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- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/action/executed_action_dict.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/camera/metadata.json +59 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/camera/timestamp.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/debug/actions.jsonl +0 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/debug/async_events.jsonl +65 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/event/event_dict.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/manifests/action.json +29 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/manifests/camera.json +104 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/manifests/event.json +28 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/manifests/robot.json +37 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/manifests/tactile.json +1 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/workflow_manifest.json +612 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/action/executed_action_dict.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/camera/metadata.json +59 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/camera/timestamp.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/debug/actions.jsonl +0 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/debug/async_events.jsonl +67 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/event/event_dict.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/manifests/action.json +28 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/manifests/camera.json +101 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/manifests/event.json +27 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/manifests/robot.json +36 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/manifests/tactile.json +1 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/workflow_manifest.json +613 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/camera/metadata.json +59 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/camera/timestamp.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/debug/actions.jsonl +0 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/debug/async_events.jsonl +145 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/event/event_dict.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/manifests/action.json +28 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/manifests/camera.json +101 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/manifests/event.json +27 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/manifests/robot.json +36 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/manifests/tactile.json +1 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/workflow_manifest.json +611 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/action/executed_action_dict.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/camera/metadata.json +59 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/camera/timestamp.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/debug/actions.jsonl +0 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/debug/async_events.jsonl +65 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/event/event_dict.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/manifests/action.json +29 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/manifests/camera.json +104 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/manifests/event.json +28 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/manifests/robot.json +37 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/manifests/tactile.json +1 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/workflow_manifest.json +612 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0006/action/executed_action_dict.pkl +0 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0006/camera/metadata.json +59 -0
- eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0006/camera/timestamp.pkl +0 -0
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/action/executed_action_dict.pkl
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eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/camera/metadata.json
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{
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"base_0_rgb": {
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"codec": "h264",
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"container": "mp4",
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"encoder": "libx264",
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"encoding": "bgr8",
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"frames": 549,
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"height": 480,
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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": 551,
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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": 553,
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"height": 480,
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"lossless": false,
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"pixel_format": "yuv420p",
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"quality": {
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"mode": "crf",
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"value": 14
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},
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
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"timestamps": "camera/timestamp.pkl::right_wrist_0",
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"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
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"video": "camera/right_wrist_0_rgb.mp4",
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"width": 640
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}
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}
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eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/camera/timestamp.pkl
ADDED
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Binary file (13.3 kB). View file
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eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/debug/actions.jsonl
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The diff for this file is too large to render.
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eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/debug/async_events.jsonl
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{"event": "prediction_requested", "time_ns": 1789660709532336387, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
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{"event": "prediction_requested", "time_ns": 1789660710081545195, "actions_sent": 51, "prediction": 3, "queue_remaining": 12}
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| 45 |
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{"event": "prediction_requested", "time_ns": 1789660720929256681, "actions_sent": 367, "prediction": 22, "queue_remaining": 12}
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| 46 |
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{"event": "plan_adopted", "time_ns": 1789660721033731746, "actions_sent": 370, "prediction": 22, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.56440497166477, "blended_steps": 5}
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| 47 |
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{"event": "prediction_requested", "time_ns": 1789660721510268107, "actions_sent": 384, "prediction": 23, "queue_remaining": 12}
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| 48 |
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{"event": "plan_adopted", "time_ns": 1789660721615719249, "actions_sent": 387, "prediction": 23, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 109.58193798433058, "blended_steps": 5}
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| 49 |
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{"event": "prediction_requested", "time_ns": 1789660722094921734, "actions_sent": 401, "prediction": 24, "queue_remaining": 12}
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| 50 |
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{"event": "plan_adopted", "time_ns": 1789660722198110084, "actions_sent": 404, "prediction": 24, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.466567985015, "blended_steps": 5}
