": 278,
|
| 7 |
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"camera.right_wrist_0_rgb": 278,
|
| 8 |
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"dropped": 0,
|
| 9 |
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"event.workflow": 1,
|
| 10 |
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"items": 2209,
|
| 11 |
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"robot.robot_state": 1113
|
| 12 |
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},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0004",
|
| 14 |
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"failure": "",
|
| 15 |
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"incomplete_robot_samples": {
|
| 16 |
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"left": 1113,
|
| 17 |
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"right": 1113
|
| 18 |
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},
|
| 19 |
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"metadata": {
|
| 20 |
+
"round_number": 4,
|
| 21 |
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"run_id": "20260920_191259_514938_round_0004",
|
| 22 |
+
"workflow": "openpi_rollout"
|
| 23 |
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},
|
| 24 |
+
"pending_robot_samples": 0,
|
| 25 |
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"plot_outputs": [],
|
| 26 |
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"record_id": "prometheus_robot_recorder",
|
| 27 |
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"record_mode": "robot",
|
| 28 |
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"robot_samples": {
|
| 29 |
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"left": 1113,
|
| 30 |
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"right": 1113
|
| 31 |
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},
|
| 32 |
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"schema": "prometheus_raw_episode_v1",
|
| 33 |
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"status": "saved",
|
| 34 |
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"updated_at_unix": 1789902890.8512058
|
| 35 |
+
}
|
| 36 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0004/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/action/executed_action_dict.pkl
ADDED
|
Binary file (51.3 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/camera/metadata.json
ADDED
|
@@ -0,0 +1,59 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base_0_rgb": {
|
| 3 |
+
"codec": "h264",
|
| 4 |
+
"container": "mp4",
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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"quality": {
|
| 12 |
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"mode": "crf",
|
| 13 |
+
"value": 14
|
| 14 |
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},
|
| 15 |
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 16 |
+
"timestamps": "camera/timestamp.pkl::base_0",
|
| 17 |
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"topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
|
| 18 |
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"video": "camera/base_0_rgb.mp4",
|
| 19 |
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"width": 640
|
| 20 |
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},
|
| 21 |
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"left_wrist_0_rgb": {
|
| 22 |
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"codec": "h264",
|
| 23 |
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"container": "mp4",
|
| 24 |
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"encoder": "libx264",
|
| 25 |
+
"encoding": "bgr8",
|
| 26 |
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"frames": 328,
|
| 27 |
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"height": 480,
|
| 28 |
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"lossless": false,
|
| 29 |
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"pixel_format": "yuv420p",
|
| 30 |
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"quality": {
|
| 31 |
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"mode": "crf",
|
| 32 |
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"value": 14
|
| 33 |
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},
|
| 34 |
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 35 |
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"timestamps": "camera/timestamp.pkl::left_wrist_0",
|
| 36 |
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"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
|
| 37 |
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"video": "camera/left_wrist_0_rgb.mp4",
|
| 38 |
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"width": 640
