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- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/debug/async_events.jsonl +37 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/manifests/action.json +29 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/manifests/camera.json +104 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/manifests/event.json +28 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/manifests/robot.json +37 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/workflow_manifest.json +613 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/debug/async_events.jsonl +38 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/manifests/action.json +28 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/manifests/camera.json +101 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/manifests/event.json +27 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/manifests/robot.json +36 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/workflow_manifest.json +613 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/debug/async_events.jsonl +41 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/manifests/action.json +28 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/manifests/camera.json +101 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/manifests/event.json +27 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/manifests/robot.json +36 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/workflow_manifest.json +613 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/debug/async_events.jsonl +59 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/manifests/action.json +28 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/manifests/camera.json +101 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/manifests/event.json +27 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/manifests/robot.json +36 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/workflow_manifest.json +613 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0008/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0008/camera/metadata.json +59 -0
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/action/executed_action_dict.pkl
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/camera/metadata.json
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{
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"base_0_rgb": {
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"codec": "h264",
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
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"timestamps": "camera/timestamp.pkl::base_0",
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"topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
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"container": "mp4",
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"encoder": "libx264",
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"encoding": "bgr8",
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"mode": "crf",
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},
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
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"timestamps": "camera/timestamp.pkl::left_wrist_0",
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"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
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"video": "camera/left_wrist_0_rgb.mp4",
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"width": 640
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"right_wrist_0_rgb": {
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"container": "mp4",
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
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"timestamps": "camera/timestamp.pkl::right_wrist_0",
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"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
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"video": "camera/right_wrist_0_rgb.mp4",
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"width": 640
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}
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/camera/timestamp.pkl
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Binary file (7.37 kB). View file
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/debug/actions.jsonl
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/debug/async_events.jsonl
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{"event": "operator_stopped", "time_ns": 1790282671786591406, "actions_sent": 290, "result": "success"}
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/event/event_dict.pkl
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/manifests/action.json
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 290,
|
| 5 |
+
"camera.base_0_rgb": 305,
|
| 6 |
+
"camera.left_wrist_0_rgb": 304,
|
| 7 |
+
"camera.right_wrist_0_rgb": 304,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2422,
|
| 11 |
+
"robot.robot_state": 1218
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002",
|
| 14 |
+
"executed_actions": 290,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
+
"round_number": 2,
|
| 19 |
+
"run_id": "20260925_044412_384882_round_0002",
|
| 20 |
+
"workflow": "openpi_rollout"
|
| 21 |
+
},
|
| 22 |
+
"policy_action_chunks": 0,
|
| 23 |
+
"record_id": "prometheus_action_recorder",
|
| 24 |
+
"record_mode": "action",
|
| 25 |
+
"schema": "prometheus_raw_episode_v1",
|
| 26 |
+
"status": "saved",
|
| 27 |
+
"updated_at_unix": 1790282671.8903549
|
| 28 |
+
}
|
| 29 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/manifests/camera.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_camera_base_0_recorder": {
|
| 3 |
+
"camera_frames": {
|
| 4 |
+
"base_0_rgb": 305
|
| 5 |
+
},
|
| 6 |
+
"camera_timestamp_samples": 305,
|
| 7 |
+
"complete_sensor_bundles": 305,
|
| 8 |
+
"counts": {
|
| 9 |
+
"action.executed": 290,
|
| 10 |
+
"camera.base_0_rgb": 305,
|
| 11 |
+
"camera.left_wrist_0_rgb": 304,
