eval/aloha_insertion.json

{
  "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": [
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    "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": {}
}