|
| 39 |
+
},
|
| 40 |
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"right_wrist_0_rgb": {
|
| 41 |
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"codec": "h264",
|
| 42 |
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"container": "mp4",
|
| 43 |
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"encoder": "libx264",
|
| 44 |
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"encoding": "bgr8",
|
| 45 |
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"frames": 329,
|
| 46 |
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"height": 480,
|
| 47 |
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"lossless": false,
|
| 48 |
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"pixel_format": "yuv420p",
|
| 49 |
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"quality": {
|
| 50 |
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"mode": "crf",
|
| 51 |
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"value": 14
|
| 52 |
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},
|
| 53 |
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 54 |
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"timestamps": "camera/timestamp.pkl::right_wrist_0",
|
| 55 |
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"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
|
| 56 |
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"video": "camera/right_wrist_0_rgb.mp4",
|
| 57 |
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"width": 640
|
| 58 |
+
}
|
| 59 |
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}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/camera/timestamp.pkl
ADDED
|
Binary file (7.93 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{"event": "prediction_requested", "time_ns": 1789911579013960976, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
|
| 2 |
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{"event": "plan_adopted", "time_ns": 1789911579135304996, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 116.14157701842487, "blended_steps": 0}
|
| 3 |
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{"event": "prediction_requested", "time_ns": 1789911579753134902, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
|
| 4 |
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{"event": "plan_adopted", "time_ns": 1789911579856652085, "actions_sent": 21, "prediction": 1, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 146.25256400904618, "blended_steps": 5}
|
| 5 |
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{"event": "prediction_requested", "time_ns": 1789911580298327904, "actions_sent": 34, "prediction": 2, "queue_remaining": 12}
|
| 6 |
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{"event": "plan_adopted", "time_ns": 1789911580404131296, "actions_sent": 37, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.86138799390756, "blended_steps": 5}
|
| 7 |
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{"event": "prediction_requested", "time_ns": 1789911580884962046, "actions_sent": 51, "prediction": 3, "queue_remaining": 12}
|
| 8 |
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{"event": "plan_adopted", "time_ns": 1789911580992041995, "actions_sent": 54, "prediction": 3, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.85979499295354, "blended_steps": 5}
|
| 9 |
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{"event": "prediction_requested", "time_ns": 1789911581431643186, "actions_sent": 67, "prediction": 4, "queue_remaining": 12}
|
| 10 |
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{"event": "plan_adopted", "time_ns": 1789911581505131040, "actions_sent": 69, "prediction": 4, "queue_remaining": 27, "skipped_prefix": 3, "observation_age_ms": 90.85639100521803, "blended_steps": 5}
|
| 11 |
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{"event": "prediction_requested", "time_ns": 1789911582015268046, "actions_sent": 84, "prediction": 5, "queue_remaining": 12}
|
| 12 |
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{"event": "plan_adopted", "time_ns": 1789911582123756674, "actions_sent": 87, "prediction": 5, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 112.15192801319063, "blended_steps": 5}
|
| 13 |
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{"event": "prediction_requested", "time_ns": 1789911582598663201, "actions_sent": 101, "prediction": 6, "queue_remaining": 12}
|
| 14 |
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{"event": "plan_adopted", "time_ns": 1789911582672028689, "actions_sent": 103, "prediction": 6, "queue_remaining": 27, "skipped_prefix": 3, "observation_age_ms": 90.69903998170048, "blended_steps": 5}
|
| 15 |
