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- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/debug/async_events.jsonl +43 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/manifests/action.json +28 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/manifests/camera.json +101 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/manifests/event.json +27 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/manifests/robot.json +36 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/debug/async_events.jsonl +57 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/manifests/action.json +28 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/manifests/camera.json +101 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/manifests/event.json +27 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/manifests/robot.json +36 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/debug/async_events.jsonl +88 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/manifests/action.json +28 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/manifests/camera.json +101 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/manifests/event.json +27 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/manifests/robot.json +36 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/debug/async_events.jsonl +71 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/manifests/action.json +29 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/manifests/event.json +28 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/debug/async_events.jsonl +39 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/manifests/action.json +28 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/manifests/camera.json +101 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/manifests/event.json +27 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/manifests/robot.json +36 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0017/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0017/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0017/debug/actions.jsonl +0 -0
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/action/executed_action_dict.pkl
ADDED
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Binary file (56.6 kB). View file
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eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/camera/metadata.json
ADDED
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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": 361,
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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": 360,
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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": 360,
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"height": 480,
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"lossless": false,
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"pixel_format": "yuv420p",
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"quality": {
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"mode": "crf",
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"value": 14
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},
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
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"timestamps": "camera/timestamp.pkl::right_wrist_0",
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"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
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"video": "camera/right_wrist_0_rgb.mp4",
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"width": 640
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}
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}
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eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/camera/timestamp.pkl
ADDED
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Binary file (8.72 kB). View file
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eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/debug/actions.jsonl
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The diff for this file is too large to render.
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eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/debug/async_events.jsonl
ADDED
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{"event": "prediction_requested", "time_ns": 1789903056452050677, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
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{"event": "plan_adopted", "time_ns": 1789903056611445436, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 110.5592210078612, "blended_steps": 0}
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{"event": "prediction_requested", "time_ns": 1789903057229711483, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
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{"event": "plan_adopted", "time_ns": 1789903057334889188, "actions_sent": 21, "prediction": 1, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 139.24276301986538, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789903057778683470, "actions_sent": 34, "prediction": 2, "queue_remaining": 12}
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{"event": "plan_adopted", "time_ns": 1789903057882944944, "actions_sent": 37, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.98922200291418, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789903058356737965, "actions_sent": 51, "prediction": 3, "queue_remaining": 12}
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{"event": "plan_adopted", "time_ns": 1789903058460481800, "actions_sent": 54, "prediction": 3, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 131.13205900299363, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789903058933667813, "actions_sent": 68, "prediction": 4, "queue_remaining": 12}
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{"event": "plan_adopted", "time_ns": 1789903059007840307, "actions_sent": 70, "prediction": 4, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 109.66350699891336, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789903059484943383, "actions_sent": 84, "prediction": 5, "queue_remaining": 12}
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{"event": "prediction_requested", "time_ns": 1789903060063262360, "actions_sent": 101, "prediction": 6, "queue_remaining": 12}
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{"event": "plan_adopted", "time_ns": 1789903066993818987, "actions_sent": 303, "prediction": 18, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 127.92197498492897, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789903067466937072, "actions_sent": 317, "prediction": 19, "queue_remaining": 12}
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{"event": "plan_adopted", "time_ns": 1789903067570163685, "actions_sent": 320, "prediction": 19, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.53607199457474, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789903068015881197, "actions_sent": 333, "prediction": 20, "queue_remaining": 12}
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{"event": "failed", "time_ns": 1789903068236107436, "actions_sent": 339, "error": "RuntimeError: tracking error cap exceeded"}
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eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/event/event_dict.pkl
ADDED
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Binary file (153 Bytes). View file
