Datasets:
Add egg_carton_to_tray with reward labels
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- egg_carton_to_tray/pick_place_medium_20260226_1638/data/chunk-000/file-000.parquet +3 -0
- egg_carton_to_tray/pick_place_medium_20260226_1638/meta/episodes/chunk-000/file-000.parquet +3 -0
- egg_carton_to_tray/pick_place_medium_20260226_1638/meta/info.json +187 -0
- egg_carton_to_tray/pick_place_medium_20260226_1638/meta/reward_params.json +73 -0
- egg_carton_to_tray/pick_place_medium_20260226_1638/meta/stats.json +2812 -0
- egg_carton_to_tray/pick_place_medium_20260226_1638/meta/tasks.parquet +3 -0
- egg_carton_to_tray/pick_place_medium_20260226_1638/videos/observation.images.left_arm_camera/chunk-000/file-000.mp4 +3 -0
- egg_carton_to_tray/pick_place_medium_20260226_1638/videos/observation.images.main_camera/chunk-000/file-000.mp4 +3 -0
- egg_carton_to_tray/pick_place_medium_20260226_1638/videos/observation.images.right_arm_camera/chunk-000/file-000.mp4 +3 -0
- egg_carton_to_tray/pick_place_medium_20260226_1649/data/chunk-000/file-000.parquet +3 -0
- egg_carton_to_tray/pick_place_medium_20260226_1649/meta/episodes/chunk-000/file-000.parquet +3 -0
- egg_carton_to_tray/pick_place_medium_20260226_1649/meta/info.json +187 -0
- egg_carton_to_tray/pick_place_medium_20260226_1649/meta/reward_params.json +73 -0
- egg_carton_to_tray/pick_place_medium_20260226_1649/meta/stats.json +2812 -0
- egg_carton_to_tray/pick_place_medium_20260226_1649/meta/tasks.parquet +3 -0
- egg_carton_to_tray/pick_place_medium_20260226_1649/videos/observation.images.left_arm_camera/chunk-000/file-000.mp4 +3 -0
- egg_carton_to_tray/pick_place_medium_20260226_1649/videos/observation.images.main_camera/chunk-000/file-000.mp4 +3 -0
- egg_carton_to_tray/pick_place_medium_20260226_1649/videos/observation.images.right_arm_camera/chunk-000/file-000.mp4 +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_1847/data/chunk-000/file-000.parquet +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_1847/meta/episodes/chunk-000/file-000.parquet +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_1847/meta/info.json +187 -0
- egg_carton_to_tray/pick_place_soft_20260217_1847/meta/reward_params.json +73 -0
- egg_carton_to_tray/pick_place_soft_20260217_1847/meta/stats.json +2812 -0
- egg_carton_to_tray/pick_place_soft_20260217_1847/meta/tasks.parquet +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_1847/videos/observation.images.left_arm_camera/chunk-000/file-000.mp4 +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_1847/videos/observation.images.main_camera/chunk-000/file-000.mp4 +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_1847/videos/observation.images.right_arm_camera/chunk-000/file-000.mp4 +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_1905/data/chunk-000/file-000.parquet +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_1905/meta/episodes/chunk-000/file-000.parquet +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_1905/meta/info.json +187 -0
- egg_carton_to_tray/pick_place_soft_20260217_1905/meta/reward_params.json +73 -0
- egg_carton_to_tray/pick_place_soft_20260217_1905/meta/stats.json +2812 -0
- egg_carton_to_tray/pick_place_soft_20260217_1905/meta/tasks.parquet +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_1905/videos/observation.images.left_arm_camera/chunk-000/file-000.mp4 +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_1905/videos/observation.images.main_camera/chunk-000/file-000.mp4 +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_1905/videos/observation.images.right_arm_camera/chunk-000/file-000.mp4 +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_2003/data/chunk-000/file-000.parquet +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_2003/meta/episodes/chunk-000/file-000.parquet +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_2003/meta/info.json +187 -0
- egg_carton_to_tray/pick_place_soft_20260217_2003/meta/reward_params.json +73 -0
- egg_carton_to_tray/pick_place_soft_20260217_2003/meta/stats.json +2812 -0
- egg_carton_to_tray/pick_place_soft_20260217_2003/meta/tasks.parquet +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_2003/videos/observation.images.left_arm_camera/chunk-000/file-000.mp4 +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_2003/videos/observation.images.main_camera/chunk-000/file-000.mp4 +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_2003/videos/observation.images.right_arm_camera/chunk-000/file-000.mp4 +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_2020/data/chunk-000/file-000.parquet +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_2020/meta/episodes/chunk-000/file-000.parquet +3 -0
- egg_carton_to_tray/pick_place_soft_20260217_2020/meta/info.json +187 -0
- egg_carton_to_tray/pick_place_soft_20260217_2020/meta/reward_params.json +73 -0
- egg_carton_to_tray/pick_place_soft_20260217_2020/meta/stats.json +2812 -0
egg_carton_to_tray/pick_place_medium_20260226_1638/data/chunk-000/file-000.parquet
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egg_carton_to_tray/pick_place_medium_20260226_1638/meta/info.json