|
| 12 |
+
"camera.right_wrist_0_rgb": 304,
|
| 13 |
+
"dropped": 0,
|
| 14 |
+
"event.workflow": 1,
|
| 15 |
+
"items": 2422,
|
| 16 |
+
"robot.robot_state": 1218
|
| 17 |
+
},
|
| 18 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002",
|
| 21 |
+
"failure": "",
|
| 22 |
+
"metadata": {
|
| 23 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 24 |
+
"round_number": 2,
|
| 25 |
+
"run_id": "20260925_044412_384882_round_0002",
|
| 26 |
+
"workflow": "openpi_rollout"
|
| 27 |
+
},
|
| 28 |
+
"record_id": "prometheus_camera_base_0_recorder",
|
| 29 |
+
"record_mode": "sensor",
|
| 30 |
+
"schema": "prometheus_raw_episode_v1",
|
| 31 |
+
"sensor_kind": "camera",
|
| 32 |
+
"sensor_name": "base_0",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1790282671.8903549
|
| 35 |
+
},
|
| 36 |
+
"prometheus_camera_left_wrist_0_recorder": {
|
| 37 |
+
"camera_frames": {
|
| 38 |
+
"left_wrist_0_rgb": 304
|
| 39 |
+
},
|
| 40 |
+
"camera_timestamp_samples": 304,
|
| 41 |
+
"complete_sensor_bundles": 304,
|
| 42 |
+
"counts": {
|
| 43 |
+
"action.executed": 290,
|
| 44 |
+
"camera.base_0_rgb": 305,
|
| 45 |
+
"camera.left_wrist_0_rgb": 304,
|
| 46 |
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"camera.right_wrist_0_rgb": 304,
|
| 47 |
+
"dropped": 0,
|
| 48 |
+
"event.workflow": 1,
|
| 49 |
+
"items": 2422,
|
| 50 |
+
"robot.robot_state": 1218
|
| 51 |
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},
|
| 52 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 53 |
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"duplicate_sensor_messages": 0,
|
| 54 |
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"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002",
|
| 55 |
+
"failure": "",
|
| 56 |
+
"metadata": {
|
| 57 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 58 |
+
"round_number": 2,
|
| 59 |
+
"run_id": "20260925_044412_384882_round_0002",
|
| 60 |
+
"workflow": "openpi_rollout"
|
| 61 |
+
},
|
| 62 |
+
"record_id": "prometheus_camera_left_wrist_0_recorder",
|
| 63 |
+
"record_mode": "sensor",
|
| 64 |
+
"schema": "prometheus_raw_episode_v1",
|
| 65 |
+
"sensor_kind": "camera",
|
| 66 |
+
"sensor_name": "left_wrist_0",
|
| 67 |
+
"status": "saved",
|
| 68 |
+
"updated_at_unix": 1790282671.8903549
|
| 69 |
+
},
|
| 70 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 71 |
+
"camera_frames": {
|
| 72 |
+
"right_wrist_0_rgb": 304
|
| 73 |
+
},
|
| 74 |
+
"camera_timestamp_samples": 304,
|
| 75 |
+
"complete_sensor_bundles": 304,
|
| 76 |
+
"counts": {
|
| 77 |
+
"action.executed": 290,
|
| 78 |
+
"camera.base_0_rgb": 305,
|
| 79 |
+
"camera.left_wrist_0_rgb": 304,
|
| 80 |
+
"camera.right_wrist_0_rgb": 304,
|
| 81 |
+
"dropped": 0,
|
| 82 |
+
"event.workflow": 1,
|
| 83 |
+
"items": 2422,
|
| 84 |
+
"robot.robot_state": 1218
|
| 85 |
+
},
|
| 86 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 87 |
+
"duplicate_sensor_messages": 0,
|
| 88 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002",
|
| 89 |
+
"failure": "",
|
| 90 |
+
"metadata": {
|
| 91 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 92 |
+
"round_number": 2,
|
| 93 |
+
"run_id": "20260925_044412_384882_round_0002",
|
| 94 |
+
"workflow": "openpi_rollout"
|
| 95 |
+
},
|
| 96 |
+
"record_id": "prometheus_camera_right_wrist_0_recorder",
|
| 97 |
+
"record_mode": "sensor",
|
| 98 |
+
"schema": "prometheus_raw_episode_v1",
|
| 99 |
+
"sensor_kind": "camera",
|
| 100 |
+
"sensor_name": "right_wrist_0",
|
| 101 |
+
"status": "saved",
|
| 102 |
+
"updated_at_unix": 1790282671.8903549
|
| 103 |
+
}
|
| 104 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/manifests/event.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 290,
|
| 5 |
+
"camera.base_0_rgb": 305,
|
| 6 |
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"camera.left_wrist_0_rgb": 304,
|
| 7 |
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"camera.right_wrist_0_rgb": 304,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2422,
|
| 11 |
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"robot.robot_state": 1218
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002",
|
| 14 |
+
"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
+
"round_number": 2,
|
| 19 |
+
"run_id": "20260925_044412_384882_round_0002",
|
| 20 |
+
"workflow": "openpi_rollout"
|
| 21 |
+
},
|
| 22 |
+
"record_id": "prometheus_event_recorder",
|
| 23 |
+
"record_mode": "event",
|
| 24 |
+
"schema": "prometheus_raw_episode_v1",
|
| 25 |
+
"status": "saved",
|
| 26 |
+
"updated_at_unix": 1790282671.8903549
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/manifests/robot.json
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 290,
|
| 5 |
+
"camera.base_0_rgb": 305,
|
| 6 |
+
"camera.left_wrist_0_rgb": 304,
|
| 7 |
+
"camera.right_wrist_0_rgb": 304,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2422,
|
| 11 |
+
"robot.robot_state": 1218
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 1218,
|
| 17 |
+
"right": 1218
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 21 |
+
"round_number": 2,
|
| 22 |
+
"run_id": "20260925_044412_384882_round_0002",
|
| 23 |
+
"workflow": "openpi_rollout"
|
| 24 |
+
},
|
| 25 |
+
"pending_robot_samples": 0,
|
| 26 |
+
"plot_outputs": [],
|
| 27 |
+
"record_id": "prometheus_robot_recorder",
|
| 28 |
+
"record_mode": "robot",
|
| 29 |
+
"robot_samples": {
|
| 30 |
+
"left": 1218,
|
| 31 |
+
"right": 1218
|
| 32 |
+
},
|
| 33 |
+
"schema": "prometheus_raw_episode_v1",
|
| 34 |
+
"status": "saved",
|
| 35 |
+
"updated_at_unix": 1790282671.8903549
|
| 36 |
+
}
|
| 37 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002/workflow_manifest.json
ADDED
|
@@ -0,0 +1,613 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"acceleration_limits": [
|
| 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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557.9080874526715,
|
| 13 |
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587.1810202100611,
|
| 14 |
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|