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eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/manifests/action.json
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 339,
|
| 5 |
+
"camera.base_0_rgb": 361,
|
| 6 |
+
"camera.left_wrist_0_rgb": 360,
|
| 7 |
+
"camera.right_wrist_0_rgb": 360,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2862,
|
| 11 |
+
"robot.robot_state": 1441
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0002",
|
| 14 |
+
"executed_actions": 339,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 2,
|
| 18 |
+
"run_id": "20260920_191623_297605_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": 1789903068.3505757
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/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": 361
|
| 5 |
+
},
|
| 6 |
+
"camera_timestamp_samples": 361,
|
| 7 |
+
"complete_sensor_bundles": 361,
|
| 8 |
+
"counts": {
|
| 9 |
+
"action.executed": 339,
|
| 10 |
+
"camera.base_0_rgb": 361,
|
| 11 |
+
"camera.left_wrist_0_rgb": 360,
|
| 12 |
+
"camera.right_wrist_0_rgb": 360,
|
| 13 |
+
"dropped": 0,
|
| 14 |
+
"event.workflow": 1,
|
| 15 |
+
"items": 2862,
|
| 16 |
+
"robot.robot_state": 1441
|
| 17 |
+
},
|
| 18 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0002",
|
| 21 |
+
"failure": "",
|
| 22 |
+
"metadata": {
|
| 23 |
+
"round_number": 2,
|
| 24 |
+
"run_id": "20260920_191623_297605_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": 1789903068.3505757
|
| 34 |
+
},
|
| 35 |
+
"prometheus_camera_left_wrist_0_recorder": {
|
| 36 |
+
"camera_frames": {
|
| 37 |
+
"left_wrist_0_rgb": 360
|
| 38 |
+
},
|
| 39 |
+
"camera_timestamp_samples": 360,
|
| 40 |
+
"complete_sensor_bundles": 360,
|
| 41 |
+
"counts": {
|
| 42 |
+
"action.executed": 339,
|
| 43 |
+
"camera.base_0_rgb": 361,
|
| 44 |
+
"camera.left_wrist_0_rgb": 360,
|
| 45 |
+
"camera.right_wrist_0_rgb": 360,
|
| 46 |
+
"dropped": 0,
|
| 47 |
+
"event.workflow": 1,
|
| 48 |
+
"items": 2862,
|
| 49 |
+
"robot.robot_state": 1441
|
| 50 |
+
},
|
| 51 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 52 |
+
"duplicate_sensor_messages": 0,
|
| 53 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0002",
|
| 54 |
+
"failure": "",
|
| 55 |
+
"metadata": {
|
| 56 |
+
"round_number": 2,
|
| 57 |
+
"run_id": "20260920_191623_297605_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": 1789903068.3505757
|
| 67 |
+
},
|
| 68 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 69 |
+
"camera_frames": {
|
| 70 |
+
"right_wrist_0_rgb": 360
|
| 71 |
+
},
|
| 72 |
+
"camera_timestamp_samples": 360,
|
| 73 |
+
"complete_sensor_bundles": 360,
|
| 74 |
+
"counts": {
|
| 75 |
+
"action.executed": 339,
|
| 76 |
+
"camera.base_0_rgb": 361,
|
| 77 |
+
"camera.left_wrist_0_rgb": 360,
|
| 78 |
+
"camera.right_wrist_0_rgb": 360,
|
| 79 |
+
"dropped": 0,
|
| 80 |
+
"event.workflow": 1,
|
| 81 |
+
"items": 2862,
|
| 82 |
+
"robot.robot_state": 1441
|
| 83 |
+
},
|
| 84 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 85 |
+
"duplicate_sensor_messages": 0,
|
| 86 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0002",
|
| 87 |
+
"failure": "",
|
| 88 |
+
"metadata": {
|
| 89 |
+
"round_number": 2,
|
| 90 |
+
"run_id": "20260920_191623_297605_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": 1789903068.3505757
|
| 100 |
+
}
|
| 101 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/manifests/event.json
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 339,
|
| 5 |
+
"camera.base_0_rgb": 361,
|
| 6 |
+
"camera.left_wrist_0_rgb": 360,
|
| 7 |
+
"camera.right_wrist_0_rgb": 360,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2862,
|
| 11 |
+
"robot.robot_state": 1441
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0002",
|
| 14 |
+
"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 2,
|
| 18 |
+
"run_id": "20260920_191623_297605_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": 1789903068.3505757
|
| 26 |
+
}
|
| 27 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 339,
|
| 5 |
+
"camera.base_0_rgb": 361,
|
| 6 |
+
"camera.left_wrist_0_rgb": 360,
|
| 7 |
+
"camera.right_wrist_0_rgb": 360,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2862,
|
| 11 |
+
"robot.robot_state": 1441
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0002",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 1441,
|
| 17 |
+
"right": 1441
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"round_number": 2,
|
| 21 |
+
"run_id": "20260920_191623_297605_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": 1441,
|
| 30 |
+
"right": 1441
|
| 31 |
+
},
|
| 32 |
+
"schema": "prometheus_raw_episode_v1",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1789903068.3505757
|
| 35 |
+
}
|
| 36 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0002/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/action/executed_action_dict.pkl
ADDED
|
Binary file (76 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/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": 478,
|
| 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": 478,
|
| 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": 479,
|
| 46 |
+
"height": 480,
|
| 47 |
+
"lossless": false,
|
| 48 |
+
"pixel_format": "yuv420p",
|
| 49 |
+
"quality": {
|
| 50 |
+
"mode": "crf",
|
| 51 |
+
"value": 14
|
| 52 |
+
},
|
| 53 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 54 |
+
"timestamps": "camera/timestamp.pkl::right_wrist_0",
|
| 55 |
+
"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
|
| 56 |
+
"video": "camera/right_wrist_0_rgb.mp4",
|
| 57 |
+
"width": 640
|
| 58 |
+
}
|
| 59 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/camera/timestamp.pkl
ADDED
|
Binary file (11.5 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/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/pick_and_place_apple/data/round_0004/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,57 @@
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
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|
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|
|
|
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|
|
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|
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|
|
|
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|
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|
|
| 1 |
+
{"event": "prediction_requested", "time_ns": 1789903146345749344, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
|
| 2 |
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{"event": "plan_adopted", "time_ns": 1789903146478585567, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 96.70618499512784, "blended_steps": 0}
|
| 3 |
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{"event": "prediction_requested", "time_ns": 1789903147083599897, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
|
| 4 |
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{"event": "plan_adopted", "time_ns": 1789903147191735145, "actions_sent": 21, "prediction": 1, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 115.91895800665952, "blended_steps": 5}
|
| 5 |
+
{"event": "prediction_requested", "time_ns": 1789903147666165467, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
|
| 6 |
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{"event": "plan_adopted", "time_ns": 1789903147772324529, "actions_sent": 38, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.18127299053594, "blended_steps": 5}
|
| 7 |
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{"event": "prediction_requested", "time_ns": 1789903148246764162, "actions_sent": 52, "prediction": 3, "queue_remaining": 12}