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{"event": "prediction_requested", "time_ns": 1789911583180229287, "actions_sent": 118, "prediction": 7, "queue_remaining": 12}
|
| 16 |
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{"event": "plan_adopted", "time_ns": 1789911583284009297, "actions_sent": 121, "prediction": 7, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 137.29366697953083, "blended_steps": 5}
|
| 17 |
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{"event": "prediction_requested", "time_ns": 1789911583732856179, "actions_sent": 134, "prediction": 8, "queue_remaining": 12}
|
| 18 |
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{"event": "plan_adopted", "time_ns": 1789911583839125913, "actions_sent": 137, "prediction": 8, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 125.21112800459377, "blended_steps": 5}
|
| 19 |
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{"event": "prediction_requested", "time_ns": 1789911584315620074, "actions_sent": 151, "prediction": 9, "queue_remaining": 12}
|
| 20 |
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{"event": "plan_adopted", "time_ns": 1789911584384889737, "actions_sent": 153, "prediction": 9, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 105.37457099417225, "blended_steps": 5}
|
| 21 |
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{"event": "prediction_requested", "time_ns": 1789911584857346159, "actions_sent": 167, "prediction": 10, "queue_remaining": 12}
|
| 22 |
+
{"event": "plan_adopted", "time_ns": 1789911584927151966, "actions_sent": 169, "prediction": 10, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 115.6923120142892, "blended_steps": 5}
|
| 23 |
+
{"event": "prediction_requested", "time_ns": 1789911585402665775, "actions_sent": 183, "prediction": 11, "queue_remaining": 12}
|
| 24 |
+
{"event": "plan_adopted", "time_ns": 1789911585507182865, "actions_sent": 186, "prediction": 11, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 127.60777299990878, "blended_steps": 5}
|
| 25 |
+
{"event": "prediction_requested", "time_ns": 1789911585991879740, "actions_sent": 200, "prediction": 12, "queue_remaining": 12}
|
| 26 |
+
{"event": "plan_adopted", "time_ns": 1789911586096389746, "actions_sent": 203, "prediction": 12, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 114.6090000111144, "blended_steps": 5}
|
| 27 |
+
{"event": "prediction_requested", "time_ns": 1789911586577310276, "actions_sent": 217, "prediction": 13, "queue_remaining": 12}
|
| 28 |
+
{"event": "plan_adopted", "time_ns": 1789911586650873892, "actions_sent": 219, "prediction": 13, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 103.15753202303313, "blended_steps": 5}
|
| 29 |
+
{"event": "prediction_requested", "time_ns": 1789911587122178502, "actions_sent": 233, "prediction": 14, "queue_remaining": 12}
|
| 30 |
+
{"event": "plan_adopted", "time_ns": 1789911587226877366, "actions_sent": 236, "prediction": 14, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 145.82438601064496, "blended_steps": 5}
|
| 31 |
+
{"event": "prediction_requested", "time_ns": 1789911587666951247, "actions_sent": 249, "prediction": 15, "queue_remaining": 12}
|
| 32 |
+
{"event": "plan_adopted", "time_ns": 1789911587772569051, "actions_sent": 252, "prediction": 15, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 123.49014802020974, "blended_steps": 5}
|
| 33 |
+
{"event": "prediction_requested", "time_ns": 1789911588256059310, "actions_sent": 266, "prediction": 16, "queue_remaining": 12}
|
| 34 |
+
{"event": "plan_adopted", "time_ns": 1789911588359434199, "actions_sent": 269, "prediction": 16, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.92521801730618, "blended_steps": 5}
|
| 35 |
+
{"event": "prediction_requested", "time_ns": 1789911588799826380, "actions_sent": 282, "prediction": 17, "queue_remaining": 12}
|
| 36 |
+
{"event": "plan_adopted", "time_ns": 1789911588873074017, "actions_sent": 284, "prediction": 17, "queue_remaining": 27, "skipped_prefix": 3, "observation_age_ms": 91.75967099145055, "blended_steps": 5}
|
| 37 |
+
{"event": "prediction_requested", "time_ns": 1789911589378417496, "actions_sent": 299, "prediction": 18, "queue_remaining": 12}
|
| 38 |
+
{"event": "plan_adopted", "time_ns": 1789911589480878063, "actions_sent": 302, "prediction": 18, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 133.63758500781842, "blended_steps": 5}
|
| 39 |
+
{"event": "operator_stopped", "time_ns": 1789911589629154931, "actions_sent": 307, "result": "success"}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/manifests/action.json
ADDED
|
@@ -0,0 +1,29 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 307,
|
| 5 |
+
"camera.base_0_rgb": 326,
|
| 6 |
+
"camera.left_wrist_0_rgb": 328,