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| 51 |
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{"event": "prediction_requested", "time_ns": 1789660722671675878, "actions_sent": 418, "prediction": 25, "queue_remaining": 12}
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| 52 |
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{"event": "plan_adopted", "time_ns": 1789660722836560970, "actions_sent": 421, "prediction": 25, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.19431301858276, "blended_steps": 5}
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| 53 |
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{"event": "prediction_requested", "time_ns": 1789660723278795220, "actions_sent": 434, "prediction": 26, "queue_remaining": 12}
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| 54 |
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{"event": "plan_adopted", "time_ns": 1789660723385860846, "actions_sent": 437, "prediction": 26, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 147.29622600134462, "blended_steps": 5}
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| 55 |
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{"event": "prediction_requested", "time_ns": 1789660723826421703, "actions_sent": 450, "prediction": 27, "queue_remaining": 12}
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| 56 |
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{"event": "plan_adopted", "time_ns": 1789660723929309888, "actions_sent": 453, "prediction": 27, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 125.565076014027, "blended_steps": 5}
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| 57 |
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{"event": "prediction_requested", "time_ns": 1789660724410189579, "actions_sent": 467, "prediction": 28, "queue_remaining": 12}
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| 58 |
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{"event": "plan_adopted", "time_ns": 1789660724515691123, "actions_sent": 470, "prediction": 28, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.6889339927584, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789660724966740574, "actions_sent": 483, "prediction": 29, "queue_remaining": 12}
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| 60 |
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{"event": "plan_adopted", "time_ns": 1789660725076983414, "actions_sent": 486, "prediction": 29, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 138.90492398058996, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789660725519235149, "actions_sent": 499, "prediction": 30, "queue_remaining": 12}
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{"event": "plan_adopted", "time_ns": 1789660725622011559, "actions_sent": 502, "prediction": 30, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 117.63838797924109, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789660726096794523, "actions_sent": 516, "prediction": 31, "queue_remaining": 12}
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| 65 |
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{"event": "operator_stopped", "time_ns": 1789660726258450124, "actions_sent": 521, "result": "success"}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/manifests/action.json
ADDED
|
@@ -0,0 +1,29 @@
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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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| 12 |
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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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| 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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}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/manifests/camera.json
ADDED
|
@@ -0,0 +1,104 @@
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| 1 |
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| 3 |
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| 4 |
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| 5 |
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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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| 39 |
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| 41 |
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| 42 |
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| 58 |
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| 63 |
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| 65 |
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| 69 |
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| 95 |
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| 98 |
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| 99 |
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| 100 |
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| 101 |
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| 103 |
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| 104 |
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|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/manifests/event.json
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
| 1 |
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{
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|
| 28 |
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|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/manifests/robot.json
ADDED
|
@@ -0,0 +1,37 @@
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|
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| 19 |
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| 30 |
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| 33 |
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| 34 |
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| 35 |
+
"updated_at_unix": 1789660726.3817866
|
| 36 |
+
}
|
| 37 |
+
}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0001/workflow_manifest.json
ADDED
|
@@ -0,0 +1,612 @@
|
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|
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|
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|
|
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|
|
|
|
|
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|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"acceleration_limits": [
|
| 3 |
+
118.7426430016755,
|
| 4 |
+
165.012131490699,
|
| 5 |
+
134.04180689399348,
|
| 6 |
+
274.86399842805685,
|
| 7 |
+
195.25766555964873,
|
| 8 |
+
454.5340796113012,
|
| 9 |
+
109.40927818565227,
|
| 10 |
+
178.49339036295515,
|
| 11 |
+
476.6444930964641,
|
| 12 |
+
557.9080874526715,
|
| 13 |
+
587.1810202100611,
|
| 14 |
+
362.1711802492357,
|
| 15 |
+
208.8803265352197,
|
| 16 |
+
208.9010343469399
|
| 17 |
+
],
|
| 18 |
+
"actions_sent": 521,
|
| 19 |
+
"async_execution": {
|
| 20 |
+
"blend_steps": 5,
|
| 21 |
+
"chunk_counter_meaning": "completed groups of 30 acknowledged targets",
|
| 22 |
+
"expired_prefix_actions": 137,
|
| 23 |
+
"mode": "async_overlap",
|
| 24 |
+
"plans_adopted": 32,
|
| 25 |
+
"prediction_horizon": 30,
|
| 26 |
+
"predictions_requested": 32,
|
| 27 |
+
"prefetch_steps": 12,
|
| 28 |
+
"queue_underruns": 0,
|
| 29 |
+
"target_budget": 1200
|
| 30 |
+
},
|
| 31 |
+
"chunks": 17,
|
| 32 |
+
"command_velocity_limits": [
|
| 33 |
+
7.326937734087213,
|
| 34 |
+
7.492612143357643,
|
| 35 |
+
9.039960411055707,
|
| 36 |
+
10.989442599937178,
|
| 37 |
+
11.822247140410347,
|
| 38 |
+
21.729793477053846,
|
| 39 |
+
4.549583926449072,
|
| 40 |
+
9.542591565847905,
|
| 41 |
+
16.49783855493206,
|
| 42 |
+
19.18122166486826,
|
| 43 |
+
20.271305218109156,
|
| 44 |
+
13.274309575261345,
|
| 45 |
+
14.009155302643812,
|
| 46 |
+
4.764187300355128
|
| 47 |
+
],
|
| 48 |
+
"config": {
|
| 49 |
+
"async_inference": {
|
| 50 |
+
"blend_steps": 5,
|
| 51 |
+
"enabled": true,
|
| 52 |
+
"prefetch_steps": 12
|
| 53 |
+
},
|
| 54 |
+
"data": {
|
| 55 |
+
"bridge": {
|
| 56 |
+
"enabled": true,
|
| 57 |
+
"name": "openpi_observe_20260917_235820_952539",
|
| 58 |
+
"qos_depth": 10,
|
| 59 |
+
"sensor_qos": "reliable",
|
| 60 |
+
"stamp_source": "header",
|
| 61 |
+
"wait_all_streams": true
|
| 62 |
+
},
|
| 63 |
+
"history": 64,
|
| 64 |
+
"mode": "owned",
|
| 65 |
+
"name": "openpi_data",
|
| 66 |
+
"numpy": {
|
| 67 |
+
"enabled": true
|
| 68 |
+