|
| 8 |
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{"event": "plan_adopted", "time_ns": 1789903148349577406, "actions_sent": 55, "prediction": 3, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.12864098954014, "blended_steps": 5}
|
| 9 |
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{"event": "prediction_requested", "time_ns": 1789903148788750567, "actions_sent": 68, "prediction": 4, "queue_remaining": 12}
|
| 10 |
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|
| 11 |
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{"event": "prediction_requested", "time_ns": 1789903149365853529, "actions_sent": 85, "prediction": 5, "queue_remaining": 12}
|
| 12 |
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{"event": "plan_adopted", "time_ns": 1789903149501932524, "actions_sent": 89, "prediction": 5, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 160.68499098764732, "blended_steps": 5}
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| 13 |
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| 14 |
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|
| 15 |
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{"event": "prediction_requested", "time_ns": 1789903150496978656, "actions_sent": 118, "prediction": 7, "queue_remaining": 12}
|
| 16 |
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|
| 17 |
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{"event": "prediction_requested", "time_ns": 1789903151071488828, "actions_sent": 135, "prediction": 8, "queue_remaining": 12}
|
| 18 |
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|
| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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{"event": "prediction_requested", "time_ns": 1789903152811304111, "actions_sent": 186, "prediction": 11, "queue_remaining": 12}
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| 24 |
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| 25 |
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{"event": "prediction_requested", "time_ns": 1789903153356814893, "actions_sent": 202, "prediction": 12, "queue_remaining": 12}
|
| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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{"event": "prediction_requested", "time_ns": 1789903155026212098, "actions_sent": 250, "prediction": 15, "queue_remaining": 12}
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| 32 |
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|
| 33 |
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{"event": "prediction_requested", "time_ns": 1789903155613242596, "actions_sent": 267, "prediction": 16, "queue_remaining": 12}
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| 34 |
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{"event": "plan_adopted", "time_ns": 1789903155714502240, "actions_sent": 270, "prediction": 16, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 139.87936603371054, "blended_steps": 5}
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| 35 |
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{"event": "prediction_requested", "time_ns": 1789903156151390276, "actions_sent": 283, "prediction": 17, "queue_remaining": 12}
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| 36 |
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| 37 |
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{"event": "prediction_requested", "time_ns": 1789903156699991589, "actions_sent": 299, "prediction": 18, "queue_remaining": 12}
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| 38 |
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| 39 |
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{"event": "prediction_requested", "time_ns": 1789903157287042406, "actions_sent": 316, "prediction": 19, "queue_remaining": 12}
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| 40 |
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{"event": "plan_adopted", "time_ns": 1789903157397239259, "actions_sent": 319, "prediction": 19, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 150.99372100667097, "blended_steps": 5}
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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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{"event": "prediction_requested", "time_ns": 1789903158994275955, "actions_sent": 366, "prediction": 22, "queue_remaining": 12}
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| 46 |
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{"event": "plan_adopted", "time_ns": 1789903159100025416, "actions_sent": 369, "prediction": 22, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.99073999747634, "blended_steps": 5}
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| 47 |
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{"event": "prediction_requested", "time_ns": 1789903159582446803, "actions_sent": 383, "prediction": 23, "queue_remaining": 12}
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| 48 |
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| 49 |
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| 56 |
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| 57 |
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{"event": "failed", "time_ns": 1789903162072385835, "actions_sent": 456, "error": "RuntimeError: tracking error cap exceeded"}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/event/event_dict.pkl
ADDED
|
Binary file (153 Bytes). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/manifests/action.json
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
| 1 |
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{
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| 3 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 27 |
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}
|
| 28 |
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}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/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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|
|
| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 7 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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|
| 20 |
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| 21 |
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| 22 |
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| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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},
|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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| 34 |
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},
|
| 35 |
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| 36 |
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|
| 37 |
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|
| 38 |
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| 39 |
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|
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|
| 41 |
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| 42 |
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|
| 43 |
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| 44 |
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| 46 |
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|
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|
| 48 |
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| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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"duplicate_sensor_messages": 0,