| 15 |
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208.8803265352197,
|
| 16 |
+
208.9010343469399
|
| 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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|
| 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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"enabled": true,
|
| 52 |
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|
| 53 |
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},
|
| 54 |
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"data": {
|
| 55 |
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|
| 56 |
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|
| 57 |
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"name": "openpi_observe_20260925_044412_384882",
|
| 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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"name": "openpi_data",
|
| 66 |
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|
| 67 |
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"enabled": true
|
| 68 |
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},
|
| 69 |
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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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"output_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data",
|
| 76 |
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"queue_size": 4096
|
| 77 |
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},
|
| 78 |
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|
| 79 |
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|
| 80 |
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"domain": "sensor",
|
| 81 |
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"msg_type": "sensor_msgs.msg.Image",
|
| 82 |
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|
| 83 |
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"topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
|
| 84 |
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},
|
| 85 |
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"left_wrist_0_color": {
|
| 86 |
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"domain": "sensor",
|
| 87 |
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"msg_type": "sensor_msgs.msg.Image",
|
| 88 |
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|
| 89 |
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"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
|
| 90 |
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},
|
| 91 |
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|
| 92 |
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"domain": "sensor",
|
| 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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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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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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|
| 107 |
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|
| 108 |
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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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"port": 8000,
|
| 126 |
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"prompt": "Use the right arm to pick up the pomegranate and place it in the bowl.",
|
| 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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"host": "127.0.0.1",
|
| 135 |
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"mode": "local",
|
| 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 |
+
},
|
| 143 |
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|
| 144 |
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"_target_": "prometheus.nodes.robots.yam.resolve_robot",
|
| 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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"ir": false,
|
| 152 |
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|
| 153 |
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"publish_hz": 30,
|
| 154 |
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"qos": "reliable",
|
| 155 |
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"serial_no": {
|
| 156 |
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"base_0": "260322272085",
|
| 157 |
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"left_wrist_0": "260422275825",
|
| 158 |
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"right_wrist_0": "260322279382"
|
| 159 |
+
}
|
| 160 |
+
},
|
| 161 |
+
"collection_input_source": "pedal,tty",
|
| 162 |
+
"collection_pedal": {
|
| 163 |
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"confirm_presses": 2,
|
| 164 |
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"confirm_window_s": 1.0,
|
| 165 |
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"debounce_s": 0.05,
|
| 166 |
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"devices": [
|
| 167 |
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"/dev/input/prometheus-pedal",
|
| 168 |
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"/dev/input/prometheus-pedal-aux"
|
| 169 |
+
],
|
| 170 |
+
"exclusive": true,
|
| 171 |
+
"pedal_map": {
|
| 172 |
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"2": 0,
|
| 173 |
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"3": 1,
|
| 174 |
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"4": 2,
|
| 175 |
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"5": 3,
|
| 176 |
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"30": 0,
|
| 177 |
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"32": 3,
|
| 178 |
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"46": 2,
|
| 179 |
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"48": 1
|
| 180 |
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}
|
| 181 |
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},
|
| 182 |