},
|
| 69 |
+
"recording": {
|
| 70 |
+
"camera_encoder": "libx264",
|
| 71 |
+
"default_event_value": null,
|
| 72 |
+
"enable_plots": false,
|
| 73 |
+
"enabled": true,
|
| 74 |
+
"fps": 30.0,
|
| 75 |
+
"output_dir": "outputs/openpi_rollout/seven_tasks_2500/pick_and_place_banana/data",
|
| 76 |
+
"queue_size": 4096
|
| 77 |
+
},
|
| 78 |
+
"streams": {
|
| 79 |
+
"base_0_color": {
|
| 80 |
+
"domain": "sensor",
|
| 81 |
+
"msg_type": "sensor_msgs.msg.Image",
|
| 82 |
+
"ros_domain_id": 22,
|
| 83 |
+
"topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
|
| 84 |
+
},
|
| 85 |
+
"left_wrist_0_color": {
|
| 86 |
+
"domain": "sensor",
|
| 87 |
+
"msg_type": "sensor_msgs.msg.Image",
|
| 88 |
+
"ros_domain_id": 22,
|
| 89 |
+
"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
|
| 90 |
+
},
|
| 91 |
+
"right_wrist_0_color": {
|
| 92 |
+
"domain": "sensor",
|
| 93 |
+
"msg_type": "sensor_msgs.msg.Image",
|
| 94 |
+
"ros_domain_id": 22,
|
| 95 |
+
"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw"
|
| 96 |
+
},
|
| 97 |
+
"robot_state": {
|
| 98 |
+
"domain": "robot",
|
| 99 |
+
"msg_type": "sensor_msgs.msg.JointState",
|
| 100 |
+
"ros_domain_id": 21,
|
| 101 |
+
"topic": "/prometheus/robots/yam/state"
|
| 102 |
+
}
|
| 103 |
+
}
|
| 104 |
+
},
|
| 105 |
+
"execute": true,
|
| 106 |
+
"execution": {
|
| 107 |
+
"command_ack_timeout_s": 0.1,
|
| 108 |
+
"hold_settle_s": 0.2,
|
| 109 |
+
"hold_settle_timeout_s": 5.0,
|
| 110 |
+
"max_prediction_age_s": 0.5,
|
| 111 |
+
"max_schedule_lateness_s": 0.105
|
| 112 |
+
},
|
| 113 |
+
"hardware": {
|
| 114 |
+
"mode": "owned",
|
| 115 |
+
"name": "openpi_hardware",
|
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eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/debug/async_events.jsonl
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{"event": "plan_adopted", "time_ns": 1789660750698815881, "actions_sent": 367, "prediction": 22, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 120.48176597454585, "blended_steps": 5}
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| 47 |
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{"event": "prediction_requested", "time_ns": 1789660751173006328, "actions_sent": 381, "prediction": 23, "queue_remaining": 12}
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| 48 |
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{"event": "plan_adopted", "time_ns": 1789660751281396953, "actions_sent": 384, "prediction": 23, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 135.79840198508464, "blended_steps": 5}
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| 49 |
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{"event": "prediction_requested", "time_ns": 1789660751722569440, "actions_sent": 397, "prediction": 24, "queue_remaining": 12}
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| 50 |
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{"event": "plan_adopted", "time_ns": 1789660751832017431, "actions_sent": 400, "prediction": 24, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 115.49036300857551, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789660752310463197, "actions_sent": 414, "prediction": 25, "queue_remaining": 12}
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| 52 |
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{"event": "plan_adopted", "time_ns": 1789660752415286775, "actions_sent": 417, "prediction": 25, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 136.7217310180422, "blended_steps": 5}
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| 53 |
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{"event": "prediction_requested", "time_ns": 1789660752852917079, "actions_sent": 430, "prediction": 26, "queue_remaining": 12}
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| 54 |
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{"event": "plan_adopted", "time_ns": 1789660752960962492, "actions_sent": 433, "prediction": 26, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 147.7292130002752, "blended_steps": 5}
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| 55 |
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{"event": "prediction_requested", "time_ns": 1789660753397049436, "actions_sent": 446, "prediction": 27, "queue_remaining": 12}
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| 56 |
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{"event": "plan_adopted", "time_ns": 1789660753505011477, "actions_sent": 449, "prediction": 27, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.12447899300605, "blended_steps": 5}
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| 57 |
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{"event": "prediction_requested", "time_ns": 1789660753981283367, "actions_sent": 463, "prediction": 28, "queue_remaining": 12}
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| 58 |
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{"event": "plan_adopted", "time_ns": 1789660754086746924, "actions_sent": 466, "prediction": 28, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 139.63483201223426, "blended_steps": 5}
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| 59 |
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{"event": "prediction_requested", "time_ns": 1789660754524980933, "actions_sent": 479, "prediction": 29, "queue_remaining": 12}
|
| 60 |
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{"event": "plan_adopted", "time_ns": 1789660754629704573, "actions_sent": 482, "prediction": 29, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.8606189864222, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789660755101547192, "actions_sent": 496, "prediction": 30, "queue_remaining": 12}
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{"event": "plan_adopted", "time_ns": 1789660755214749664, "actions_sent": 499, "prediction": 30, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 134.48440699721687, "blended_steps": 5}
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{"event": "plan_adopted", "time_ns": 1789660755756630229, "actions_sent": 515, "prediction": 31, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.712610977469, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1789660756197843935, "actions_sent": 528, "prediction": 32, "queue_remaining": 12}
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{"event": "plan_adopted", "time_ns": 1789660756302162807, "actions_sent": 531, "prediction": 32, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.56810700637288, "blended_steps": 5}
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| 67 |
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{"event": "operator_stopped", "time_ns": 1789660756651779522, "actions_sent": 542, "result": "failure"}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/manifests/action.json
ADDED
|
@@ -0,0 +1,28 @@
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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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},
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| 21 |
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| 22 |
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"record_id": "prometheus_action_recorder",
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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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}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/manifests/camera.json
ADDED
|
@@ -0,0 +1,101 @@
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|
|
|
|
|
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|
|
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|
|
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| 1 |
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| 3 |
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| 4 |
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| 5 |
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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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| 41 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 92 |
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},
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 98 |
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| 99 |
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| 100 |
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}
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| 101 |
