Download _global/sysid/shared_sysid_v2.json from pcseanlo/RobotArena360_Assets: direct link, hf CLI and curl.
- Browser
- Download file 3.74 kB
-
https://huggingface.co/datasets/pcseanlo/RobotArena360_Assets/resolve/main/_global/sysid/shared_sysid_v2.json
- Command line
-
hf download hf://datasets/pcseanlo/RobotArena360_Assets/_global/sysid/shared_sysid_v2.json
-
curl -L -o shared_sysid_v2.json https://huggingface.co/datasets/pcseanlo/RobotArena360_Assets/resolve/main/_global/sysid/shared_sysid_v2.json
3.74 kB
| { | |
| "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": [ | |
| 526.909639748404, | |
| 524.2166176740618, | |
| 474.5335592495834, | |
| 389.7796251499578, | |
| 118.76389620904297, | |
| 294.57059028561173, | |
| 173.85378314876164 | |
| ], | |
| "kp": [ | |
| 3306.9859171381813, | |
| 2593.748120707869, | |
| 2977.2705759903392, | |
| 3531.182070681447, | |
| 1835.2103560715304, | |
| 3749.6098181959305, | |
| 1951.1428928847379 | |
| ], | |
| "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": { | |
| "control_hz": 15.625, | |
| "decimation": 16, | |
| "sim_dt": 0.004, | |
| "sim_substeps": 4 | |
| }, | |
| "transition_alignment": "action[t]->q[t+1]", | |
| "validated": false, | |
| "validation": { | |
| "candidate_rmse": 0.08232369110785574, | |
| "delay_runner_up_margin_percent": 1.1745819807710993, | |
| "delay_scores": [ | |
| { | |
| "delay": 0, | |
| "stock_rmse": 0.05421903879463919 | |
| }, | |
| { | |
| "delay": 1, | |
| "stock_rmse": 0.051102864083733504 | |
| }, | |
| { | |
| "delay": 2, | |
| "stock_rmse": 0.049771188389955076 | |
| }, | |
| { | |
| "delay": 3, | |
| "stock_rmse": 0.050355791800399126 | |
| }, | |
| { | |
| "delay": 4, | |
| "stock_rmse": 0.05273342924487519 | |
| }, | |
| { | |
| "delay": 5, | |
| "stock_rmse": 0.05659737523505639 | |
| }, | |
| { | |
| "delay": 6, | |
| "stock_rmse": 0.06159962686238097 | |
| }, | |
| { | |
| "delay": 7, | |
| "stock_rmse": 0.06738541194324724 | |
| }, | |
| { | |
| "delay": 8, | |
| "stock_rmse": 0.07369749651606226 | |
| } | |
| ], | |
| "delay_screen_episodes": 10, | |
| "heldout_episode_pass_rate": 0.45454545454545453, | |
| "heldout_episodes": 22, | |
| "holdout_fraction": "1/5", | |
| "jacobian_condition_number": 225.4958993548735, | |
| "jacobian_rank": 14, | |
| "legacy_rmse": { | |
| "non-pi-sysid": 0.08964892035744174, | |
| "pi-sysid": 0.09579130000708626 | |
| }, | |
| "method": "task-stratified-heldout", | |
| "motion_improvement_percent": { | |
| "high": 11.849812064924867, | |
| "medium": 7.896162888374068 | |
| }, | |
| "optimizer_optimality": 38.49887180474135, | |
| "optimizer_status": 3, | |
| "postfit_neighbor_delay_rmse": { | |
| "1": 0.08194181505802128, | |
| "3": 0.08502851193971495 | |
| }, | |
| "stock_improvement_percent": 9.47319999155554, | |
| "stock_rmse": 0.09093847468393501, | |
| "target_error_rms_rad": [ | |
| 0.017268304805914708, | |
| 0.037902364786405365, | |
| 0.016996115851361362, | |
| 0.03910445871625355, | |
| 0.0248396155025037, | |
| 0.027315267441022792, | |
| 0.03183376536981519 | |
| ], | |
| "task_improvement_percent": { | |
| "move": 17.15549752580263, | |
| "other": -0.7596357415425571, | |
| "pick": 2.371718253905807, | |
| "place": 12.863957601993802 | |
| }, | |
| "train_episodes": 78, | |
| "velocity_rms_rad_s": [ | |
| 0.12451587071009937, | |
| 0.2240355708893294, | |
| 0.12787255569976724, | |
| 0.20197300359223164, | |
| 0.19550351539362967, | |
| 0.21694524188680023, | |
| 0.23049632314592136 | |
| ], | |
| "worst_heldout_episode_improvement_percent": -25.72375613190095 | |
| } | |
| } | |