Dimios45/yam-pick-duster-rollouts

YAM rollout log

Generated 2026-08-18 15:20.

A grasp means the measured gripper closed below 0.16 m and then lifted more than 5 cm while still closed. Closing in mid-air does not count.

data/pick200-joint-long

10/25 grasps.

10/25 — unknown (no meta.json — recorded before run metadata was added)

episode	dur (s)	grasp	z@close	lift	stall %	speed (rad/s)
20260818T140310605632	29.5	no	—	—	0	0.171
20260818T140352353950	59.7	no	—	—	0	0.230
20260818T140505044551	59.7	no	—	—	0	0.135
20260818T140617627063	59.7	no	—	—	1	0.100
20260818T140730136609	59.7	yes	0.124	0.108	0	0.171
20260818T140912097882	59.2	no	0.203	0.029	48	0.326
20260818T141025062245	59.2	yes	0.109	0.121	49	0.174
20260818T141137762442	59.2	yes	0.114	0.139	49	0.235
20260818T141250574610	59.2	yes	0.113	0.116	48	0.200
20260818T141403449928	59.2	no	—	—	49	0.132
20260818T141516154624	59.2	no	—	—	49	0.110
20260818T141628744477	59.2	no	—	—	50	0.124
20260818T141741622384	59.2	yes	0.117	0.097	48	0.229
20260818T141854306568	59.2	yes	0.111	0.114	48	0.198
20260818T142006945963	59.2	no	—	—	54	0.126
20260818T143108230017	59.2	no	—	—	73	0.110
20260818T143221087237	59.2	no	—	—	72	0.165
20260818T143333820106	39.3	yes	0.116	0.052	68	0.672
20260818T143428617832	34.7	no	0.121	0.012	70	0.617
20260818T143516069094	26.1	no	0.122	0.000	68	0.892
20260818T143632003869	59.2	yes	0.115	0.121	59	0.384
20260818T143744927976	51.0	yes	0.121	0.121	62	0.292
20260818T143854086559	49.2	no	0.206	0.001	60	0.333
20260818T143957962895	59.2	yes	0.106	0.141	63	0.230
20260818T144110586783	59.2	no	—	—	61	0.213

command not recorded

data/pick200-joint

0/60 grasps.

0/60 — unknown (no meta.json — recorded before run metadata was added)

episode	dur (s)	grasp	z@close	lift	stall %	speed (rad/s)
20260818T130623882629	29.7	no	—	—	1	0.266
20260818T130707519771	29.7	no	—	—	0	0.151
20260818T130747012257	29.7	no	—	—	0	0.249
20260818T130826581436	29.7	no	—	—	2	0.148
20260818T130906134170	29.7	no	0.234	0.037	1	0.299
20260818T130945794331	29.7	no	—	—	0	0.119
20260818T131025339364	29.7	no	—	—	3	0.157
20260818T131104873589	29.7	no	—	—	2	0.168
20260818T131144444858	29.7	no	—	—	1	0.150
20260818T131223978642	29.7	no	—	—	0	0.151
20260818T132350808744	29.7	no	—	—	4	0.335
20260818T132430405417	29.7	no	—	—	1	0.154
20260818T132510058270	29.6	no	—	—	2	0.251
20260818T132549790930	29.7	no	—	—	3	0.242
20260818T132629459294	29.7	no	—	—	4	0.281
20260818T132709166445	29.7	no	—	—	2	0.248
20260818T132748798092	29.7	no	—	—	1	0.027
20260818T132828323293	29.7	no	—	—	2	0.196
20260818T132907957759	29.7	no	—	—	3	0.214
20260818T132947595350	29.7	no	—	—	3	0.203
20260818T133138716010	29.5	no	—	—	6	0.239
20260818T133218495514	29.5	no	—	—	6	0.291
20260818T133258118270	29.5	no	—	—	4	0.243
20260818T133337793699	29.5	no	—	—	6	0.199
20260818T133417414801	29.6	no	—	—	5	0.181
20260818T133456982117	29.5	no	—	—	7	0.210
20260818T133536636078	29.5	no	—	—	6	0.271
20260818T133616250899	29.6	no	—	—	5	0.248
20260818T133655845034	29.5	no	0.117	0.000	4	0.434
20260818T133735662119	29.6	no	—	—	5	0.502
20260818T133907655414	29.2	no	—	—	48	0.261
20260818T133947311863	29.2	no	—	—	48	0.229
20260818T134026872719	29.2	no	—	—	48	0.217
20260818T134106667671	29.2	no	—	—	49	0.202
20260818T134146451385	29.2	no	0.106	0.012	45	0.249
20260818T134226420538	29.2	no	—	—	50	0.222
20260818T134306150620	29.2	no	—	—	48	0.317
20260818T134345790587	29.2	no	—	—	48	0.254
20260818T134425508983	29.2	no	—	—	48	0.243
20260818T134505373595	29.2	no	—	—	50	0.223
20260818T134635230677	29.2	no	—	—	61	0.191
20260818T134714904936	29.2	no	—	—	60	0.186
20260818T134754453170	29.2	no	—	—	60	0.186
20260818T134834178157	29.2	no	—	—	55	0.324
20260818T134914019314	29.2	no	—	—	59	0.245
20260818T134953895080	29.2	no	—	—	60	0.189
20260818T135033443097	29.2	no	—	—	59	0.195
20260818T135113145225	29.2	no	—	—	59	0.183
20260818T135152847828	29.2	no	—	—	59	0.193
20260818T135232333795	29.2	no	—	—	61	0.174
20260818T135411022253	29.2	no	—	—	55	0.218
20260818T135450636135	29.2	no	—	—	54	0.224
20260818T135530187342	29.2	no	—	—	55	0.343
20260818T135609830470	29.2	no	—	—	55	0.351
20260818T135649553915	29.2	no	—	—	54	0.301
20260818T135729238034	29.2	no	—	—	55	0.301
20260818T135809004794	29.2	no	—	—	52	0.276
20260818T135848814168	29.2	no	—	—	55	0.257
20260818T135928478717	29.2	no	—	—	53	0.327
20260818T140008412108	29.2	no	—	—	52	0.258

command not recorded

data/pick200-ee

0/5 grasps.