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}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/manifests/event.json
ADDED
|
@@ -0,0 +1,27 @@
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|
|
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|
| 1 |
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{
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}
|
| 27 |
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}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
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|
| 1 |
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{
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| 12 |
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| 14 |
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|
| 18 |
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| 19 |
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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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}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0002/workflow_manifest.json
ADDED
|
@@ -0,0 +1,613 @@
|
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|
| 1 |
+
{
|
| 2 |
+
"acceleration_limits": [
|
| 3 |
+
118.7426430016755,
|
| 4 |
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165.012131490699,
|
| 5 |
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134.04180689399348,
|
| 6 |
+
274.86399842805685,
|
| 7 |
+
195.25766555964873,
|
| 8 |
+
454.5340796113012,
|
| 9 |
+
109.40927818565227,
|
| 10 |
+
178.49339036295515,
|
| 11 |
+
476.6444930964641,
|
| 12 |
+
557.9080874526715,
|
| 13 |
+
587.1810202100611,
|
| 14 |
+
362.1711802492357,
|
| 15 |
+
208.8803265352197,
|
| 16 |
+
208.9010343469399
|
| 17 |
+
],
|
| 18 |
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|
| 19 |
+
"async_execution": {
|
| 20 |
+
"blend_steps": 5,
|
| 21 |
+
"chunk_counter_meaning": "completed groups of 30 acknowledged targets",
|
| 22 |
+
"expired_prefix_actions": 145,
|
| 23 |
+
"mode": "async_overlap",
|
| 24 |
+
"plans_adopted": 33,
|
| 25 |
+
"prediction_horizon": 30,
|
| 26 |
+
"predictions_requested": 33,
|
| 27 |
+
"prefetch_steps": 12,
|
| 28 |
+
"queue_underruns": 0,
|
| 29 |
+
"target_budget": 1200
|
| 30 |
+
},
|
| 31 |
+
"chunks": 18,
|
| 32 |
+
"command_velocity_limits": [
|
| 33 |
+
7.326937734087213,
|
| 34 |
+
7.492612143357643,
|
| 35 |
+
9.039960411055707,
|
| 36 |
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|
| 37 |
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11.822247140410347,
|
| 38 |
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21.729793477053846,
|
| 39 |
+
4.549583926449072,
|
| 40 |
+
9.542591565847905,
|
| 41 |
+
16.49783855493206,
|
| 42 |
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19.18122166486826,
|
| 43 |
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20.271305218109156,
|
| 44 |
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13.274309575261345,
|
| 45 |
+
14.009155302643812,
|
| 46 |
+
4.764187300355128
|
| 47 |
+
],
|
| 48 |
+
"config": {
|
| 49 |
+
"async_inference": {
|
| 50 |
+
"blend_steps": 5,
|
| 51 |
+
"enabled": true,
|
| 52 |
+
"prefetch_steps": 12
|
| 53 |
+
},
|
| 54 |
+
"data": {
|
| 55 |
+
"bridge": {
|
| 56 |
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"enabled": true,
|
| 57 |
+
"name": "openpi_observe_20260917_235820_952539",
|
| 58 |
+
"qos_depth": 10,
|
| 59 |
+
"sensor_qos": "reliable",
|
| 60 |
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"stamp_source": "header",
|
| 61 |
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"wait_all_streams": true
|
| 62 |
+
},
|
| 63 |
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"history": 64,
|
| 64 |
+
"mode": "owned",
|
| 65 |
+
"name": "openpi_data",
|
| 66 |
+
"numpy": {
|
| 67 |
+
"enabled": true
|
| 68 |
+
},
|
| 69 |
+
"recording": {
|
| 70 |
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"camera_encoder": "libx264",
|
| 71 |
+
"default_event_value": null,
|
| 72 |
+
"enable_plots": false,
|
| 73 |
+
"enabled": true,
|
| 74 |
+
"fps": 30.0,
|
| 75 |
+
"output_dir": "outputs/openpi_rollout/seven_tasks_2500/pick_and_place_banana/data",
|
| 76 |
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"queue_size": 4096
|
| 77 |
+
},
|
| 78 |
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"streams": {
|
| 79 |
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"base_0_color": {
|
| 80 |
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"domain": "sensor",
|
| 81 |
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"msg_type": "sensor_msgs.msg.Image",
|
| 82 |
+
"ros_domain_id": 22,
|
| 83 |
+
"topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
|
| 84 |
+
},
|
| 85 |
+
"left_wrist_0_color": {
|
| 86 |
+
"domain": "sensor",
|
| 87 |
+
"msg_type": "sensor_msgs.msg.Image",
|
| 88 |
+
"ros_domain_id": 22,
|
| 89 |
+
"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
|
| 90 |
+
},
|
| 91 |
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"right_wrist_0_color": {
|
| 92 |
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"domain": "sensor",
|
| 93 |
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"msg_type": "sensor_msgs.msg.Image",
|
| 94 |
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"ros_domain_id": 22,
|
| 95 |
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"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw"
|
| 96 |
+
},
|
| 97 |
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"robot_state": {
|
| 98 |
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"domain": "robot",
|
| 99 |
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"msg_type": "sensor_msgs.msg.JointState",
|
| 100 |
+
"ros_domain_id": 21,
|
| 101 |
+
"topic": "/prometheus/robots/yam/state"
|
| 102 |
+
}
|
| 103 |
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}
|
| 104 |
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},
|
| 105 |
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"execute": true,
|
| 106 |
+
"execution": {
|
| 107 |
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"command_ack_timeout_s": 0.1,
|
| 108 |
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"hold_settle_s": 0.2,
|
| 109 |
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"hold_settle_timeout_s": 5.0,
|
| 110 |
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"max_prediction_age_s": 0.5,
|
| 111 |
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"max_schedule_lateness_s": 0.105
|
| 112 |
+
},
|
| 113 |
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"hardware": {
|
| 114 |
+
"mode": "owned",
|
| 115 |
+
"name": "openpi_hardware",
|
| 116 |
+
"sensors": "auto",
|
| 117 |
+
"streams": "auto"
|
| 118 |
+
},
|
| 119 |
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"policy": {
|
| 120 |
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"action_hz": 30.0,
|
| 121 |
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"connect_timeout_s": 10.0,
|
| 122 |
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"host": "127.0.0.1",
|
| 123 |
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"max_observation_age_s": 0.5,
|
| 124 |
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"observation_wait_timeout_s": 1.0,
|
| 125 |
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eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/camera/metadata.json
ADDED
|
@@ -0,0 +1,59 @@
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| 16 |
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| 17 |
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| 18 |
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| 31 |
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| 33 |
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},
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|
| 35 |
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| 36 |
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|
| 37 |
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| 38 |
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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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| 49 |
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| 52 |
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},
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| 54 |
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| 55 |
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| 56 |