|
| 53 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0004",
|
| 54 |
+
"failure": "",
|
| 55 |
+
"metadata": {
|
| 56 |
+
"round_number": 4,
|
| 57 |
+
"run_id": "20260920_191827_703744_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": 1789903162.1831503
|
| 67 |
+
},
|
| 68 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 69 |
+
"camera_frames": {
|
| 70 |
+
"right_wrist_0_rgb": 479
|
| 71 |
+
},
|
| 72 |
+
"camera_timestamp_samples": 479,
|
| 73 |
+
"complete_sensor_bundles": 479,
|
| 74 |
+
"counts": {
|
| 75 |
+
"action.executed": 456,
|
| 76 |
+
"camera.base_0_rgb": 478,
|
| 77 |
+
"camera.left_wrist_0_rgb": 478,
|
| 78 |
+
"camera.right_wrist_0_rgb": 479,
|
| 79 |
+
"dropped": 0,
|
| 80 |
+
"event.workflow": 1,
|
| 81 |
+
"items": 3805,
|
| 82 |
+
"robot.robot_state": 1913
|
| 83 |
+
},
|
| 84 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 85 |
+
"duplicate_sensor_messages": 0,
|
| 86 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0004",
|
| 87 |
+
"failure": "",
|
| 88 |
+
"metadata": {
|
| 89 |
+
"round_number": 4,
|
| 90 |
+
"run_id": "20260920_191827_703744_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": 1789903162.1831503
|
| 100 |
+
}
|
| 101 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/manifests/event.json
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 456,
|
| 5 |
+
"camera.base_0_rgb": 478,
|
| 6 |
+
"camera.left_wrist_0_rgb": 478,
|
| 7 |
+
"camera.right_wrist_0_rgb": 479,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 3805,
|
| 11 |
+
"robot.robot_state": 1913
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0004",
|
| 14 |
+
"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 4,
|
| 18 |
+
"run_id": "20260920_191827_703744_round_0004",
|
| 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": 1789903162.1831503
|
| 26 |
+
}
|
| 27 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 456,
|
| 5 |
+
"camera.base_0_rgb": 478,
|
| 6 |
+
"camera.left_wrist_0_rgb": 478,
|
| 7 |
+
"camera.right_wrist_0_rgb": 479,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 3805,
|
| 11 |
+
"robot.robot_state": 1913
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0004",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 1913,
|
| 17 |
+
"right": 1913
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"round_number": 4,
|
| 21 |
+
"run_id": "20260920_191827_703744_round_0004",
|
| 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": 1913,
|
| 30 |
+
"right": 1913
|
| 31 |
+
},
|
| 32 |
+
"schema": "prometheus_raw_episode_v1",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1789903162.1831503
|
| 35 |
+
}
|
| 36 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0004/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/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": 747,
|
| 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": 747,
|
| 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": 748,
|
| 46 |
+
"height": 480,
|
| 47 |
+
"lossless": false,
|
| 48 |
+
"pixel_format": "yuv420p",
|
| 49 |
+
"quality": {
|
| 50 |
+
"mode": "crf",
|
| 51 |
+
"value": 14
|
| 52 |
+
},
|
| 53 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 54 |
+
"timestamps": "camera/timestamp.pkl::right_wrist_0",
|
| 55 |
+
"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
|
| 56 |
+
"video": "camera/right_wrist_0_rgb.mp4",
|
| 57 |
+
"width": 640
|
| 58 |
+
}
|
| 59 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/camera/timestamp.pkl
ADDED
|
Binary file (18 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"event": "prediction_requested", "time_ns": 1789910440544810848, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
|
| 2 |
+
{"event": "plan_adopted", "time_ns": 1789910440682939925, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 105.77185498550534, "blended_steps": 0}
|
| 3 |
+
{"event": "prediction_requested", "time_ns": 1789910441292323073, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
|
| 4 |
+
{"event": "plan_adopted", "time_ns": 1789910441397630915, "actions_sent": 21, "prediction": 1, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 124.54505800269544, "blended_steps": 5}
|
| 5 |
+
{"event": "prediction_requested", "time_ns": 1789910441871026324, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
|
| 6 |
+
{"event": "plan_adopted", "time_ns": 1789910441947584357, "actions_sent": 37, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 107.34156900434755, "blended_steps": 5}
|
| 7 |
+
{"event": "prediction_requested", "time_ns": 1789910442419007471, "actions_sent": 51, "prediction": 3, "queue_remaining": 12}
|
| 8 |
+
{"event": "plan_adopted", "time_ns": 1789910442523755403, "actions_sent": 54, "prediction": 3, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 117.33649298548698, "blended_steps": 5}
|
| 9 |
+
{"event": "prediction_requested", "time_ns": 1789910442998184760, "actions_sent": 68, "prediction": 4, "queue_remaining": 12}
|
| 10 |
+
{"event": "plan_adopted", "time_ns": 1789910443101387036, "actions_sent": 71, "prediction": 4, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.4432959984988, "blended_steps": 5}
|
| 11 |
+
{"event": "prediction_requested", "time_ns": 1789910443578779381, "actions_sent": 85, "prediction": 5, "queue_remaining": 12}
|
| 12 |
+
{"event": "plan_adopted", "time_ns": 1789910443682678452, "actions_sent": 88, "prediction": 5, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.09207200515084, "blended_steps": 5}
|
| 13 |
+
{"event": "prediction_requested", "time_ns": 1789910444119691038, "actions_sent": 101, "prediction": 6, "queue_remaining": 12}
|
| 14 |
+
{"event": "plan_adopted", "time_ns": 1789910444225373855, "actions_sent": 104, "prediction": 6, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.0093320144806, "blended_steps": 5}
|
| 15 |
+
{"event": "prediction_requested", "time_ns": 1789910444700520660, "actions_sent": 118, "prediction": 7, "queue_remaining": 12}
|
| 16 |
+
{"event": "plan_adopted", "time_ns": 1789910444803225108, "actions_sent": 121, "prediction": 7, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 131.57977198716253, "blended_steps": 5}
|
| 17 |
+
{"event": "prediction_requested", "time_ns": 1789910445273838626, "actions_sent": 135, "prediction": 8, "queue_remaining": 12}
|
| 18 |
+
{"event": "plan_adopted", "time_ns": 1789910445349362439, "actions_sent": 137, "prediction": 8, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 107.53037402173504, "blended_steps": 5}
|
| 19 |
+
{"event": "prediction_requested", "time_ns": 1789910445819411210, "actions_sent": 151, "prediction": 9, "queue_remaining": 12}
|
| 20 |
+
{"event": "plan_adopted", "time_ns": 1789910445924976202, "actions_sent": 154, "prediction": 9, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 120.54358600289561, "blended_steps": 5}
|
| 21 |
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{"event": "prediction_requested", "time_ns": 1789910446409254041, "actions_sent": 168, "prediction": 10, "queue_remaining": 12}
|
| 22 |
+
{"event": "plan_adopted", "time_ns": 1789910446481796010, "actions_sent": 170, "prediction": 10, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 106.58240198972635, "blended_steps": 5}
|
| 23 |
+
{"event": "prediction_requested", "time_ns": 1789910446959862309, "actions_sent": 184, "prediction": 11, "queue_remaining": 12}
|
| 24 |
+
{"event": "plan_adopted", "time_ns": 1789910447065867854, "actions_sent": 187, "prediction": 11, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 127.87991797085851, "blended_steps": 5}
|
| 25 |
+
