{ "task": "toy", "tau_intensity": 30.0, "tau_velocity_mps": 5.0, "tau_angular_rad_per_s": 15.0, "freeze_threshold_s": 0.25, "buffer_frames": 3, "video_corruption": { "scan_res": [ 160, 120 ], "metric": "rgb_max_channel", "spike_abs": 25.0, "spike_rel": 18.0, "burst_max_frames": 15, "gel_magenta_margin": 50, "gel_magenta_rowfill": 0.25 }, "summary": { "n_episodes": 32, "total_frames": 146947, "total_bad_frames": 269, "bad_fraction_overall": 0.0018 }, "episodes": { "2026-09-14/episode_000_seg00": { "n_frames": 27380, "duration_s": 912.667, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-16/episode_000_seg00": { "n_frames": 1718, "duration_s": 57.267, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [ [ 1585, 1592 ], [ 1618, 1625 ] ], "tactile_corruption": [], "total_bad_frames": 16, "bad_fraction": 0.0093 }, "2026-09-16/episode_000_seg01": { "n_frames": 2506, "duration_s": 83.533, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-16/episode_000_seg02": { "n_frames": 1226, "duration_s": 40.867, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [ [ 0, 22 ] ], "tactile_corruption": [], "total_bad_frames": 23, "bad_fraction": 0.0188 }, "2026-09-16/episode_000_seg03": { "n_frames": 10397, "duration_s": 346.567, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [ [ 133, 143 ], [ 154, 167 ], [ 247, 253 ], [ 2043, 2049 ], [ 2512, 2519 ], [ 2677, 2684 ], [ 3605, 3611 ], [ 3681, 3688 ], [ 5251, 5257 ], [ 5766, 5772 ], [ 5811, 5817 ], [ 5834, 5840 ], [ 6087, 6094 ], [ 6105, 6118 ], [ 7693, 7700 ], [ 7744, 7753 ], [ 7765, 7777 ], [ 7791, 7798 ], [ 7813, 7822 ], [ 9337, 9343 ] ], "tactile_corruption": [], "total_bad_frames": 176, "bad_fraction": 0.0169 }, "2026-09-16/episode_000_seg04": { "n_frames": 4285, "duration_s": 142.833, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-17/episode_001": { "n_frames": 11709, "duration_s": 390.3, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-17/episode_002_seg00": { "n_frames": 1929, "duration_s": 64.3, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-17/episode_002_seg01": { "n_frames": 6329, "duration_s": 210.967, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-17/episode_002_seg02": { "n_frames": 7344, "duration_s": 244.8, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-17/episode_004_seg00": { "n_frames": 16174, "duration_s": 539.133, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-17/episode_005": { "n_frames": 12946, "duration_s": 431.533, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-17/episode_006": { "n_frames": 3522, "duration_s": 117.4, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-17/episode_007_seg00": { "n_frames": 3317, "duration_s": 110.567, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-17/episode_008": { "n_frames": 6393, "duration_s": 213.1, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-22/episode_003_seg00": { "n_frames": 1511, "duration_s": 50.367, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-22/episode_003_seg01": { "n_frames": 1830, "duration_s": 61.0, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [ [ 515, 521 ] ], "tactile_corruption": [], "total_bad_frames": 7, "bad_fraction": 0.0038 }, "2026-09-22/episode_003_seg02": { "n_frames": 929, "duration_s": 30.967, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [ [ 108, 116 ] ], "tactile_corruption": [], "total_bad_frames": 9, "bad_fraction": 0.0097 }, "2026-09-22/episode_003_seg03": { "n_frames": 1022, "duration_s": 34.067, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [ [ 198, 212 ] ], "tactile_corruption": [], "total_bad_frames": 15, "bad_fraction": 0.0147 }, "2026-09-22/episode_003_seg04": { "n_frames": 1254, "duration_s": 41.8, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-22/episode_003_seg05": { "n_frames": 1834, "duration_s": 61.133, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [ [ 827, 834 ] ], "tactile_corruption": [], "total_bad_frames": 8, "bad_fraction": 0.0044 }, "2026-09-22/episode_003_seg06": { "n_frames": 2453, "duration_s": 81.767, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [ [ 212, 226 ] ], "tactile_corruption": [], "total_bad_frames": 15, "bad_fraction": 0.0061 }, "2026-09-22/episode_003_seg07": { "n_frames": 2090, "duration_s": 69.667, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-22/episode_004_seg00": { "n_frames": 931, "duration_s": 31.033, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-22/episode_005_seg00": { "n_frames": 1070, "duration_s": 35.667, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-22/episode_005_seg01": { "n_frames": 1103, "duration_s": 36.767, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-22/episode_007_seg00": { "n_frames": 5069, "duration_s": 168.967, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-22/episode_007_seg01": { "n_frames": 1194, "duration_s": 39.8, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-22/episode_008_seg00": { "n_frames": 1973, "duration_s": 65.767, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-22/episode_008_seg01": { "n_frames": 1649, "duration_s": 54.967, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-22/episode_008_seg02": { "n_frames": 1456, "duration_s": 48.533, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 }, "2026-09-22/episode_009": { "n_frames": 2404, "duration_s": 80.133, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [], "tactile_freeze_R": [], "cam_corruption": [], "tactile_corruption": [], "total_bad_frames": 0, "bad_fraction": 0.0 } } }