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"control_domain_id": 21,
|
| 183 |
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"id": "yam",
|
| 184 |
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|
| 185 |
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"action_space": "abs_qpos",
|
| 186 |
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"alignment_duration_s": 3.0,
|
| 187 |
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"bilateral_kp": 0.0,
|
| 188 |
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"collection_mode": "policy",
|
| 189 |
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"control_hz": 120,
|
| 190 |
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"enable_auto_recovery": false,
|
| 191 |
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"follower_arm": "yam_ultra",
|
| 192 |
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"follower_can": {
|
| 193 |
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"left": "can_follower_l",
|
| 194 |
+
"right": "can_follower_r"
|
| 195 |
+
},
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0.6218586921691894,
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| 593 |
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2.1306553721427917,
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| 594 |
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0.9146791793219745,
|
| 595 |
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0.14422834947705268
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| 596 |
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| 597 |
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| 598 |
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|
| 599 |
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7.554651925563812,
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| 600 |
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|
| 601 |
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| 603 |
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| 610 |
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|
| 611 |
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1.3316887146234513
|
| 612 |
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|
| 613 |
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|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/action/executed_action_dict.pkl
ADDED
|
Binary file (49.9 kB). View file
|
|
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/camera/metadata.json
ADDED
|
@@ -0,0 +1,59 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base_0_rgb": {
|
| 3 |
+
"codec": "h264",
|
| 4 |
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"container": "mp4",
|
| 5 |
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"encoder": "libx264",
|
| 6 |
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|
| 7 |
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"frames": 318,
|
| 8 |
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|
| 9 |
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"lossless": false,
|
| 10 |
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|
| 11 |
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"quality": {
|
| 12 |
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"mode": "crf",
|
| 13 |
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"value": 14
|
| 14 |
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},
|
| 15 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 16 |
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"timestamps": "camera/timestamp.pkl::base_0",
|
| 17 |
+
"topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
|
| 18 |
+
"video": "camera/base_0_rgb.mp4",
|
| 19 |
+
"width": 640
|
| 20 |
+
},
|
| 21 |
+
"left_wrist_0_rgb": {
|
| 22 |
+
"codec": "h264",
|
| 23 |
+
"container": "mp4",
|
| 24 |
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"encoder": "libx264",
|
| 25 |
+
"encoding": "bgr8",
|
| 26 |
+
"frames": 318,
|
| 27 |
+
"height": 480,
|
| 28 |
+
"lossless": false,
|
| 29 |
+
"pixel_format": "yuv420p",
|
| 30 |
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"quality": {
|
| 31 |
+
"mode": "crf",
|
| 32 |
+
"value": 14
|
| 33 |
+
},
|
| 34 |
+
"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 35 |
+
"timestamps": "camera/timestamp.pkl::left_wrist_0",
|
| 36 |
+
"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
|
| 37 |
+
"video": "camera/left_wrist_0_rgb.mp4",
|
| 38 |
+
"width": 640
|
| 39 |
+
},
|
| 40 |
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"right_wrist_0_rgb": {
|
| 41 |
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"codec": "h264",
|
| 42 |
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"container": "mp4",
|
| 43 |
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"encoder": "libx264",
|
| 44 |
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"encoding": "bgr8",
|
| 45 |
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"frames": 318,
|
| 46 |
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"height": 480,
|
| 47 |
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"lossless": false,
|
| 48 |
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"pixel_format": "yuv420p",
|
| 49 |
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"quality": {
|
| 50 |
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"mode": "crf",
|
| 51 |
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"value": 14
|
| 52 |
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},
|
| 53 |
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"timestamp_policy": "shared_by_complete_physical_camera_bundle",
|
| 54 |
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"timestamps": "camera/timestamp.pkl::right_wrist_0",
|
| 55 |
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"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
|
| 56 |
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"video": "camera/right_wrist_0_rgb.mp4",
|
| 57 |
+
"width": 640
|
| 58 |
+
}
|