{"event": "prediction_requested", "time_ns": 1789910447539932250, "actions_sent": 201, "prediction": 12, "queue_remaining": 12}
|
| 26 |
+
{"event": "plan_adopted", "time_ns": 1789910447641497394, "actions_sent": 204, "prediction": 12, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 136.98969798861071, "blended_steps": 5}
|
| 27 |
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eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/event/event_dict.pkl
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Binary file (109 Bytes). View file
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eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/manifests/action.json
ADDED
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@@ -0,0 +1,28 @@
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eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/manifests/camera.json
ADDED
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"camera_frames": {
|
| 70 |
+
"right_wrist_0_rgb": 748
|
| 71 |
+
},
|
| 72 |
+
"camera_timestamp_samples": 748,
|
| 73 |
+
"complete_sensor_bundles": 748,
|
| 74 |
+
"counts": {
|
| 75 |
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"action.executed": 718,
|
| 76 |
+
"camera.base_0_rgb": 747,
|
| 77 |
+
"camera.left_wrist_0_rgb": 747,
|
| 78 |
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"camera.right_wrist_0_rgb": 748,
|
| 79 |
+
"dropped": 0,
|
| 80 |
+
"event.workflow": 1,
|
| 81 |
+
"items": 5951,
|
| 82 |
+
"robot.robot_state": 2990
|
| 83 |
+
},
|
| 84 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 85 |
+
"duplicate_sensor_messages": 0,
|
| 86 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0009",
|
| 87 |
+
"failure": "",
|
| 88 |
+
"metadata": {
|
| 89 |
+
"round_number": 9,
|
| 90 |
+
"run_id": "20260920_211820_110813_round_0009",
|
| 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": 1789910465.3704782
|
| 100 |
+
}
|
| 101 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/manifests/event.json
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
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"action.executed": 718,
|
| 5 |
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"camera.base_0_rgb": 747,
|
| 6 |
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"camera.left_wrist_0_rgb": 747,
|
| 7 |
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"camera.right_wrist_0_rgb": 748,
|
| 8 |
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"dropped": 0,
|
| 9 |
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"event.workflow": 1,
|
| 10 |
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"items": 5951,
|
| 11 |
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"robot.robot_state": 2990
|
| 12 |
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},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0009",
|
| 14 |
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"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 9,
|
| 18 |
+
"run_id": "20260920_211820_110813_round_0009",
|
| 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": 1789910465.3704782
|
| 26 |
+
}
|
| 27 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
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"action.executed": 718,
|
| 5 |
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|
| 6 |
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"camera.left_wrist_0_rgb": 747,
|
| 7 |
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"camera.right_wrist_0_rgb": 748,
|
| 8 |
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"dropped": 0,
|
| 9 |
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"event.workflow": 1,
|
| 10 |
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"items": 5951,
|
| 11 |
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"robot.robot_state": 2990
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0009",
|
| 14 |
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"failure": "",
|
| 15 |
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"incomplete_robot_samples": {
|
| 16 |
+
"left": 2990,
|
| 17 |
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"right": 2990
|
| 18 |
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},
|
| 19 |
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"metadata": {
|
| 20 |
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"round_number": 9,
|
| 21 |
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"run_id": "20260920_211820_110813_round_0009",
|
| 22 |
+
"workflow": "openpi_rollout"
|
| 23 |
+
},
|
| 24 |
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"pending_robot_samples": 0,
|
| 25 |
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"plot_outputs": [],
|
| 26 |
+
"record_id": "prometheus_robot_recorder",
|
| 27 |
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"record_mode": "robot",
|
| 28 |
+
"robot_samples": {
|
| 29 |
+
"left": 2990,
|
| 30 |
+
"right": 2990
|
| 31 |
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},
|
| 32 |
+
"schema": "prometheus_raw_episode_v1",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1789910465.3704782
|
| 35 |
+
}
|
| 36 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0009/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,71 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{"event": "prediction_requested", "time_ns": 1789910658418322053, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
|
| 2 |
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| 3 |
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{"event": "prediction_requested", "time_ns": 1789910659171109113, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
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| 4 |
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{"event": "plan_adopted", "time_ns": 1789910659273198627, "actions_sent": 21, "prediction": 1, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.0408640052192, "blended_steps": 5}
|
| 5 |
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{"event": "prediction_requested", "time_ns": 1789910659748168646, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
|
| 6 |
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{"event": "plan_adopted", "time_ns": 1789910659851260536, "actions_sent": 38, "prediction": 2, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 139.73053899826482, "blended_steps": 5}
|
| 7 |
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{"event": "prediction_requested", "time_ns": 1789910660294768394, "actions_sent": 51, "prediction": 3, "queue_remaining": 12}
|
| 8 |
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|
| 9 |
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{"event": "prediction_requested", "time_ns": 1789910660887207301, "actions_sent": 68, "prediction": 4, "queue_remaining": 12}
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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{"event": "prediction_requested", "time_ns": 1789910662010756246, "actions_sent": 101, "prediction": 6, "queue_remaining": 12}
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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{"event": "prediction_requested", "time_ns": 1789910663138660407, "actions_sent": 134, "prediction": 8, "queue_remaining": 12}
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
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|
| 31 |
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{"event": "prediction_requested", "time_ns": 1789910667132360357, "actions_sent": 251, "prediction": 15, "queue_remaining": 12}