|
| 7 |
+
"camera.right_wrist_0_rgb": 329,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2709,
|
| 11 |
+
"robot.robot_state": 1418
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0005",
|
| 14 |
+
"executed_actions": 307,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
+
"round_number": 5,
|
| 19 |
+
"run_id": "20260920_213931_649270_round_0005",
|
| 20 |
+
"workflow": "openpi_rollout"
|
| 21 |
+
},
|
| 22 |
+
"policy_action_chunks": 0,
|
| 23 |
+
"record_id": "prometheus_action_recorder",
|
| 24 |
+
"record_mode": "action",
|
| 25 |
+
"schema": "prometheus_raw_episode_v1",
|
| 26 |
+
"status": "saved",
|
| 27 |
+
"updated_at_unix": 1789911589.7341807
|
| 28 |
+
}
|
| 29 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/manifests/camera.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_camera_base_0_recorder": {
|
| 3 |
+
"camera_frames": {
|
| 4 |
+
"base_0_rgb": 326
|
| 5 |
+
},
|
| 6 |
+
"camera_timestamp_samples": 326,
|
| 7 |
+
"complete_sensor_bundles": 326,
|
| 8 |
+
"counts": {
|
| 9 |
+
"action.executed": 307,
|
| 10 |
+
"camera.base_0_rgb": 326,
|
| 11 |
+
"camera.left_wrist_0_rgb": 328,
|
| 12 |
+
"camera.right_wrist_0_rgb": 329,
|
| 13 |
+
"dropped": 0,
|
| 14 |
+
"event.workflow": 1,
|
| 15 |
+
"items": 2709,
|
| 16 |
+
"robot.robot_state": 1418
|
| 17 |
+
},
|
| 18 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0005",
|
| 21 |
+
"failure": "",
|
| 22 |
+
"metadata": {
|
| 23 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 24 |
+
"round_number": 5,
|
| 25 |
+
"run_id": "20260920_213931_649270_round_0005",
|
| 26 |
+
"workflow": "openpi_rollout"
|
| 27 |
+
},
|
| 28 |
+
"record_id": "prometheus_camera_base_0_recorder",
|
| 29 |
+
"record_mode": "sensor",
|
| 30 |
+
"schema": "prometheus_raw_episode_v1",
|
| 31 |
+
"sensor_kind": "camera",
|
| 32 |
+
"sensor_name": "base_0",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1789911589.7341807
|
| 35 |
+
},
|
| 36 |
+
"prometheus_camera_left_wrist_0_recorder": {
|
| 37 |
+
"camera_frames": {
|
| 38 |
+
"left_wrist_0_rgb": 328
|
| 39 |
+
},
|
| 40 |
+
"camera_timestamp_samples": 328,
|
| 41 |
+
"complete_sensor_bundles": 328,
|
| 42 |
+
"counts": {
|
| 43 |
+
"action.executed": 307,
|
| 44 |
+
"camera.base_0_rgb": 326,
|
| 45 |
+
"camera.left_wrist_0_rgb": 328,
|
| 46 |
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"camera.right_wrist_0_rgb": 329,
|
| 47 |
+
"dropped": 0,
|
| 48 |
+
"event.workflow": 1,
|
| 49 |
+
"items": 2709,
|
| 50 |
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"robot.robot_state": 1418
|
| 51 |
+
},
|
| 52 |
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"dropped_incomplete_sensor_bundles": 0,
|
| 53 |
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"duplicate_sensor_messages": 0,
|
| 54 |
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"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0005",
|
| 55 |
+
"failure": "",
|
| 56 |
+
"metadata": {
|
| 57 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 58 |
+
"round_number": 5,
|
| 59 |
+
"run_id": "20260920_213931_649270_round_0005",
|
| 60 |
+
"workflow": "openpi_rollout"
|
| 61 |
+
},
|
| 62 |
+
"record_id": "prometheus_camera_left_wrist_0_recorder",
|
| 63 |
+
"record_mode": "sensor",
|
| 64 |
+
"schema": "prometheus_raw_episode_v1",
|
| 65 |
+
"sensor_kind": "camera",
|
| 66 |
+
"sensor_name": "left_wrist_0",
|
| 67 |
+
"status": "saved",
|
| 68 |
+
"updated_at_unix": 1789911589.7341807
|
| 69 |
+
},
|
| 70 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 71 |
+
"camera_frames": {
|
| 72 |
+
"right_wrist_0_rgb": 329
|
| 73 |
+
},
|
| 74 |
+
"camera_timestamp_samples": 329,
|
| 75 |
+
"complete_sensor_bundles": 329,
|
| 76 |
+
"counts": {
|
| 77 |
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"action.executed": 307,
|
| 78 |
+
"camera.base_0_rgb": 326,
|
| 79 |
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"camera.left_wrist_0_rgb": 328,
|
| 80 |
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"camera.right_wrist_0_rgb": 329,
|
| 81 |
+
"dropped": 0,
|
| 82 |
+
"event.workflow": 1,
|
| 83 |
+
"items": 2709,
|
| 84 |
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"robot.robot_state": 1418
|
| 85 |
+
},
|
| 86 |
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"dropped_incomplete_sensor_bundles": 0,
|
| 87 |
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"duplicate_sensor_messages": 0,
|
| 88 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0005",
|
| 89 |
+
"failure": "",
|
| 90 |
+
"metadata": {
|
| 91 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 92 |
+
"round_number": 5,
|
| 93 |
+
"run_id": "20260920_213931_649270_round_0005",
|
| 94 |
+
"workflow": "openpi_rollout"
|
| 95 |
+
},
|
| 96 |
+