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egg_carton_to_tray/pick_place_medium_20260226_1638/meta/reward_params.json
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tactile_scale": 1427.010009765625,
|
| 3 |
+
"raw_p99": 1427.010009765625,
|
| 4 |
+
"tactile_active": true,
|
| 5 |
+
"fragile": true,
|
| 6 |
+
"damage_flag": false,
|
| 7 |
+
"contact": {
|
| 8 |
+
"p_cell": 0.03643982857465744,
|
| 9 |
+
"f_contact_L": 7.007659405644517e-06,
|
| 10 |
+
"a_contact_L": 0.01,
|
| 11 |
+
"f_contact_R": 2.102297730743885e-05,
|
| 12 |
+
"a_contact_R": 0.03,
|
| 13 |
+
"active_L": true,
|
| 14 |
+
"active_R": true,
|
| 15 |
+
"contact_frac_L": 0.18088942307692307,
|
| 16 |
+
"contact_frac_R": 0.25,
|
| 17 |
+
"contact_frac_both": 0.17457932692307693
|
| 18 |
+
},
|
| 19 |
+
"gripper_left": {
|
| 20 |
+
"open_th": 2.3843648433685303,
|
| 21 |
+
"close_th": -0.267100989818573,
|
| 22 |
+
"open_high": true,
|
| 23 |
+
"always_closed": true,
|
| 24 |
+
"vel_eps": 0.0
|
| 25 |
+
},
|
| 26 |
+
"gripper_right": {
|
| 27 |
+
"open_th": 94.19951133728027,
|
| 28 |
+
"close_th": 47.795602035522464,
|
| 29 |
+
"open_high": true,
|
| 30 |
+
"always_closed": false,
|
| 31 |
+
"vel_eps": 1.1600977325439454
|
| 32 |
+
},
|
| 33 |
+
"params": {
|
| 34 |
+
"n_hold": 3,
|
| 35 |
+
"t_drop": 10,
|
| 36 |
+
"drop_min_hold": 5,
|
| 37 |
+
"drop_release_window": 8,
|
| 38 |
+
"drop_soft_factor": 0.7,
|
| 39 |
+
"cop_th": 0.05,
|
| 40 |
+
"df_th": 0.002,
|
| 41 |
+
"f_min": 0.035974521189928055,
|
| 42 |
+
"f_max": 0.1697675585746765,
|
| 43 |
+
"p_max": 1.0,
|
| 44 |
+
"delta": 0.08312484622001648,
|
| 45 |
+
"conc_max": 0.5470022559165955,
|
| 46 |
+
"lam_high": 1.5,
|
| 47 |
+
"lam_low": 0.5,
|
| 48 |
+
"lam_peak": 1.5,
|
| 49 |
+
"lam_asym": 0.5,
|
| 50 |
+
"lam_conc": 0.2,
|
| 51 |
+
"lam_slip": 2.0,
|
| 52 |
+
"R_succ": 15.0,
|
| 53 |
+
"R_drop": 20.0,
|
| 54 |
+
"R_damage": 20.0,
|
| 55 |
+
"R_risk": 12.0,
|
| 56 |
+
"R_step_scale": 5.0,
|
| 57 |
+
"step_mean_w": 0.8,
|
| 58 |
+
"step_q10_w": 0.2,
|
| 59 |
+
"step_bias": 0.0,
|
| 60 |
+
"risk_tau": 1.3,
|
| 61 |
+
"risk_bias": 0.0,
|
| 62 |
+
"w_f_max": 2.6,
|
| 63 |
+
"w_f_p95": 0.7,
|
| 64 |
+
"w_p_p95": 0.3,
|
| 65 |
+
"w_asym_p95": 0.5,
|
| 66 |
+
"w_conc_pen": 1.1,
|
| 67 |
+
"w_contact_any": -1.6,
|
| 68 |
+
"w_open_contact": 2.0,
|
| 69 |
+
"w_holding": 0.0,
|
| 70 |
+
"H": 50,
|
| 71 |
+
"gamma": 0.99
|
| 72 |
+
}
|
| 73 |
+
}
|
egg_carton_to_tray/pick_place_medium_20260226_1638/meta/stats.json
ADDED
|
@@ -0,0 +1,2812 @@
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
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|
|
|
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|
|
| 1 |
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|
| 2 |
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|
| 3 |
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| 12 |
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|
| 13 |
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| 14 |
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| 15 |
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| 16 |
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|
| 17 |
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|
| 18 |
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| 19 |
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| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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"left_wrist_flex.pos",
|
| 27 |
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"left_wrist_roll.pos",
|
| 28 |
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"left_gripper.pos",
|
| 29 |
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"right_shoulder_pan.pos",
|
| 30 |
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"right_shoulder_lift.pos",
|
| 31 |
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|
| 32 |
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"right_wrist_flex.pos",
|
| 33 |
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"right_wrist_roll.pos",
|
| 34 |
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"right_gripper.pos",
|
| 35 |
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"base_x.vel",
|
| 36 |
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"base_theta.vel"
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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| 41 |
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| 42 |
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| 43 |
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|
| 44 |
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| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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"left_gripper.pos",
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 68 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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|
| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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|
| 80 |
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| 81 |
