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@@ -236,3 +236,4 @@ BananaInBowlTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
 2026-09-30_10-45-27_harness/BananaInBowlTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
 2026-09-30_10-45-27_harness/BananaInBowlTask/run_1.hdf5 filter=lfs diff=lfs merge=lfs -text
 2026-09-30_12-14-55_harness/BananaInBowlTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
+2026-09-30_12-14-55_harness/BananaInBowlTask/run_1.hdf5 filter=lfs diff=lfs merge=lfs -text

2026-09-30_12-14-55_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1.mp4

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2026-09-30_12-14-55_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1_viewport.mp4

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2026-09-30_12-14-55_harness/BananaInBowlTask/log_1_env0.json

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+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 1, "success": true, "final_step": 539, "events": [{"step": 158, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 172, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 200, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 365, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 539, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}

2026-09-30_12-14-55_harness/episode_results.jsonl

@@ -1 +1,2 @@
 {"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "harness", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.758614067626795, "joint_sparc_mean": -7.164017544644753, "ee_isj": 127.4076300784046, "joint_isj": 5077.229750310647, "ee_path_length": 2.2144696600220595, "joint_rmse_mean": 1.1739850441252122, "ee_speed_max": 0.2761875092983246, "ee_speed_mean": 0.04312168434262276}, "events": {"GRIPPER_FULLY_CLOSED": 3, "TARGET_OBJECT_DROPPED": 4}, "instruction_type": "default", "timing": {"policy_inference_s": 465.287, "policy_inference_avg_ms": 620.4, "env_step_s": 133.445, "env_step_avg_ms": 177.9, "video_write_s": 5.109, "video_write_avg_ms": 6.8, "wall_total_s": 603.841, "it_per_sec": 1.24}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_1", "run": 1, "episode": 1, "env_id": 0, "policy": "harness", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": true, "episode_step": 539, "duration": 35.93333333333333, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.014893756115898, "joint_sparc_mean": -4.3154818573023155, "ee_isj": 48.21436307322199, "joint_isj": 3128.31486413753, "ee_path_length": 1.791502713518243, "joint_rmse_mean": 1.1801902980923156, "ee_speed_max": 0.17852045595645905, "ee_speed_mean": 0.0500839427113533}, "events": {"GRIPPER_HIT_TABLE": 2, "TARGET_OBJECT_DROPPED": 2, "GRIPPER_FULLY_CLOSED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 305.097, "policy_inference_avg_ms": 566.0, "env_step_s": 98.552, "env_step_avg_ms": 182.8, "video_write_s": 3.729, "video_write_avg_ms": 6.9, "wall_total_s": 407.378, "it_per_sec": 1.32}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}