{ "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": 4.0, "burst_max_frames": 15, "gel_magenta_margin": 50, "gel_magenta_rowfill": 0.25 }, "summary": { "n_episodes": 4, "total_frames": 56583, "total_bad_frames": 3566, "bad_fraction_overall": 0.063 }, "episodes": { "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": [ [ 583, 594 ], [ 906, 921 ], [ 1111, 1118 ], [ 1173, 1181 ], [ 1805, 1818 ], [ 2421, 2428 ], [ 2963, 2970 ], [ 3098, 3108 ], [ 3142, 3189 ], [ 3280, 3287 ], [ 3313, 3427 ], [ 3439, 3477 ], [ 3908, 3917 ], [ 4064, 4072 ], [ 4147, 4154 ], [ 4402, 4408 ], [ 4435, 4450 ], [ 4612, 4618 ], [ 4654, 4660 ], [ 5066, 5098 ], [ 5164, 5172 ], [ 5241, 5247 ], [ 5280, 5298 ], [ 5323, 5356 ], [ 5430, 5441 ], [ 5598, 5605 ], [ 5623, 5631 ], [ 5853, 5859 ], [ 6329, 6336 ], [ 6360, 6367 ], [ 6443, 6467 ], [ 6482, 6490 ], [ 6922, 6928 ], [ 7176, 7194 ], [ 7392, 7398 ], [ 7432, 7438 ], [ 7631, 7637 ], [ 7733, 7740 ], [ 7777, 7783 ], [ 8032, 8040 ], [ 8117, 8124 ], [ 8213, 8224 ], [ 8347, 8357 ], [ 8628, 8657 ], [ 8682, 8698 ], [ 8710, 8716 ], [ 8798, 8809 ], [ 8889, 8898 ], [ 9179, 9193 ], [ 9230, 9238 ], [ 9477, 9488 ], [ 9528, 9544 ], [ 10237, 10252 ], [ 10982, 10996 ], [ 11047, 11053 ], [ 11523, 11533 ] ], "tactile_corruption": [], "total_bad_frames": 828, "bad_fraction": 0.0707 }, "2026-09-17/episode_002": { "n_frames": 15675, "duration_s": 522.5, "intensity_spikes": [ [ 1949, 1974 ] ], "pose_teleports_L": [], "pose_teleports_R": [ [ 8313, 8320 ] ], "ot_loss_L": [], "ot_loss_R": [ [ 8304, 8330 ] ], "tactile_freeze_L": [ [ 1929, 1974 ] ], "tactile_freeze_R": [], "cam_corruption": [ [ 500, 507 ], [ 668, 675 ], [ 889, 914 ], [ 1075, 1083 ], [ 1228, 1236 ], [ 1555, 1566 ], [ 1680, 1689 ], [ 1731, 1738 ], [ 1840, 1851 ], [ 1939, 1946 ], [ 2107, 2117 ], [ 2229, 2235 ], [ 2399, 2405 ], [ 2574, 2584 ], [ 2814, 2820 ], [ 2825, 2831 ], [ 3068, 3090 ], [ 3183, 3191 ], [ 3240, 3248 ], [ 3388, 3407 ], [ 3465, 3473 ], [ 3807, 3816 ], [ 3908, 3922 ], [ 4041, 4065 ], [ 4802, 4808 ], [ 5073, 5093 ], [ 5566, 5572 ], [ 6258, 6265 ], [ 6390, 6397 ], [ 6423, 6429 ], [ 6684, 6716 ], [ 7092, 7106 ], [ 7307, 7316 ], [ 7990, 7996 ], [ 8131, 8142 ], [ 8184, 8196 ], [ 8297, 8322 ], [ 8467, 8486 ], [ 8609, 8616 ], [ 8629, 8642 ], [ 10221, 10247 ], [ 10290, 10301 ], [ 10336, 10353 ], [ 10379, 10444 ], [ 10588, 10594 ], [ 10647, 10653 ], [ 10762, 10768 ], [ 10854, 10868 ], [ 10978, 10984 ], [ 10989, 11005 ], [ 11648, 11669 ], [ 12654, 12663 ], [ 12665, 12679 ], [ 12865, 12872 ], [ 12973, 12980 ], [ 13163, 13185 ], [ 