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|
| 57 |
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"width": 640
|
| 58 |
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}
|
| 59 |
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|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/camera/timestamp.pkl
ADDED
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Binary file (29.9 kB). View file
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|
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/debug/actions.jsonl
ADDED
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The diff for this file is too large to render.
See raw diff
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|
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,145 @@
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eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/event/event_dict.pkl
ADDED
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Binary file (103 Bytes). View file
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eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/manifests/action.json
ADDED
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 1200,
|
| 5 |
+
"camera.base_0_rgb": 1243,
|
| 6 |
+
"camera.left_wrist_0_rgb": 1242,
|
| 7 |
+
"camera.right_wrist_0_rgb": 1243,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 9901,
|
| 11 |
+
"robot.robot_state": 4972
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/pick_and_place_banana/data/round_0003",
|
| 14 |
+
"executed_actions": 1200,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 3,
|
| 18 |
+
"run_id": "20260917_235820_952539_round_0003",
|
| 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": 1789660832.2667172
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/manifests/camera.json
ADDED
|
@@ -0,0 +1,101 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_camera_base_0_recorder": {
|
| 3 |
+
"camera_frames": {
|
| 4 |
+
"base_0_rgb": 1243
|
| 5 |
+
},
|
| 6 |
+
"camera_timestamp_samples": 1243,
|
| 7 |
+
"complete_sensor_bundles": 1243,
|
| 8 |
+
"counts": {
|
| 9 |
+
"action.executed": 1200,
|
| 10 |
+
"camera.base_0_rgb": 1243,
|
| 11 |
+
"camera.left_wrist_0_rgb": 1242,
|
| 12 |
+
"camera.right_wrist_0_rgb": 1243,
|
| 13 |
+
"dropped": 0,
|
| 14 |
+
"event.workflow": 1,
|
| 15 |
+
"items": 9901,
|
| 16 |
+
"robot.robot_state": 4972
|
| 17 |
+
},
|
| 18 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/pick_and_place_banana/data/round_0003",
|
| 21 |
+
"failure": "",
|
| 22 |
+
"metadata": {
|
| 23 |
+
"round_number": 3,
|
| 24 |
+
"run_id": "20260917_235820_952539_round_0003",
|
| 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": 1789660832.2667172
|
| 34 |
+
},
|
| 35 |
+
"prometheus_camera_left_wrist_0_recorder": {
|
| 36 |
+
"camera_frames": {
|
| 37 |
+
"left_wrist_0_rgb": 1242
|
| 38 |
+
},
|
| 39 |
+
"camera_timestamp_samples": 1242,
|
| 40 |
+
"complete_sensor_bundles": 1242,
|
| 41 |
+
"counts": {
|
| 42 |
+
"action.executed": 1200,
|
| 43 |
+
"camera.base_0_rgb": 1243,
|
| 44 |
+
"camera.left_wrist_0_rgb": 1242,
|
| 45 |
+
"camera.right_wrist_0_rgb": 1243,
|
| 46 |
+
"dropped": 0,
|
| 47 |
+
"event.workflow": 1,
|
| 48 |
+
"items": 9901,
|
| 49 |
+
"robot.robot_state": 4972
|
| 50 |
+
},
|
| 51 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 52 |
+
"duplicate_sensor_messages": 0,
|
| 53 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/pick_and_place_banana/data/round_0003",
|
| 54 |
+
"failure": "",
|
| 55 |
+
"metadata": {
|
| 56 |
+
"round_number": 3,
|
| 57 |
+
"run_id": "20260917_235820_952539_round_0003",
|
| 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": 1789660832.2667172
|
| 67 |
+
},
|
| 68 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 69 |
+
"camera_frames": {
|
| 70 |
+
"right_wrist_0_rgb": 1243
|
| 71 |
+
},
|
| 72 |
+
"camera_timestamp_samples": 1243,
|
| 73 |
+
"complete_sensor_bundles": 1243,
|
| 74 |
+
"counts": {
|
| 75 |
+
"action.executed": 1200,
|
| 76 |
+
"camera.base_0_rgb": 1243,
|
| 77 |
+
"camera.left_wrist_0_rgb": 1242,
|
| 78 |
+
"camera.right_wrist_0_rgb": 1243,
|
| 79 |
+
"dropped": 0,
|
| 80 |
+
"event.workflow": 1,
|
| 81 |
+
"items": 9901,
|
| 82 |
+
"robot.robot_state": 4972
|
| 83 |
+
},
|
| 84 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 85 |
+
"duplicate_sensor_messages": 0,
|
| 86 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/pick_and_place_banana/data/round_0003",
|
| 87 |
+
"failure": "",
|
| 88 |
+
"metadata": {
|
| 89 |
+
"round_number": 3,
|
| 90 |
+
"run_id": "20260917_235820_952539_round_0003",
|
| 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": 1789660832.2667172
|
| 100 |
+
}
|
| 101 |
+
}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/manifests/event.json
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 1200,
|
| 5 |
+
"camera.base_0_rgb": 1243,
|
| 6 |
+
"camera.left_wrist_0_rgb": 1242,
|
| 7 |
+
"camera.right_wrist_0_rgb": 1243,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 9901,
|
| 11 |
+
"robot.robot_state": 4972
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/pick_and_place_banana/data/round_0003",
|
| 14 |
+
"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 3,
|
| 18 |
+
"run_id": "20260917_235820_952539_round_0003",
|
| 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": 1789660832.2667172
|
| 26 |
+
}
|
| 27 |
+
}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 1200,
|
| 5 |
+
"camera.base_0_rgb": 1243,
|
| 6 |
+
"camera.left_wrist_0_rgb": 1242,
|
| 7 |
+
"camera.right_wrist_0_rgb": 1243,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 9901,
|
| 11 |
+
"robot.robot_state": 4972
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/pick_and_place_banana/data/round_0003",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 4972,
|
| 17 |
+
"right": 4972
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"round_number": 3,
|
| 21 |
+
"run_id": "20260917_235820_952539_round_0003",
|
| 22 |
+
"workflow": "openpi_rollout"
|
| 23 |
+
},
|
| 24 |
+
"pending_robot_samples": 0,
|
| 25 |
+
"plot_outputs": [],
|
| 26 |
+
"record_id": "prometheus_robot_recorder",
|
| 27 |
+
"record_mode": "robot",
|
| 28 |
+
"robot_samples": {
|
| 29 |
+
"left": 4972,
|
| 30 |
+
"right": 4972
|
| 31 |
+
},
|
| 32 |
+
"schema": "prometheus_raw_episode_v1",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1789660832.2667172
|
| 35 |
+
}
|
| 36 |
+
}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0003/workflow_manifest.json
ADDED
|
@@ -0,0 +1,611 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
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| 3 |
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| 15 |
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| 16 |
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| 19 |
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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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| 47 |
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| 48 |
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| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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},
|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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},
|
| 85 |
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|
| 86 |
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|
| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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| 94 |
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|
| 95 |
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| 96 |
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| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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| 102 |
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|
| 103 |
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|
| 104 |
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| 105 |
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|
| 106 |
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| 107 |
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|
| 108 |
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|
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|
| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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| 131 |