|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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| 60 |
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{"event": "plan_adopted", "time_ns": 1789910675180196314, "actions_sent": 487, "prediction": 29, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.95328698889352, "blended_steps": 5}
|
| 61 |
+
{"event": "prediction_requested", "time_ns": 1789910675654582143, "actions_sent": 501, "prediction": 30, "queue_remaining": 12}
|
| 62 |
+
{"event": "plan_adopted", "time_ns": 1789910675760117483, "actions_sent": 504, "prediction": 30, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 141.7827890254557, "blended_steps": 5}
|
| 63 |
+
{"event": "prediction_requested", "time_ns": 1789910676208206402, "actions_sent": 517, "prediction": 31, "queue_remaining": 12}
|
| 64 |
+
{"event": "plan_adopted", "time_ns": 1789910676312461922, "actions_sent": 520, "prediction": 31, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.5606620076578, "blended_steps": 5}
|
| 65 |
+
{"event": "prediction_requested", "time_ns": 1789910676788703951, "actions_sent": 534, "prediction": 32, "queue_remaining": 12}
|
| 66 |
+
{"event": "plan_adopted", "time_ns": 1789910676890694306, "actions_sent": 537, "prediction": 32, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.24924199515954, "blended_steps": 5}
|
| 67 |
+
{"event": "prediction_requested", "time_ns": 1789910677331230461, "actions_sent": 550, "prediction": 33, "queue_remaining": 12}
|
| 68 |
+
{"event": "plan_adopted", "time_ns": 1789910677435143976, "actions_sent": 553, "prediction": 33, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.83619302534498, "blended_steps": 5}
|
| 69 |
+
{"event": "prediction_requested", "time_ns": 1789910677909744520, "actions_sent": 567, "prediction": 34, "queue_remaining": 12}
|
| 70 |
+
{"event": "plan_adopted", "time_ns": 1789910678017903453, "actions_sent": 570, "prediction": 34, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.17630399554037, "blended_steps": 5}
|
| 71 |
+
{"event": "operator_stopped", "time_ns": 1789910678141594196, "actions_sent": 574, "result": "failure"}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/manifests/action.json
ADDED
|
@@ -0,0 +1,29 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 574,
|
| 5 |
+
"camera.base_0_rgb": 598,
|
| 6 |
+
"camera.left_wrist_0_rgb": 600,
|
| 7 |
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"camera.right_wrist_0_rgb": 601,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 4882,
|
| 11 |
+
"robot.robot_state": 2508
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0011",
|
| 14 |
+
"executed_actions": 574,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
+
"round_number": 11,
|
| 19 |
+
"run_id": "20260920_212411_115893_round_0011",
|
| 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": 1789910678.2569964
|
| 28 |
+
}
|
| 29 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0011/manifests/event.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 574,
|
| 5 |
+
"camera.base_0_rgb": 598,
|
| 6 |
+
"camera.left_wrist_0_rgb": 600,
|
| 7 |
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"camera.right_wrist_0_rgb": 601,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 4882,
|
| 11 |
+
"robot.robot_state": 2508
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0011",
|
| 14 |
+
"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
+
"round_number": 11,
|
| 19 |
+
"run_id": "20260920_212411_115893_round_0011",
|
| 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": 1789910678.2569964
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/action/executed_action_dict.pkl
ADDED
|
Binary file (50.9 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/camera/metadata.json
ADDED
|
@@ -0,0 +1,59 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base_0_rgb": {
|
| 3 |
+
"codec": "h264",
|
| 4 |
+
"container": "mp4",
|
| 5 |
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"encoder": "libx264",
|
| 6 |
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"encoding": "bgr8",
|
| 7 |
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"frames": 325,
|
| 8 |
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"height": 480,
|
| 9 |
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"lossless": false,
|
| 10 |
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"pixel_format": "yuv420p",
|
| 11 |
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"quality": {
|
| 12 |
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"mode": "crf",
|
| 13 |
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"value": 14
|
| 14 |
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},
|
| 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 |
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"encoder": "libx264",
|
| 25 |
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"encoding": "bgr8",
|
| 26 |
+
"frames": 326,
|
| 27 |
+
"height": 480,
|
| 28 |
+
"lossless": false,
|
| 29 |
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"pixel_format": "yuv420p",
|
| 30 |
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"quality": {
|
| 31 |
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"mode": "crf",
|
| 32 |
+
"value": 14
|
| 33 |
+
},
|
| 34 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 35 |
+
"timestamps": "camera/timestamp.pkl::left_wrist_0",
|
| 36 |
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"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
|
| 37 |
+
"video": "camera/left_wrist_0_rgb.mp4",
|
| 38 |
+
"width": 640
|
| 39 |
+
},
|
| 40 |
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"right_wrist_0_rgb": {
|
| 41 |
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"codec": "h264",
|
| 42 |
+
"container": "mp4",
|
| 43 |
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"encoder": "libx264",
|
| 44 |
+
"encoding": "bgr8",
|
| 45 |
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"frames": 325,
|
| 46 |
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"height": 480,
|
| 47 |
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"lossless": false,
|
| 48 |
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"pixel_format": "yuv420p",
|
| 49 |
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"quality": {
|
| 50 |
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"mode": "crf",
|
| 51 |
+
"value": 14
|
| 52 |
+
},
|
| 53 |
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 54 |
+
"timestamps": "camera/timestamp.pkl::right_wrist_0",
|
| 55 |
+
"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
|
| 56 |
+
"video": "camera/right_wrist_0_rgb.mp4",
|
| 57 |
+
"width": 640
|
| 58 |
+
}
|
| 59 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/camera/timestamp.pkl
ADDED
|
Binary file (7.88 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"event": "prediction_requested", "time_ns": 1789910726023786222, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
|
| 2 |
+
{"event": "plan_adopted", "time_ns": 1789910726163665693, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 99.13580899592489, "blended_steps": 0}
|
| 3 |
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{"event": "prediction_requested", "time_ns": 1789910726778354214, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
|
| 4 |
+
{"event": "plan_adopted", "time_ns": 1789910726884037674, "actions_sent": 21, "prediction": 1, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 120.44829098158516, "blended_steps": 5}
|
| 5 |
+
{"event": "prediction_requested", "time_ns": 1789910727362880592, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