"record_id": "prometheus_camera_right_wrist_0_recorder",
|
| 97 |
+
"record_mode": "sensor",
|
| 98 |
+
"schema": "prometheus_raw_episode_v1",
|
| 99 |
+
"sensor_kind": "camera",
|
| 100 |
+
"sensor_name": "right_wrist_0",
|
| 101 |
+
"status": "saved",
|
| 102 |
+
"updated_at_unix": 1789911589.7341807
|
| 103 |
+
}
|
| 104 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/manifests/event.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 307,
|
| 5 |
+
"camera.base_0_rgb": 326,
|
| 6 |
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"camera.left_wrist_0_rgb": 328,
|
| 7 |
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"camera.right_wrist_0_rgb": 329,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2709,
|
| 11 |
+
"robot.robot_state": 1418
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0005",
|
| 14 |
+
"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
+
"round_number": 5,
|
| 19 |
+
"run_id": "20260920_213931_649270_round_0005",
|
| 20 |
+
"workflow": "openpi_rollout"
|
| 21 |
+
},
|
| 22 |
+
"record_id": "prometheus_event_recorder",
|
| 23 |
+
"record_mode": "event",
|
| 24 |
+
"schema": "prometheus_raw_episode_v1",
|
| 25 |
+
"status": "saved",
|
| 26 |
+
"updated_at_unix": 1789911589.7341807
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/manifests/robot.json
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 307,
|
| 5 |
+
"camera.base_0_rgb": 326,
|
| 6 |
+
"camera.left_wrist_0_rgb": 328,
|
| 7 |
+
"camera.right_wrist_0_rgb": 329,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2709,
|
| 11 |
+
"robot.robot_state": 1418
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0005",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 1418,
|
| 17 |
+
"right": 1418
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 21 |
+
"round_number": 5,
|
| 22 |
+
"run_id": "20260920_213931_649270_round_0005",
|
| 23 |
+
"workflow": "openpi_rollout"
|
| 24 |
+
},
|
| 25 |
+
"pending_robot_samples": 0,
|
| 26 |
+
"plot_outputs": [],
|
| 27 |
+
"record_id": "prometheus_robot_recorder",
|
| 28 |
+
"record_mode": "robot",
|
| 29 |
+
"robot_samples": {
|
| 30 |
+
"left": 1418,
|
| 31 |
+
"right": 1418
|
| 32 |
+
},
|
| 33 |
+
"schema": "prometheus_raw_episode_v1",
|
| 34 |
+
"status": "saved",
|
| 35 |
+
"updated_at_unix": 1789911589.7341807
|
| 36 |
+
}
|
| 37 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0005/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0006/action/executed_action_dict.pkl
ADDED
|
Binary file (47.3 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0006/camera/metadata.json
ADDED
|
@@ -0,0 +1,59 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"base_0_rgb": {
|
| 3 |
+
"codec": "h264",
|
| 4 |
+
"container": "mp4",
|
| 5 |
+
"encoder": "libx264",
|
| 6 |
+
"encoding": "bgr8",
|
| 7 |
+
"frames": 301,
|
| 8 |
+
"height": 480,
|
| 9 |
+
"lossless": false,
|
| 10 |
+
"pixel_format": "yuv420p",
|
| 11 |
+
"quality": {
|
| 12 |
+
"mode": "crf",
|
| 13 |
+
"value": 14
|
| 14 |
+
},
|
| 15 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 16 |
+
"timestamps": "camera/timestamp.pkl::base_0",
|
| 17 |
+
"topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
|
| 18 |
+
"video": "camera/base_0_rgb.mp4",
|
| 19 |
+
"width": 640
|
| 20 |
+
},
|
| 21 |
+
"left_wrist_0_rgb": {
|
| 22 |
+
"codec": "h264",
|
| 23 |
+
"container": "mp4",
|
| 24 |
+
"encoder": "libx264",
|
| 25 |
+
"encoding": "bgr8",
|
| 26 |
+
"frames": 302,
|
| 27 |
+
"height": 480,
|
| 28 |
+
"lossless": false,
|
| 29 |
+
"pixel_format": "yuv420p",
|
| 30 |
+
"quality": {
|
| 31 |
+
"mode": "crf",
|
| 32 |
+
"value": 14
|
| 33 |
+
},
|
| 34 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 35 |
+
"timestamps": "camera/timestamp.pkl::left_wrist_0",
|
| 36 |
+
"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
|
| 37 |
+
"video": "camera/left_wrist_0_rgb.mp4",
|
| 38 |
+
"width": 640
|
| 39 |
+
},
|
| 40 |
+
"right_wrist_0_rgb": {
|
| 41 |
+
"codec": "h264",
|
| 42 |
+
"container": "mp4",
|
| 43 |
+
"encoder": "libx264",
|
| 44 |
+
"encoding": "bgr8",
|
| 45 |
+
"frames": 302,
|
| 46 |
+
"height": 480,
|
| 47 |
+
"lossless": false,
|
| 48 |
+
"pixel_format": "yuv420p",
|
| 49 |
+
"quality": {
|
| 50 |
+
"mode": "crf",
|
| 51 |
+
"value": 14
|
| 52 |
+
},
|
| 53 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 54 |
+
"timestamps": "camera/timestamp.pkl::right_wrist_0",
|
| 55 |
+
"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
|
| 56 |
+
"video": "camera/right_wrist_0_rgb.mp4",
|
| 57 |
+
"width": 640
|
| 58 |
+
}
|
| 59 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0006/camera/timestamp.pkl
ADDED
|