13973, 13986 ], [ 14429, 14436 ], [ 14465, 14476 ], [ 14806, 14832 ], [ 15019, 15027 ], [ 15051, 15091 ], [ 15103, 15118 ] ], "tactile_corruption": [], "total_bad_frames": 938, "bad_fraction": 0.0598 }, "2026-09-17/episode_004": { "n_frames": 16253, "duration_s": 541.767, "intensity_spikes": [], "pose_teleports_L": [], "pose_teleports_R": [], "ot_loss_L": [], "ot_loss_R": [], "tactile_freeze_L": [ [ 16174, 16219 ] ], "tactile_freeze_R": [], "cam_corruption": [ [ 98, 105 ], [ 221, 235 ], [ 279, 287 ], [ 1235, 1248 ], [ 1383, 1413 ], [ 1494, 1501 ], [ 2400, 2418 ], [ 2482, 2490 ], [ 3252, 3262 ], [ 3309, 3317 ], [ 3947, 3954 ], [ 3986, 3992 ], [ 4180, 4191 ], [ 4422, 4432 ], [ 4453, 4461 ], [ 4716, 4735 ], [ 5782, 5810 ], [ 5861, 5867 ], [ 5885, 5898 ], [ 5921, 5940 ], [ 6274, 6300 ], [ 6508, 6515 ], [ 6604, 6614 ], [ 7241, 7247 ], [ 7267, 7303 ], [ 7317, 7324 ], [ 7338, 7396 ], [ 7410, 7514 ], [ 7577, 7583 ], [ 7606, 7613 ], [ 7628, 7651 ], [ 7664, 7680 ], [ 8612, 8625 ], [ 8781, 8791 ], [ 8860, 8874 ], [ 9044, 9052 ], [ 9186, 9198 ], [ 9264, 9274 ], [ 9291, 9302 ], [ 9644, 9653 ], [ 10464, 10474 ], [ 10736, 10751 ], [ 11947, 11955 ], [ 12011, 12018 ], [ 12442, 12448 ], [ 12856, 12871 ], [ 12905, 12911 ], [ 12985, 12992 ], [ 13218, 13226 ], [ 13615, 13623 ], [ 13808, 13819 ], [ 13848, 13866 ], [ 13989, 13999 ], [ 14608, 14616 ], [ 14786, 14794 ], [ 14828, 14855 ], [ 15138, 15154 ], [ 15296, 15303 ], [ 15791, 15798 ], [ 15875, 15882 ], [ 16016, 16024 ] ], "tactile_corruption": [], "total_bad_frames": 967, "bad_fraction": 0.0595 }, "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": [ [ 98, 110 ], [ 452, 461 ], [ 473, 482 ], [ 831, 845 ], [ 1527, 1533 ], [ 2140, 2155 ], [ 2415, 2459 ], [ 2563, 2597 ], [ 2643, 2663 ], [ 3360, 3373 ], [ 3781, 3808 ], [ 4188, 4198 ], [ 4388, 4402 ], [ 4426, 4434 ], [ 4452, 4458 ], [ 4533, 4551 ], [ 4844, 4855 ], [ 5465, 5476 ], [ 5511, 5527 ], [ 5916, 5926 ], [ 6485, 6500 ], [ 6552, 6566 ], [ 6674, 6683 ], [ 6785, 6792 ], [ 6846, 6853 ], [ 7832, 7852 ], [ 7888, 7896 ], [ 8202, 8220 ], [ 8615, 8632 ], [ 8684, 8700 ], [ 9001, 9021 ], [ 9199, 9206 ], [ 10001, 10009 ], [ 10240, 10249 ], [ 10332, 10341 ], [ 10376, 10390 ], [ 10550, 10557 ], [ 10877, 10884 ], [ 11066, 11076 ], [ 11192, 11198 ], [ 11487, 11599 ], [ 11632, 11640 ], [ 11700, 11715 ], [ 11944, 11977 ], [ 12211, 12224 ], [ 12323, 12329 ], [ 12423, 12429 ], [ 12490, 12496 ], [ 12525, 12560 ], [ 12574, 12580 ], [ 12759, 12766 ] ], "tactile_corruption": [], "total_bad_frames": 833, "bad_fraction": 0.0643 } } }