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| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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},
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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}
|
| 160 |
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},
|
| 161 |
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"collection_input_source": "pedal,tty",
|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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],
|
| 170 |
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"exclusive": true,
|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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| 178 |
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|
| 179 |
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|
| 180 |
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}
|
| 181 |
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},
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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},
|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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},
|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/camera/metadata.json
ADDED
|
@@ -0,0 +1,59 @@
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|
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|
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|
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|
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|
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|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"base_0_rgb": {
|
| 3 |
+
"codec": "h264",
|
| 4 |
+
"container": "mp4",
|
| 5 |
+
"encoder": "libx264",
|
| 6 |
+
"encoding": "bgr8",
|
| 7 |
+
"frames": 546,
|
| 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": 548,
|
| 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": 550,
|
| 46 |
+
"height": 480,
|
| 47 |
+
"lossless": false,
|
| 48 |
+
"pixel_format": "yuv420p",
|
| 49 |
+
"quality": {
|
| 50 |
+
"mode": "crf",
|
| 51 |
+
"value": 14
|
| 52 |
+
},
|
| 53 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 54 |
+
"timestamps": "camera/timestamp.pkl::right_wrist_0",
|
| 55 |
+
"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
|
| 56 |
+
"video": "camera/right_wrist_0_rgb.mp4",
|
| 57 |
+
"width": 640
|
| 58 |
+
}
|
| 59 |
+
}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/camera/timestamp.pkl
ADDED
|
Binary file (13.2 kB). View file
|
|
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,65 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": 1789660880208737194, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
|
| 2 |
+
{"event": "plan_adopted", "time_ns": 1789660880337407646, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 118.22975898394361, "blended_steps": 0}
|
| 3 |
+
{"event": "prediction_requested", "time_ns": 1789660880947225079, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
|
| 4 |
+
{"event": "plan_adopted", "time_ns": 1789660881055079469, "actions_sent": 21, "prediction": 1, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 143.0310110154096, "blended_steps": 5}
|
| 5 |
+
{"event": "prediction_requested", "time_ns": 1789660881501544983, "actions_sent": 34, "prediction": 2, "queue_remaining": 12}
|
| 6 |
+
{"event": "plan_adopted", "time_ns": 1789660881607672790, "actions_sent": 37, "prediction": 2, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 133.8253190042451, "blended_steps": 5}
|
| 7 |
+
{"event": "prediction_requested", "time_ns": 1789660882058487088, "actions_sent": 50, "prediction": 3, "queue_remaining": 12}
|
| 8 |
+
{"event": "plan_adopted", "time_ns": 1789660882163264393, "actions_sent": 53, "prediction": 3, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 120.6045100116171, "blended_steps": 5}
|
| 9 |
+
{"event": "prediction_requested", "time_ns": 1789660882634675018, "actions_sent": 67, "prediction": 4, "queue_remaining": 12}
|
| 10 |
+
{"event": "plan_adopted", "time_ns": 1789660882742332489, "actions_sent": 70, "prediction": 4, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.25228198966943, "blended_steps": 5}
|
| 11 |
+
{"event": "prediction_requested", "time_ns": 1789660883216590227, "actions_sent": 84, "prediction": 5, "queue_remaining": 12}
|
| 12 |
+
{"event": "plan_adopted", "time_ns": 1789660883321771789, "actions_sent": 87, "prediction": 5, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 145.37994301645085, "blended_steps": 5}
|
| 13 |
+
{"event": "prediction_requested", "time_ns": 1789660883762079295, "actions_sent": 100, "prediction": 6, "queue_remaining": 12}
|
| 14 |
+
{"event": "plan_adopted", "time_ns": 1789660883864493740, "actions_sent": 103, "prediction": 6, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 123.32826099009253, "blended_steps": 5}
|
| 15 |
+
{"event": "prediction_requested", "time_ns": 1789660884335256296, "actions_sent": 117, "prediction": 7, "queue_remaining": 12}
|
| 16 |
+
{"event": "plan_adopted", "time_ns": 1789660884437574397, "actions_sent": 120, "prediction": 7, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.84070998593234, "blended_steps": 5}
|
| 17 |
+
{"event": "prediction_requested", "time_ns": 1789660884912688586, "actions_sent": 134, "prediction": 8, "queue_remaining": 12}
|
| 18 |
+
{"event": "plan_adopted", "time_ns": 1789660885015115111, "actions_sent": 137, "prediction": 8, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.29647197457962, "blended_steps": 5}
|
| 19 |
+
{"event": "prediction_requested", "time_ns": 1789660885479559297, "actions_sent": 150, "prediction": 9, "queue_remaining": 12}
|
| 20 |
+
{"event": "plan_adopted", "time_ns": 1789660885585166127, "actions_sent": 153, "prediction": 9, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.5347670079209, "blended_steps": 5}
|
| 21 |
+
{"event": "prediction_requested", "time_ns": 1789660886025572655, "actions_sent": 166, "prediction": 10, "queue_remaining": 12}
|
| 22 |
+
{"event": "plan_adopted", "time_ns": 1789660886130687663, "actions_sent": 169, "prediction": 10, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 120.84810397936963, "blended_steps": 5}
|
| 23 |
+
{"event": "prediction_requested", "time_ns": 1789660886609251036, "actions_sent": 183, "prediction": 11, "queue_remaining": 12}
|
| 24 |
+
{"event": "plan_adopted", "time_ns": 1789660886712965565, "actions_sent": 186, "prediction": 11, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 136.60417500068434, "blended_steps": 5}
|
| 25 |
+
{"event": "prediction_requested", "time_ns": 1789660887159085364, "actions_sent": 199, "prediction": 12, "queue_remaining": 12}
|
| 26 |
+
{"event": "plan_adopted", "time_ns": 1789660887263367551, "actions_sent": 202, "prediction": 12, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.9639459955506, "blended_steps": 5}
|
| 27 |
+
{"event": "prediction_requested", "time_ns": 1789660887738655303, "actions_sent": 216, "prediction": 13, "queue_remaining": 12}
|
| 28 |
+
{"event": "plan_adopted", "time_ns": 1789660887843739953, "actions_sent": 219, "prediction": 13, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 133.4442229999695, "blended_steps": 5}
|
| 29 |
+
{"event": "prediction_requested", "time_ns": 1789660888288592317, "actions_sent": 232, "prediction": 14, "queue_remaining": 12}
|
| 30 |
+
{"event": "plan_adopted", "time_ns": 1789660888392580924, "actions_sent": 235, "prediction": 14, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 115.51465699449182, "blended_steps": 5}
|
| 31 |
+
{"event": "prediction_requested", "time_ns": 1789660888862670764, "actions_sent": 249, "prediction": 15, "queue_remaining": 12}
|
| 32 |
+
{"event": "plan_adopted", "time_ns": 1789660888965005310, "actions_sent": 252, "prediction": 15, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.84781300695613, "blended_steps": 5}
|
| 33 |
+
{"event": "prediction_requested", "time_ns": 1789660889435210870, "actions_sent": 266, "prediction": 16, "queue_remaining": 12}
|
| 34 |
+
{"event": "plan_adopted", "time_ns": 1789660889539052601, "actions_sent": 269, "prediction": 16, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.60962997749448, "blended_steps": 5}
|
| 35 |
+
{"event": "prediction_requested", "time_ns": 1789660890016620168, "actions_sent": 283, "prediction": 17, "queue_remaining": 12}
|
| 36 |
+
{"event": "plan_adopted", "time_ns": 1789660890120459155, "actions_sent": 286, "prediction": 17, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 143.69072898989543, "blended_steps": 5}
