| { |
| "action_delay_steps": 1, |
| "gates": { |
| "data_excitation": true, |
| "delay_screen": true, |
| "jacobian_identifiability": true, |
| "legacy_comparison": true, |
| "optimizer_convergence": true, |
| "parameter_bounds": false, |
| "per_episode": false, |
| "per_joint": true, |
| "per_task": true, |
| "policy_smoke": false, |
| "postfit_delay_consistency": true, |
| "stock_improvement": true |
| }, |
| "kd": [ |
| 542.1199706554125, |
| 536.1273916890565, |
| 188.93397377319513, |
| 196.00079667074579, |
| 426.84661736676196, |
| 502.4213010023793, |
| 796.0594440614035 |
| ], |
| "kp": [ |
| 4043.8899935039644, |
| 1545.848858031506, |
| 1535.5508152473947, |
| 1403.9179833362236, |
| 4139.761429859342, |
| 4307.702480942475, |
| 7475.622850996125 |
| ], |
| "name": "shared-sysid-v3-balanced", |
| "objective_normalization": "per_joint_motion", |
| "params_path": "/data/user_data/pangchil/Eden/results/droid_sysid_shared_v3_balanced/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": 0.07796356392425835, |
| "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": 0.5, |
| "heldout_episodes": 22, |
| "holdout_fraction": "1/5", |
| "jacobian_condition_number": 382.3712535832895, |
| "jacobian_rank": 14, |
| "legacy_rmse": { |
| "non-pi-sysid": 0.08431383286538027, |
| "pi-sysid": 0.08993251285967277 |
| }, |
| "method": "task-stratified-heldout", |
| "motion_improvement_percent": { |
| "high": 11.88371945377974, |
| "medium": 15.612403030435827 |
| }, |
| "optimizer_optimality": 3644.343945688223, |
| "optimizer_status": 3, |
| "postfit_neighbor_delay_rmse": { |
| "0": 0.07871535332856316, |
| "2": 0.07968614229969848 |
| }, |
| "stock_improvement_percent": 14.101953201403276, |
| "stock_rmse": 0.09076290652691768, |
| "target_error_rms_rad": [ |
| 0.023726794172912073, |
| 0.05075267988615758, |
| 0.02358893475581539, |
| 0.05068559453767023, |
| 0.03528549298636355, |
| 0.03861384155722519, |
| 0.04457225919991669 |
| ], |
| "task_improvement_percent": { |
| "move": 27.10337426929325, |
| "other": 6.432881734005423, |
| "pick": 4.970460231062064, |
| "place": 11.572538618308366 |
| }, |
| "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": -61.11359749451379 |
| } |
| } |
|
|