Binary file (7.31 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0006/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0006/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"event": "prediction_requested", "time_ns": 1789911599745767780, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
|
| 2 |
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{"event": "plan_adopted", "time_ns": 1789911599872756256, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 83.09170400025323, "blended_steps": 0}
|
| 3 |
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{"event": "prediction_requested", "time_ns": 1789911600496669601, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
|
| 4 |
+
{"event": "plan_adopted", "time_ns": 1789911600599645879, "actions_sent": 21, "prediction": 1, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 116.14017401007004, "blended_steps": 5}
|
| 5 |
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{"event": "prediction_requested", "time_ns": 1789911601073459618, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
|
| 6 |
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{"event": "plan_adopted", "time_ns": 1789911601179580693, "actions_sent": 38, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.57685100566596, "blended_steps": 5}
|
| 7 |
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{"event": "prediction_requested", "time_ns": 1789911601655257424, "actions_sent": 52, "prediction": 3, "queue_remaining": 12}
|
| 8 |
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{"event": "plan_adopted", "time_ns": 1789911601762134697, "actions_sent": 55, "prediction": 3, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.70754498243332, "blended_steps": 5}
|
| 9 |
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{"event": "prediction_requested", "time_ns": 1789911602198322937, "actions_sent": 68, "prediction": 4, "queue_remaining": 12}
|
| 10 |
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{"event": "plan_adopted", "time_ns": 1789911602303828111, "actions_sent": 71, "prediction": 4, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 117.22771500353701, "blended_steps": 5}
|
| 11 |
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{"event": "prediction_requested", "time_ns": 1789911602779583833, "actions_sent": 85, "prediction": 5, "queue_remaining": 12}
|
| 12 |
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{"event": "plan_adopted", "time_ns": 1789911602883822590, "actions_sent": 88, "prediction": 5, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 131.99658298981376, "blended_steps": 5}
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| 13 |
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{"event": "prediction_requested", "time_ns": 1789911603363122508, "actions_sent": 102, "prediction": 6, "queue_remaining": 12}
|
| 14 |
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{"event": "plan_adopted", "time_ns": 1789911603476716179, "actions_sent": 105, "prediction": 6, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 123.89125901972875, "blended_steps": 5}
|
| 15 |
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{"event": "prediction_requested", "time_ns": 1789911603954719648, "actions_sent": 119, "prediction": 7, "queue_remaining": 12}
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| 16 |
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| 17 |
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{"event": "prediction_requested", "time_ns": 1789911604532507920, "actions_sent": 136, "prediction": 8, "queue_remaining": 12}
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| 18 |
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{"event": "plan_adopted", "time_ns": 1789911604638619269, "actions_sent": 139, "prediction": 8, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.00175299867988, "blended_steps": 5}
|
| 19 |
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{"event": "prediction_requested", "time_ns": 1789911605110589697, "actions_sent": 153, "prediction": 9, "queue_remaining": 12}
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| 20 |
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{"event": "plan_adopted", "time_ns": 1789911605216065564, "actions_sent": 156, "prediction": 9, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.6169809831772, "blended_steps": 5}
|
| 21 |
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{"event": "prediction_requested", "time_ns": 1789911605691725660, "actions_sent": 170, "prediction": 10, "queue_remaining": 12}
|
| 22 |
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{"event": "plan_adopted", "time_ns": 1789911605799064812, "actions_sent": 173, "prediction": 10, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.58015997661278, "blended_steps": 5}
|
| 23 |