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| 82 |
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|
| 83 |
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| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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|
| 95 |
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| 96 |
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| 97 |
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| 99 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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|
| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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|
| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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| 166 |
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|
| 167 |
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| 168 |
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|
| 169 |
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| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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| 175 |
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| 176 |
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|
| 177 |
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|
| 178 |
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| 179 |
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|
| 180 |
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| 181 |
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| 182 |
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|
| 183 |
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| 184 |
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|
| 185 |
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|
| 186 |
+
}
|
| 187 |
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}
|
egg_carton_to_tray/pick_place_medium_20260226_1649/meta/reward_params.json
ADDED
|
@@ -0,0 +1,73 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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},
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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"params": {
|
| 34 |
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|
| 35 |
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"t_drop": 10,
|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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"R_step_scale": 5.0,
|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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"w_f_max": 2.6,
|
| 63 |
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"w_f_p95": 0.7,
|
| 64 |
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"w_p_p95": 0.3,
|
| 65 |
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"w_asym_p95": 0.5,
|
| 66 |
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"w_conc_pen": 1.1,
|
| 67 |
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"w_contact_any": -1.6,
|
| 68 |
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"w_open_contact": 2.0,
|
| 69 |
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"w_holding": 0.0,
|
| 70 |
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"H": 50,
|
| 71 |
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"gamma": 0.99
|
| 72 |
+
}
|
| 73 |
+
}
|
egg_carton_to_tray/pick_place_medium_20260226_1649/meta/stats.json
ADDED
|
@@ -0,0 +1,2812 @@
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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| 1 |
+
{
|
| 2 |
+
"observation.images.right_arm_camera": {
|
| 3 |
+
"min": [
|
| 4 |
+
[
|
| 5 |
+
[
|
| 6 |
+
0.0
|
| 7 |
+
]
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
[
|
| 11 |
+
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| 133 |
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100
|
| 134 |
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|
| 135 |
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|
| 136 |
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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100
|
| 141 |
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|
| 142 |
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|
| 143 |
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| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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| 169 |
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| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 186 |
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|
| 187 |
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}
|
egg_carton_to_tray/pick_place_soft_20260217_1847/meta/reward_params.json
ADDED
|
@@ -0,0 +1,73 @@
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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|
| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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| 13 |
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|
| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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"params": {