0/5 — unknown (no meta.json — recorded before run metadata was added)

episode	dur (s)	grasp	z@close	lift	stall %	speed (rad/s)
20260818T131412127030	8.2	no	—	—	nan	0.850
20260818T131435694429	5.8	no	0.178	0.000	nan	0.948
20260818T131456224244	3.7	no	—	—	nan	1.062
20260818T131519724883	2.8	no	—	—	nan	1.813
20260818T131815393782	4.6	no	—	—	nan	1.044

command not recorded

data/pick200-joint-cf50

8/18 grasps.

5/9 — ckpt_path=deploy_ema.ckpt policy=bspline control_freq=50.0 data_freq=25.0 origin_time_scale=25.0 num_inference_steps=16 predict_before_end=0.3 speed_up_times=1.0 max_steps=3000 device=cpu

episode	dur (s)	grasp	z@close	lift	stall %	speed (rad/s)
20260818T145444709148	59.2	yes	0.109	0.131	50	0.203
20260818T145557302179	59.2	no	—	—	50	0.144
20260818T145709841881	59.2	yes	0.111	0.140	50	0.188
20260818T145822659029	59.2	yes	0.114	0.082	50	0.166
20260818T145935366847	59.2	yes	0.106	0.117	51	0.161
20260818T150048306881	59.2	no	—	—	50	0.124
20260818T150201039216	59.2	no	—	—	49	0.128
20260818T150313521181	59.2	no	—	—	50	0.146
20260818T150426259920	59.2	yes	0.112	0.124	49	0.237

/home/yambox/bspline-policy/.venv/bin/python real_env/yam_teleop/rollout_local_policy.py --env yam --policy bspline --ckpt-path /home/yambox/bspline-policy/ckpt_pick200_joint/deploy_ema.ckpt --diffusion-policy-dir /home/yambox/bspline-policy/diffusion_policy --device cpu --control-freq 50 --data-freq 25 --origin-time-scale 25 --num-inference-steps 16 --predict-before-end 0.3 --speed-up-times 1.0 --max-steps 3000 --num-episodes 10 --save --output-dir data/pick200-joint-cf50

1/5 — ckpt_path=deploy_ema.ckpt policy=bspline control_freq=50.0 data_freq=25.0 origin_time_scale=25.0 num_inference_steps=16 predict_before_end=0.3 speed_up_times=2.0 max_steps=3000 device=cpu

episode	dur (s)	grasp	z@close	lift	stall %	speed (rad/s)
20260818T150614920385	34.0	no	0.124	0.037	71	0.577
20260818T150710359228	59.2	no	—	—	72	0.166
20260818T150823199490	56.7	yes	0.119	0.124	70	0.262
20260818T150934579650	59.2	no	—	—	73	0.150
20260818T151047317015	59.2	no	—	—	73	0.147

/home/yambox/bspline-policy/.venv/bin/python real_env/yam_teleop/rollout_local_policy.py --env yam --policy bspline --ckpt-path /home/yambox/bspline-policy/ckpt_pick200_joint/deploy_ema.ckpt --diffusion-policy-dir /home/yambox/bspline-policy/diffusion_policy --device cpu --control-freq 50 --data-freq 25 --origin-time-scale 25 --num-inference-steps 16 --predict-before-end 0.3 --speed-up-times 2 --max-steps 3000 --num-episodes 5 --save --output-dir data/pick200-joint-cf50

2/4 — ckpt_path=deploy_ema.ckpt policy=bspline control_freq=50.0 data_freq=25.0 origin_time_scale=25.0 num_inference_steps=16 predict_before_end=0.3 speed_up_times=1.5 max_steps=3000 device=cpu

episode	dur (s)	grasp	z@close	lift	stall %	speed (rad/s)
20260818T151242320102	30.3	no	0.125	0.030	62	0.626
20260818T151325485517	59.2	no	—	—	65	0.172
20260818T151438311850	45.6	yes	0.111	0.132	64	0.298
20260818T151540021500	59.2	yes	0.096	0.138	65	0.237

/home/yambox/bspline-policy/.venv/bin/python real_env/yam_teleop/rollout_local_policy.py --env yam --policy bspline --ckpt-path /home/yambox/bspline-policy/ckpt_pick200_joint/deploy_ema.ckpt --diffusion-policy-dir /home/yambox/bspline-policy/diffusion_policy --device cpu --control-freq 50 --data-freq 25 --origin-time-scale 25 --num-inference-steps 16 --predict-before-end 0.3 --speed-up-times 1.5 --max-steps 3000 --num-episodes 5 --save --output-dir data/pick200-joint-cf50

Videos are re-encoded to 320x240 and data.pkl is gzipped (gzip.open(...) then pickle.load). The policy consumed 84x84 crops, so nothing it acted on is lost. Re-run with --raw for originals.