|
| 37 |
+
{"event": "prediction_requested", "time_ns": 1789660890560718980, "actions_sent": 299, "prediction": 18, "queue_remaining": 12}
|
| 38 |
+
{"event": "plan_adopted", "time_ns": 1789660890663748156, "actions_sent": 302, "prediction": 18, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 121.46254000253975, "blended_steps": 5}
|
| 39 |
+
{"event": "prediction_requested", "time_ns": 1789660891139848646, "actions_sent": 316, "prediction": 19, "queue_remaining": 12}
|
| 40 |
+
{"event": "plan_adopted", "time_ns": 1789660891249155203, "actions_sent": 319, "prediction": 19, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 134.68807298340835, "blended_steps": 5}
|
| 41 |
+
{"event": "prediction_requested", "time_ns": 1789660891686048779, "actions_sent": 332, "prediction": 20, "queue_remaining": 12}
|
| 42 |
+
{"event": "plan_adopted", "time_ns": 1789660891791446820, "actions_sent": 335, "prediction": 20, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 147.0911460055504, "blended_steps": 5}
|
| 43 |
+
{"event": "prediction_requested", "time_ns": 1789660892231154408, "actions_sent": 348, "prediction": 21, "queue_remaining": 12}
|
| 44 |
+
{"event": "plan_adopted", "time_ns": 1789660892339838911, "actions_sent": 351, "prediction": 21, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 124.14425297174603, "blended_steps": 5}
|
| 45 |
+
{"event": "prediction_requested", "time_ns": 1789660892823332576, "actions_sent": 365, "prediction": 22, "queue_remaining": 12}
|
| 46 |
+
{"event": "plan_adopted", "time_ns": 1789660892926189017, "actions_sent": 368, "prediction": 22, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 115.71594199631363, "blended_steps": 5}
|
| 47 |
+
{"event": "prediction_requested", "time_ns": 1789660893396713403, "actions_sent": 382, "prediction": 23, "queue_remaining": 12}
|
| 48 |
+
{"event": "plan_adopted", "time_ns": 1789660893500929899, "actions_sent": 385, "prediction": 23, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.45670802076347, "blended_steps": 5}
|
| 49 |
+
{"event": "prediction_requested", "time_ns": 1789660893979524152, "actions_sent": 399, "prediction": 24, "queue_remaining": 12}
|
| 50 |
+
{"event": "plan_adopted", "time_ns": 1789660894084020589, "actions_sent": 402, "prediction": 24, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 139.568724000128, "blended_steps": 5}
|
| 51 |
+
{"event": "prediction_requested", "time_ns": 1789660894529707858, "actions_sent": 415, "prediction": 25, "queue_remaining": 12}
|
| 52 |
+
{"event": "plan_adopted", "time_ns": 1789660894633778128, "actions_sent": 418, "prediction": 25, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 121.86233399552293, "blended_steps": 5}
|
| 53 |
+
{"event": "prediction_requested", "time_ns": 1789660895104151727, "actions_sent": 432, "prediction": 26, "queue_remaining": 12}
|
| 54 |
+
{"event": "plan_adopted", "time_ns": 1789660895212955770, "actions_sent": 435, "prediction": 26, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 132.4858449806925, "blended_steps": 5}
|
| 55 |
+
{"event": "prediction_requested", "time_ns": 1789660895685348656, "actions_sent": 449, "prediction": 27, "queue_remaining": 12}
|
| 56 |
+
{"event": "plan_adopted", "time_ns": 1789660895790987482, "actions_sent": 452, "prediction": 27, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 145.066510012839, "blended_steps": 5}
|
| 57 |
+
{"event": "prediction_requested", "time_ns": 1789660896233444376, "actions_sent": 465, "prediction": 28, "queue_remaining": 12}
|
| 58 |
+
{"event": "plan_adopted", "time_ns": 1789660896338518633, "actions_sent": 468, "prediction": 28, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.07469101203606, "blended_steps": 5}
|
| 59 |
+
{"event": "prediction_requested", "time_ns": 1789660896815895400, "actions_sent": 482, "prediction": 29, "queue_remaining": 12}
|
| 60 |
+
{"event": "plan_adopted", "time_ns": 1789660896923003053, "actions_sent": 485, "prediction": 29, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 141.05212499271147, "blended_steps": 5}
|
| 61 |
+
{"event": "prediction_requested", "time_ns": 1789660897367254962, "actions_sent": 498, "prediction": 30, "queue_remaining": 12}
|
| 62 |
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{"event": "plan_adopted", "time_ns": 1789660897473416663, "actions_sent": 501, "prediction": 30, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.16628402611241, "blended_steps": 5}
|
| 63 |
+
{"event": "prediction_requested", "time_ns": 1789660897949078667, "actions_sent": 515, "prediction": 31, "queue_remaining": 12}
|
| 64 |
+
{"event": "plan_adopted", "time_ns": 1789660898057780874, "actions_sent": 518, "prediction": 31, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.27377199172042, "blended_steps": 5}
|
| 65 |
+
{"event": "operator_stopped", "time_ns": 1789660898130144173, "actions_sent": 520, "result": "success"}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/manifests/action.json
ADDED
|
@@ -0,0 +1,29 @@
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 520,
|
| 5 |
+
"camera.base_0_rgb": 546,
|
| 6 |
+
"camera.left_wrist_0_rgb": 548,
|
| 7 |
+
"camera.right_wrist_0_rgb": 550,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 4465,
|
| 11 |
+
"robot.robot_state": 2300
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/pick_and_place_banana/data/round_0005",
|
| 14 |
+
"executed_actions": 520,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
+
"round_number": 5,
|
| 19 |
+
"run_id": "20260918_000112_961499_round_0005",
|
| 20 |
+
"workflow": "openpi_rollout"
|
| 21 |
+
},
|
| 22 |
+
"policy_action_chunks": 0,
|
| 23 |
+
"record_id": "prometheus_action_recorder",
|
| 24 |
+
"record_mode": "action",
|
| 25 |
+
"schema": "prometheus_raw_episode_v1",
|
| 26 |
+
"status": "saved",
|
| 27 |
+
"updated_at_unix": 1789660898.283675
|
| 28 |
+
}
|
| 29 |
+
}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/manifests/camera.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_camera_base_0_recorder": {
|
| 3 |
+
"camera_frames": {
|
| 4 |
+
"base_0_rgb": 546
|
| 5 |
+
},
|
| 6 |
+
"camera_timestamp_samples": 546,
|
| 7 |
+
"complete_sensor_bundles": 546,
|
| 8 |
+
"counts": {
|
| 9 |
+
"action.executed": 520,
|
| 10 |
+
"camera.base_0_rgb": 546,
|
| 11 |
+
"camera.left_wrist_0_rgb": 548,
|
| 12 |
+
"camera.right_wrist_0_rgb": 550,
|
| 13 |
+
"dropped": 0,
|
| 14 |
+
"event.workflow": 1,
|
| 15 |
+
"items": 4465,
|
| 16 |
+
"robot.robot_state": 2300
|
| 17 |
+
},
|
| 18 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/pick_and_place_banana/data/round_0005",
|
| 21 |
+
"failure": "",
|
| 22 |
+
"metadata": {
|
| 23 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 24 |
+
"round_number": 5,
|
| 25 |
+
"run_id": "20260918_000112_961499_round_0005",
|
| 26 |
+
"workflow": "openpi_rollout"
|
| 27 |
+
},
|
| 28 |
+
"record_id": "prometheus_camera_base_0_recorder",
|
| 29 |
+
"record_mode": "sensor",
|
| 30 |
+
"schema": "prometheus_raw_episode_v1",
|
| 31 |
+
"sensor_kind": "camera",
|
| 32 |
+
"sensor_name": "base_0",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1789660898.283675
|
| 35 |
+
},
|
| 36 |
+
"prometheus_camera_left_wrist_0_recorder": {
|
| 37 |
+
"camera_frames": {
|
| 38 |
+
"left_wrist_0_rgb": 548
|
| 39 |
+
},
|
| 40 |
+
"camera_timestamp_samples": 548,
|
| 41 |
+
"complete_sensor_bundles": 548,
|
| 42 |
+
"counts": {
|
| 43 |
+
"action.executed": 520,
|
| 44 |
+
"camera.base_0_rgb": 546,
|
| 45 |
+
"camera.left_wrist_0_rgb": 548,
|
| 46 |
+
"camera.right_wrist_0_rgb": 550,
|
| 47 |
+
"dropped": 0,
|
| 48 |
+
"event.workflow": 1,
|
| 49 |
+
"items": 4465,
|
| 50 |
+
"robot.robot_state": 2300
|
| 51 |
+
},
|
| 52 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 53 |
+
"duplicate_sensor_messages": 0,
|
| 54 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/pick_and_place_banana/data/round_0005",
|
| 55 |
+
"failure": "",
|
| 56 |
+
"metadata": {
|
| 57 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 58 |
+
"round_number": 5,
|
| 59 |
+
"run_id": "20260918_000112_961499_round_0005",
|
| 60 |
+
"workflow": "openpi_rollout"
|
| 61 |
+
},
|
| 62 |
+
"record_id": "prometheus_camera_left_wrist_0_recorder",
|
| 63 |
+
"record_mode": "sensor",
|
| 64 |
+
"schema": "prometheus_raw_episode_v1",
|
| 65 |
+
"sensor_kind": "camera",
|
| 66 |
+
"sensor_name": "left_wrist_0",
|
| 67 |
+
"status": "saved",
|
| 68 |
+
"updated_at_unix": 1789660898.283675