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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|
| 70 |
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"H": 50,
|
| 71 |
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"gamma": 0.99
|
| 72 |
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}
|
| 73 |
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}
|
egg_carton_to_tray/pick_place_soft_20260217_1847/meta/stats.json
ADDED
|
@@ -0,0 +1,2812 @@
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496.7415096421658,
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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| 1 |
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| 22 |
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| 24 |
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| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 116 |
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| 132 |
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| 135 |
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| 136 |
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| 139 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 146 |
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| 149 |
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| 150 |
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| 151 |
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| 156 |
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| 163 |
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| 164 |
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| 165 |
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| 167 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 185 |
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|
| 186 |
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|
| 187 |
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|
egg_carton_to_tray/pick_place_soft_20260217_1905/meta/reward_params.json
ADDED
|
@@ -0,0 +1,73 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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| 8 |
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|
| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 46 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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"H": 50,
|
| 71 |
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"gamma": 0.99
|
| 72 |
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}
|
| 73 |
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}
|
egg_carton_to_tray/pick_place_soft_20260217_1905/meta/stats.json
ADDED
|
@@ -0,0 +1,2812 @@
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|
|
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
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| 1 |
+
{
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| 2 |
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"observation.tactile_right": {
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| 3 |
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"min": [
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| 4 |
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0.0,
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| 5 |
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0.0,
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| 6 |
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| 7 |
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0.0,
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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0.0,
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| 15 |
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0.0,
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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"names": null
|
| 185 |
+
}
|
| 186 |
+
}
|
| 187 |
+
}
|
egg_carton_to_tray/pick_place_soft_20260217_2003/meta/reward_params.json
ADDED
|
@@ -0,0 +1,73 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"tactile_scale": 2252.0,
|
| 3 |
+
"raw_p99": 2252.0,
|
| 4 |
+
"tactile_active": true,
|
| 5 |
+
"fragile": true,
|
| 6 |
+
"damage_flag": false,
|
| 7 |
+
"contact": {
|
| 8 |
+
"p_cell": 0.03330373018980026,
|
| 9 |
+
"f_contact_L": 4.440497377800057e-06,
|
| 10 |
+
"a_contact_L": 0.08,
|
| 11 |
+
"f_contact_R": 0.0026065718848258257,
|
| 12 |
+
"a_contact_R": 0.02,
|
| 13 |
+
"active_L": true,
|
| 14 |
+
"active_R": true,
|
| 15 |
+
"contact_frac_L": 0.2373358348968105,
|
| 16 |
+
"contact_frac_R": 0.29831144465290804,
|
| 17 |
+
"contact_frac_both": 0.23639774859287055
|
| 18 |
+
},
|
| 19 |
+
"gripper_left": {
|
| 20 |
+
"open_th": 8.101791763305664,
|
| 21 |
+
"close_th": 1.8412052154541017,
|
| 22 |
+
"open_high": true,
|
| 23 |
+
"always_closed": false,
|
| 24 |
+
"vel_eps": 0.15651466369628905
|
| 25 |
+
},
|
| 26 |
+
"gripper_right": {
|
| 27 |
+
"open_th": 91.47394142150878,
|
| 28 |
+
"close_th": 48.67263832092285,
|
| 29 |
+
"open_high": true,
|
| 30 |
+
"always_closed": false,
|
| 31 |