|
| 6 |
+
{"event": "plan_adopted", "time_ns": 1789910727469823694, "actions_sent": 38, "prediction": 2, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 138.9685659960378, "blended_steps": 5}
|
| 7 |
+
{"event": "prediction_requested", "time_ns": 1789910727918089148, "actions_sent": 51, "prediction": 3, "queue_remaining": 12}
|
| 8 |
+
{"event": "plan_adopted", "time_ns": 1789910728021400551, "actions_sent": 54, "prediction": 3, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 127.51307600410655, "blended_steps": 5}
|
| 9 |
+
{"event": "prediction_requested", "time_ns": 1789910728500317231, "actions_sent": 68, "prediction": 4, "queue_remaining": 12}
|
| 10 |
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{"event": "plan_adopted", "time_ns": 1789910728604061785, "actions_sent": 71, "prediction": 4, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.02071001636796, "blended_steps": 5}
|
| 11 |
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{"event": "prediction_requested", "time_ns": 1789910729047634827, "actions_sent": 84, "prediction": 5, "queue_remaining": 12}
|
| 12 |
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{"event": "plan_adopted", "time_ns": 1789910729159449816, "actions_sent": 87, "prediction": 5, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 127.66248101252131, "blended_steps": 5}
|
| 13 |
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{"event": "prediction_requested", "time_ns": 1789910729635519242, "actions_sent": 101, "prediction": 6, "queue_remaining": 12}
|
| 14 |
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{"event": "plan_adopted", "time_ns": 1789910729742020950, "actions_sent": 104, "prediction": 6, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 143.3447870076634, "blended_steps": 5}
|
| 15 |
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{"event": "prediction_requested", "time_ns": 1789910730184204510, "actions_sent": 117, "prediction": 7, "queue_remaining": 12}
|
| 16 |
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{"event": "plan_adopted", "time_ns": 1789910730286653919, "actions_sent": 120, "prediction": 7, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 125.31680299434811, "blended_steps": 5}
|
| 17 |
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{"event": "prediction_requested", "time_ns": 1789910730771420596, "actions_sent": 134, "prediction": 8, "queue_remaining": 12}
|
| 18 |
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{"event": "plan_adopted", "time_ns": 1789910730876708743, "actions_sent": 137, "prediction": 8, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 145.98336498602293, "blended_steps": 5}
|
| 19 |
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{"event": "prediction_requested", "time_ns": 1789910731313594458, "actions_sent": 150, "prediction": 9, "queue_remaining": 12}
|
| 20 |
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{"event": "plan_adopted", "time_ns": 1789910731420192647, "actions_sent": 153, "prediction": 9, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 121.02096198941581, "blended_steps": 5}
|
| 21 |
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{"event": "prediction_requested", "time_ns": 1789910731896344190, "actions_sent": 167, "prediction": 10, "queue_remaining": 12}
|
| 22 |
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{"event": "plan_adopted", "time_ns": 1789910732002133378, "actions_sent": 170, "prediction": 10, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 136.7526100075338, "blended_steps": 5}
|
| 23 |
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{"event": "prediction_requested", "time_ns": 1789910732441771155, "actions_sent": 183, "prediction": 11, "queue_remaining": 12}
|
| 24 |
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{"event": "plan_adopted", "time_ns": 1789910732545946434, "actions_sent": 186, "prediction": 11, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 115.51525199320167, "blended_steps": 5}
|
| 25 |
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{"event": "prediction_requested", "time_ns": 1789910733026903470, "actions_sent": 200, "prediction": 12, "queue_remaining": 12}
|
| 26 |
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{"event": "plan_adopted", "time_ns": 1789910733133645831, "actions_sent": 203, "prediction": 12, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 133.86170400190167, "blended_steps": 5}
|
| 27 |
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{"event": "prediction_requested", "time_ns": 1789910733569097185, "actions_sent": 216, "prediction": 13, "queue_remaining": 12}
|
| 28 |
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{"event": "plan_adopted", "time_ns": 1789910733675312607, "actions_sent": 219, "prediction": 13, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.32347696088254, "blended_steps": 5}
|
| 29 |
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{"event": "prediction_requested", "time_ns": 1789910734121771286, "actions_sent": 232, "prediction": 14, "queue_remaining": 12}
|
| 30 |
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{"event": "plan_adopted", "time_ns": 1789910734230189907, "actions_sent": 235, "prediction": 14, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 132.39195698406547, "blended_steps": 5}
|
| 31 |
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{"event": "prediction_requested", "time_ns": 1789910734701695135, "actions_sent": 249, "prediction": 15, "queue_remaining": 12}
|
| 32 |
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{"event": "plan_adopted", "time_ns": 1789910734809448787, "actions_sent": 252, "prediction": 15, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.82580101280473, "blended_steps": 5}
|
| 33 |
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{"event": "prediction_requested", "time_ns": 1789910735246402184, "actions_sent": 265, "prediction": 16, "queue_remaining": 12}
|
| 34 |
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{"event": "plan_adopted", "time_ns": 1789910735352161290, "actions_sent": 268, "prediction": 16, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.41889597801492, "blended_steps": 5}
|
| 35 |
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{"event": "prediction_requested", "time_ns": 1789910735822291086, "actions_sent": 282, "prediction": 17, "queue_remaining": 12}
|
| 36 |
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|
| 37 |
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{"event": "prediction_requested", "time_ns": 1789910736405989969, "actions_sent": 299, "prediction": 18, "queue_remaining": 12}
|
| 38 |
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|
| 39 |
+
{"event": "failed", "time_ns": 1789910736621285961, "actions_sent": 305, "error": "RuntimeError: tracking error cap exceeded"}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/event/event_dict.pkl
ADDED
|
Binary file (153 Bytes). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/manifests/action.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 305,
|
| 5 |
+
"camera.base_0_rgb": 325,
|
| 6 |
+
"camera.left_wrist_0_rgb": 326,
|
| 7 |
+
"camera.right_wrist_0_rgb": 325,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2583,
|
| 11 |
+
"robot.robot_state": 1301
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0013",
|
| 14 |
+
"executed_actions": 305,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 13,
|
| 18 |
+
"run_id": "20260920_212411_115893_round_0013",
|
| 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": 1789910736.721428
