RobotArena360_Assets / _global /sysid /shared_sysid_v2.json
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{
"action_delay_steps": 2,
"gates": {
"data_excitation": true,
"delay_screen": true,
"jacobian_identifiability": true,
"legacy_comparison": true,
"optimizer_convergence": true,
"parameter_bounds": true,
"per_episode": false,
"per_joint": false,
"per_task": false,
"policy_smoke": false,
"postfit_delay_consistency": false,
"stock_improvement": false
},
"kd": [
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],
"name": "shared-sysid-v2",
"params_path": "/data/user_data/pangchil/Eden/results/droid_sysid_shared_v2/candidate/params_identified.yaml",
"plant": {
"base_constraint": "fixed by MJCF root (no freejoint)",
"controller": "ImplicitPDController",
"gravity_compensation": 1.0,
"robot": "FrankaResearch3+Robotiq2f85"
},
"smoke_results": {
"gr00t": false,
"molmoact2": false,
"pi05": false,
"pi0_fast": false
},
"timing": {
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"decimation": 16,
"sim_dt": 0.004,
"sim_substeps": 4
},
"transition_alignment": "action[t]->q[t+1]",
"validated": false,
"validation": {
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"delay_runner_up_margin_percent": 1.1745819807710993,
"delay_scores": [
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{
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{
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],
"delay_screen_episodes": 10,
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"holdout_fraction": "1/5",
"jacobian_condition_number": 225.4958993548735,
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"legacy_rmse": {
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"method": "task-stratified-heldout",
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"other": -0.7596357415425571,
"pick": 2.371718253905807,
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}
}