+
"vel_eps": 1.0700325775146484
|
| 32 |
+
},
|
| 33 |
+
"params": {
|
| 34 |
+
"n_hold": 3,
|
| 35 |
+
"t_drop": 10,
|
| 36 |
+
"drop_min_hold": 5,
|
| 37 |
+
"drop_release_window": 8,
|
| 38 |
+
"drop_soft_factor": 0.7,
|
| 39 |
+
"cop_th": 0.05,
|
| 40 |
+
"df_th": 0.002,
|
| 41 |
+
"f_min": 0.034760214388370514,
|
| 42 |
+
"f_max": 0.14320071041584015,
|
| 43 |
+
"p_max": 1.0,
|
| 44 |
+
"delta": 0.07472690939903259,
|
| 45 |
+
"conc_max": 0.4019554555416107,
|
| 46 |
+
"lam_high": 1.5,
|
| 47 |
+
"lam_low": 0.5,
|
| 48 |
+
"lam_peak": 1.5,
|
| 49 |
+
"lam_asym": 0.5,
|
| 50 |
+
"lam_conc": 0.2,
|
| 51 |
+
"lam_slip": 2.0,
|
| 52 |
+
"R_succ": 15.0,
|
| 53 |
+
"R_drop": 20.0,
|
| 54 |
+
"R_damage": 20.0,
|
| 55 |
+
"R_risk": 12.0,
|
| 56 |
+
"R_step_scale": 5.0,
|
| 57 |
+
"step_mean_w": 0.8,
|
| 58 |
+
"step_q10_w": 0.2,
|
| 59 |
+
"step_bias": 0.0,
|
| 60 |
+
"risk_tau": 1.3,
|
| 61 |
+
"risk_bias": 0.0,
|
| 62 |
+
"w_f_max": 2.6,
|
| 63 |
+
"w_f_p95": 0.7,
|
| 64 |
+
"w_p_p95": 0.3,
|
| 65 |
+
"w_asym_p95": 0.5,
|
| 66 |
+
"w_conc_pen": 1.1,
|
| 67 |
+
"w_contact_any": -1.6,
|
| 68 |
+
"w_open_contact": 2.0,
|
| 69 |
+
"w_holding": 0.0,
|
| 70 |
+
"H": 50,
|
| 71 |
+
"gamma": 0.99
|
| 72 |
+
}
|
| 73 |
+
}
|
egg_carton_to_tray/pick_place_soft_20260217_2003/meta/stats.json
ADDED
|
@@ -0,0 +1,2812 @@
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|
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|
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|
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|
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|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
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|
|
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|
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| 1 |
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| 2 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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| 39 |
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| 41 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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| 50 |
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|
| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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| 59 |
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| 60 |
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| 71 |
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| 73 |
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| 74 |
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| 77 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 93 |
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| 113 |
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| 114 |
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| 116 |
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| 117 |
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|
| 118 |
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| 119 |
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| 129 |
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|
| 131 |
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| 132 |
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| 133 |
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| 134 |
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|
| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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|
| 186 |
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|
| 187 |
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}
|
egg_carton_to_tray/pick_place_soft_20260217_2020/meta/reward_params.json
ADDED
|
@@ -0,0 +1,73 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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| 16 |
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| 17 |
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|
| 18 |
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| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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"params": {
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"w_asym_p95": 0.5,
|
| 66 |
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"w_conc_pen": 1.1,
|
| 67 |
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"w_contact_any": -1.6,
|
| 68 |
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"w_open_contact": 2.0,
|
| 69 |
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"w_holding": 0.0,
|
| 70 |
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"H": 50,
|
| 71 |
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"gamma": 0.99
|
| 72 |
+
}
|
| 73 |
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}
|
egg_carton_to_tray/pick_place_soft_20260217_2020/meta/stats.json
ADDED
|
@@ -0,0 +1,2812 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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| 1 |
+
{
|
| 2 |
+
"observation.tactile_right": {
|
| 3 |
+
"min": [
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