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/manifests/camera.json
ADDED
|
@@ -0,0 +1,101 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_camera_base_0_recorder": {
|
| 3 |
+
"camera_frames": {
|
| 4 |
+
"base_0_rgb": 325
|
| 5 |
+
},
|
| 6 |
+
"camera_timestamp_samples": 325,
|
| 7 |
+
"complete_sensor_bundles": 325,
|
| 8 |
+
"counts": {
|
| 9 |
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"action.executed": 305,
|
| 10 |
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"camera.base_0_rgb": 325,
|
| 11 |
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"camera.left_wrist_0_rgb": 326,
|
| 12 |
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"camera.right_wrist_0_rgb": 325,
|
| 13 |
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"dropped": 0,
|
| 14 |
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"event.workflow": 1,
|
| 15 |
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"items": 2583,
|
| 16 |
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"robot.robot_state": 1301
|
| 17 |
+
},
|
| 18 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0013",
|
| 21 |
+
"failure": "",
|
| 22 |
+
"metadata": {
|
| 23 |
+
"round_number": 13,
|
| 24 |
+
"run_id": "20260920_212411_115893_round_0013",
|
| 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": 1789910736.721428
|
| 34 |
+
},
|
| 35 |
+
"prometheus_camera_left_wrist_0_recorder": {
|
| 36 |
+
"camera_frames": {
|
| 37 |
+
"left_wrist_0_rgb": 326
|
| 38 |
+
},
|
| 39 |
+
"camera_timestamp_samples": 326,
|
| 40 |
+
"complete_sensor_bundles": 326,
|
| 41 |
+
"counts": {
|
| 42 |
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"action.executed": 305,
|
| 43 |
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"camera.base_0_rgb": 325,
|
| 44 |
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"camera.left_wrist_0_rgb": 326,
|
| 45 |
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"camera.right_wrist_0_rgb": 325,
|
| 46 |
+
"dropped": 0,
|
| 47 |
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"event.workflow": 1,
|
| 48 |
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"items": 2583,
|
| 49 |
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"robot.robot_state": 1301
|
| 50 |
+
},
|
| 51 |
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"dropped_incomplete_sensor_bundles": 0,
|
| 52 |
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"duplicate_sensor_messages": 0,
|
| 53 |
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"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0013",
|
| 54 |
+
"failure": "",
|
| 55 |
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"metadata": {
|
| 56 |
+
"round_number": 13,
|
| 57 |
+
"run_id": "20260920_212411_115893_round_0013",
|
| 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": 1789910736.721428
|
| 67 |
+
},
|
| 68 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 69 |
+
"camera_frames": {
|
| 70 |
+
"right_wrist_0_rgb": 325
|
| 71 |
+
},
|
| 72 |
+
"camera_timestamp_samples": 325,
|
| 73 |
+
"complete_sensor_bundles": 325,
|
| 74 |
+
"counts": {
|
| 75 |
+
"action.executed": 305,
|
| 76 |
+
"camera.base_0_rgb": 325,
|
| 77 |
+
"camera.left_wrist_0_rgb": 326,
|
| 78 |
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"camera.right_wrist_0_rgb": 325,
|
| 79 |
+
"dropped": 0,
|
| 80 |
+
"event.workflow": 1,
|
| 81 |
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"items": 2583,
|
| 82 |
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"robot.robot_state": 1301
|
| 83 |
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},
|
| 84 |
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"dropped_incomplete_sensor_bundles": 0,
|
| 85 |
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"duplicate_sensor_messages": 0,
|
| 86 |
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"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0013",
|
| 87 |
+
"failure": "",
|
| 88 |
+
"metadata": {
|
| 89 |
+
"round_number": 13,
|
| 90 |
+
"run_id": "20260920_212411_115893_round_0013",
|
| 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": 1789910736.721428
|
| 100 |
+
}
|
| 101 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/manifests/event.json
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
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"action.executed": 305,
|
| 5 |
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"camera.base_0_rgb": 325,
|
| 6 |
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"camera.left_wrist_0_rgb": 326,
|
| 7 |
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"camera.right_wrist_0_rgb": 325,
|
| 8 |
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"dropped": 0,
|
| 9 |
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|
| 10 |
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"items": 2583,
|
| 11 |
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"robot.robot_state": 1301
|
| 12 |
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},
|
| 13 |
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"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0013",
|
| 14 |
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"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 13,
|
| 18 |
+
"run_id": "20260920_212411_115893_round_0013",
|
| 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": 1789910736.721428
|
| 26 |
+
}
|
| 27 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
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"action.executed": 305,
|
| 5 |
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"camera.base_0_rgb": 325,
|
| 6 |
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|
| 7 |
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"camera.right_wrist_0_rgb": 325,
|
| 8 |
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"dropped": 0,
|
| 9 |
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|
| 10 |
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"items": 2583,
|
| 11 |
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"robot.robot_state": 1301
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/data/round_0013",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 1301,
|
| 17 |
+
"right": 1301
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"round_number": 13,
|
| 21 |
+
"run_id": "20260920_212411_115893_round_0013",
|
| 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": 1301,
|
| 30 |
+
"right": 1301
|
| 31 |
+
},
|
| 32 |
+
"schema": "prometheus_raw_episode_v1",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1789910736.721428
|
| 35 |
+
}
|
| 36 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0013/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0017/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": 684,
|
| 8 |
+
"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": 686,
|
| 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": 688,
|
| 46 |
+
"height": 480,
|
| 47 |
+
"lossless": false,
|
| 48 |
+
"pixel_format": "yuv420p",
|
| 49 |
+
"quality": {
|
| 50 |
+
"mode": "crf",
|
| 51 |
+
"value": 14
|
| 52 |
+
},
|
| 53 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 54 |
+
"timestamps": "camera/timestamp.pkl::right_wrist_0",
|
| 55 |
+
"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
|
| 56 |
+
"video": "camera/right_wrist_0_rgb.mp4",
|
| 57 |
+
"width": 640
|
| 58 |
+
}
|
| 59 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0017/camera/timestamp.pkl
ADDED
|
Binary file (16.5 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/data/round_0017/debug/actions.jsonl
ADDED
|
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|
|
|