File size: 1,617 Bytes
c5ccfcf | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 | {
"schema_version": "1",
"source": {
"paper": "https://arxiv.org/abs/2304.13705",
"arxiv": "https://arxiv.org/abs/2304.13705",
"model_variant": "act",
"evaluated_by": "OpenRAL:ral benchmark run",
"reproduced_locally": true,
"reproduction_planned": null,
"reproduction_cli": "ral benchmark run --suite aloha_insertion --rskill rskill://act-aloha-insertion",
"table": null,
"status": "reproduced"
},
"benchmark": {
"name": "ALOHA bimanual peg insertion (gym-aloha)",
"dataset": null,
"protocol": "50 episodes per task, success_key=is_success, max_steps=400",
"robot": "aloha_bimanual",
"simulator": "gym-aloha (MuJoCo)"
},
"eval_config": {
"n_episodes": 50,
"seeds": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49
],
"success_key": "is_success",
"max_steps": 400,
"vla_id": "act",
"weights_uri": "rskill://rskills/act-aloha-insertion"
},
"results": {
"aloha_insertion/0_success_rate": 0.2,
"avg_success_rate": 0.2,
"n_tasks": 1,
"n_episodes_per_task": 50,
"n_episodes_total": 50,
"mean_step_latency_ms_avg": 10.16975808690558
},
"baselines": {}
}
|