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{"event": "prediction_requested", "time_ns": 1789911606240749747, "actions_sent": 186, "prediction": 11, "queue_remaining": 12}
|
| 24 |
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{"event": "plan_adopted", "time_ns": 1789911606349659209, "actions_sent": 189, "prediction": 11, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 127.90898900129832, "blended_steps": 5}
|
| 25 |
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{"event": "prediction_requested", "time_ns": 1789911606823482920, "actions_sent": 203, "prediction": 12, "queue_remaining": 12}
|
| 26 |
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{"event": "plan_adopted", "time_ns": 1789911606931073759, "actions_sent": 206, "prediction": 12, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.51985598821193, "blended_steps": 5}
|
| 27 |
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{"event": "prediction_requested", "time_ns": 1789911607371747862, "actions_sent": 219, "prediction": 13, "queue_remaining": 12}
|
| 28 |
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{"event": "plan_adopted", "time_ns": 1789911607482300794, "actions_sent": 222, "prediction": 13, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 125.09215000318363, "blended_steps": 5}
|
| 29 |
+
{"event": "prediction_requested", "time_ns": 1789911607965099319, "actions_sent": 236, "prediction": 14, "queue_remaining": 12}
|
| 30 |
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{"event": "plan_adopted", "time_ns": 1789911608067026704, "actions_sent": 239, "prediction": 14, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 115.81746602314524, "blended_steps": 5}
|
| 31 |
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{"event": "prediction_requested", "time_ns": 1789911608554712335, "actions_sent": 253, "prediction": 15, "queue_remaining": 12}
|
| 32 |
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{"event": "plan_adopted", "time_ns": 1789911608657161055, "actions_sent": 256, "prediction": 15, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 138.76240100944415, "blended_steps": 5}
|
| 33 |
+
{"event": "prediction_requested", "time_ns": 1789911609093798939, "actions_sent": 269, "prediction": 16, "queue_remaining": 12}
|
| 34 |
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{"event": "plan_adopted", "time_ns": 1789911609168089461, "actions_sent": 271, "prediction": 16, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 115.39763899054378, "blended_steps": 5}
|
| 35 |
+
{"event": "operator_stopped", "time_ns": 1789911609584708111, "actions_sent": 283, "result": "success"}
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0006/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0006/manifests/action.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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"prometheus_action_recorder": {
|
| 3 |
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"counts": {
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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"dropped": 0,
|
| 9 |
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|
| 10 |
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"items": 2395,
|
| 11 |
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|
| 12 |
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},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0006",
|
| 14 |
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"executed_actions": 283,
|
| 15 |
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"failure": "",
|
| 16 |
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"metadata": {
|
| 17 |
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"round_number": 6,
|
| 18 |
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"run_id": "20260920_213931_649270_round_0006",
|
| 19 |
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"workflow": "openpi_rollout"
|
| 20 |
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},
|
| 21 |
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"policy_action_chunks": 0,
|
| 22 |
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"record_id": "prometheus_action_recorder",
|
| 23 |
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"record_mode": "action",
|
| 24 |
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"schema": "prometheus_raw_episode_v1",
|
| 25 |
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"status": "saved",
|
| 26 |
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"updated_at_unix": 1789911609.6847231
|
| 27 |
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}
|
| 28 |
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}
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