|
| 69 |
+
},
|
| 70 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 71 |
+
"camera_frames": {
|
| 72 |
+
"right_wrist_0_rgb": 550
|
| 73 |
+
},
|
| 74 |
+
"camera_timestamp_samples": 550,
|
| 75 |
+
"complete_sensor_bundles": 550,
|
| 76 |
+
"counts": {
|
| 77 |
+
"action.executed": 520,
|
| 78 |
+
"camera.base_0_rgb": 546,
|
| 79 |
+
"camera.left_wrist_0_rgb": 548,
|
| 80 |
+
"camera.right_wrist_0_rgb": 550,
|
| 81 |
+
"dropped": 0,
|
| 82 |
+
"event.workflow": 1,
|
| 83 |
+
"items": 4465,
|
| 84 |
+
"robot.robot_state": 2300
|
| 85 |
+
},
|
| 86 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 87 |
+
"duplicate_sensor_messages": 0,
|
| 88 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/pick_and_place_banana/data/round_0005",
|
| 89 |
+
"failure": "",
|
| 90 |
+
"metadata": {
|
| 91 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 92 |
+
"round_number": 5,
|
| 93 |
+
"run_id": "20260918_000112_961499_round_0005",
|
| 94 |
+
"workflow": "openpi_rollout"
|
| 95 |
+
},
|
| 96 |
+
"record_id": "prometheus_camera_right_wrist_0_recorder",
|
| 97 |
+
"record_mode": "sensor",
|
| 98 |
+
"schema": "prometheus_raw_episode_v1",
|
| 99 |
+
"sensor_kind": "camera",
|
| 100 |
+
"sensor_name": "right_wrist_0",
|
| 101 |
+
"status": "saved",
|
| 102 |
+
"updated_at_unix": 1789660898.283675
|
| 103 |
+
}
|
| 104 |
+
}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/manifests/event.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 520,
|
| 5 |
+
"camera.base_0_rgb": 546,
|
| 6 |
+
"camera.left_wrist_0_rgb": 548,
|
| 7 |
+
"camera.right_wrist_0_rgb": 550,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 4465,
|
| 11 |
+
"robot.robot_state": 2300
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/pick_and_place_banana/data/round_0005",
|
| 14 |
+
"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
+
"round_number": 5,
|
| 19 |
+
"run_id": "20260918_000112_961499_round_0005",
|
| 20 |
+
"workflow": "openpi_rollout"
|
| 21 |
+
},
|
| 22 |
+
"record_id": "prometheus_event_recorder",
|
| 23 |
+
"record_mode": "event",
|
| 24 |
+
"schema": "prometheus_raw_episode_v1",
|
| 25 |
+
"status": "saved",
|
| 26 |
+
"updated_at_unix": 1789660898.283675
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/manifests/robot.json
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 520,
|
| 5 |
+
"camera.base_0_rgb": 546,
|
| 6 |
+
"camera.left_wrist_0_rgb": 548,
|
| 7 |
+
"camera.right_wrist_0_rgb": 550,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 4465,
|
| 11 |
+
"robot.robot_state": 2300
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/seven_tasks_2500/pick_and_place_banana/data/round_0005",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 2300,
|
| 17 |
+
"right": 2300
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 21 |
+
"round_number": 5,
|
| 22 |
+
"run_id": "20260918_000112_961499_round_0005",
|
| 23 |
+
"workflow": "openpi_rollout"
|
| 24 |
+
},
|
| 25 |
+
"pending_robot_samples": 0,
|
| 26 |
+
"plot_outputs": [],
|
| 27 |
+
"record_id": "prometheus_robot_recorder",
|
| 28 |
+
"record_mode": "robot",
|
| 29 |
+
"robot_samples": {
|
| 30 |
+
"left": 2300,
|
| 31 |
+
"right": 2300
|
| 32 |
+
},
|
| 33 |
+
"schema": "prometheus_raw_episode_v1",
|
| 34 |
+
"status": "saved",
|
| 35 |
+
"updated_at_unix": 1789660898.283675
|
| 36 |
+
}
|
| 37 |
+
}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0005/workflow_manifest.json
ADDED
|
@@ -0,0 +1,612 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
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| 3 |
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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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|
| 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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| 48 |
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| 49 |
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| 50 |
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|
| 51 |
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|
| 52 |
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| 53 |
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|
| 54 |
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| 55 |
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| 56 |
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|
| 57 |
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| 58 |
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|
| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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| 72 |
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| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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| 77 |
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|
| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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|
| 83 |
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|
| 84 |
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},
|
| 85 |
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|
| 86 |
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|
| 87 |
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| 88 |
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|
| 89 |
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| 90 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 99 |
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|
| 100 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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|
| 106 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 123 |
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| 124 |
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|
| 125 |
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|
| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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|
| 135 |
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| 136 |
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|
| 137 |
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| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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|
| 149 |
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| 150 |
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| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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| 157 |
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|
| 158 |
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|
| 159 |
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}
|
| 160 |
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},
|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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| 167 |
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|
| 168 |
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|
| 169 |
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],
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| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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|
| 181 |
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},
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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},
|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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| 215 |
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|
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|
| 1 |
+
{
|
| 2 |
+
"base_0_rgb": {
|
| 3 |
+
"codec": "h264",
|
| 4 |
+
"container": "mp4",
|
| 5 |
+
"encoder": "libx264",
|
| 6 |
+
"encoding": "bgr8",
|
| 7 |
+
"frames": 555,
|
| 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": 554,
|
| 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": 554,
|
| 46 |
+
"height": 480,
|
| 47 |
+
"lossless": false,
|
| 48 |
+
"pixel_format": "yuv420p",
|
| 49 |
+
"quality": {
|
| 50 |
+
"mode": "crf",
|
| 51 |
+
"value": 14
|
| 52 |
+
},
|
| 53 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 54 |
+
"timestamps": "camera/timestamp.pkl::right_wrist_0",
|
| 55 |
+
"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
|
| 56 |
+
"video": "camera/right_wrist_0_rgb.mp4",
|
| 57 |
+
"width": 640
|
| 58 |
+
}
|
| 59 |
+
}
|
eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0006/camera/timestamp.pkl
ADDED
|
Binary file (13.4 kB). View file
|
|
|