| 59 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/camera/timestamp.pkl
ADDED
|
Binary file (7.7 kB). View file
|
|
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,38 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"event": "prediction_requested", "time_ns": 1790282736243952398, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
|
| 2 |
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{"event": "plan_adopted", "time_ns": 1790282736381332920, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 119.31154700869229, "blended_steps": 0}
|
| 3 |
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{"event": "prediction_requested", "time_ns": 1790282736992338316, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
|
| 4 |
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{"event": "plan_adopted", "time_ns": 1790282737097462353, "actions_sent": 21, "prediction": 1, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.49736700730864, "blended_steps": 5}
|
| 5 |
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{"event": "prediction_requested", "time_ns": 1790282737535974238, "actions_sent": 34, "prediction": 2, "queue_remaining": 12}
|
| 6 |
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{"event": "plan_adopted", "time_ns": 1790282737638431093, "actions_sent": 37, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.49308001203462, "blended_steps": 5}
|
| 7 |
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{"event": "prediction_requested", "time_ns": 1790282738109328181, "actions_sent": 51, "prediction": 3, "queue_remaining": 12}
|
| 8 |
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{"event": "plan_adopted", "time_ns": 1790282738181890435, "actions_sent": 53, "prediction": 3, "queue_remaining": 27, "skipped_prefix": 3, "observation_age_ms": 96.99335500772577, "blended_steps": 5}
|
| 9 |
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{"event": "prediction_requested", "time_ns": 1790282738688959452, "actions_sent": 68, "prediction": 4, "queue_remaining": 12}
|
| 10 |
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{"event": "plan_adopted", "time_ns": 1790282738767606914, "actions_sent": 70, "prediction": 4, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 113.19295001158025, "blended_steps": 5}
|
| 11 |
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{"event": "prediction_requested", "time_ns": 1790282739251075095, "actions_sent": 84, "prediction": 5, "queue_remaining": 12}
|
| 12 |
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{"event": "plan_adopted", "time_ns": 1790282739357831828, "actions_sent": 87, "prediction": 5, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 134.47288499446586, "blended_steps": 5}
|
| 13 |
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{"event": "prediction_requested", "time_ns": 1790282739800462179, "actions_sent": 100, "prediction": 6, "queue_remaining": 12}
|
| 14 |
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{"event": "plan_adopted", "time_ns": 1790282739911152700, "actions_sent": 103, "prediction": 6, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.18672700691968, "blended_steps": 5}
|
| 15 |
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{"event": "prediction_requested", "time_ns": 1790282740383499921, "actions_sent": 117, "prediction": 7, "queue_remaining": 12}
|
| 16 |
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{"event": "plan_adopted", "time_ns": 1790282740489528368, "actions_sent": 120, "prediction": 7, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 133.53095699858386, "blended_steps": 5}
|
| 17 |
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{"event": "prediction_requested", "time_ns": 1790282740930132007, "actions_sent": 133, "prediction": 8, "queue_remaining": 12}
|
| 18 |
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{"event": "plan_adopted", "time_ns": 1790282741036247122, "actions_sent": 136, "prediction": 8, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 147.13608199963346, "blended_steps": 5}
|
| 19 |
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{"event": "prediction_requested", "time_ns": 1790282741476058476, "actions_sent": 149, "prediction": 9, "queue_remaining": 12}
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| 20 |
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{"event": "plan_adopted", "time_ns": 1790282741578846077, "actions_sent": 152, "prediction": 9, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.05595699278638, "blended_steps": 5}
|
| 21 |
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{"event": "prediction_requested", "time_ns": 1790282742053371084, "actions_sent": 166, "prediction": 10, "queue_remaining": 12}
|
| 22 |
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{"event": "plan_adopted", "time_ns": 1790282742156823211, "actions_sent": 169, "prediction": 10, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 137.60257199464832, "blended_steps": 5}
|
| 23 |
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{"event": "prediction_requested", "time_ns": 1790282742598535753, "actions_sent": 182, "prediction": 11, "queue_remaining": 12}
|
| 24 |
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{"event": "plan_adopted", "time_ns": 1790282742700405091, "actions_sent": 185, "prediction": 11, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 147.4986009852728, "blended_steps": 5}
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| 25 |
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{"event": "prediction_requested", "time_ns": 1790282743138074127, "actions_sent": 198, "prediction": 12, "queue_remaining": 12}
|
| 26 |
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{"event": "plan_adopted", "time_ns": 1790282743248102692, "actions_sent": 201, "prediction": 12, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.30456099577714, "blended_steps": 5}
|
| 27 |
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{"event": "prediction_requested", "time_ns": 1790282743721596053, "actions_sent": 215, "prediction": 13, "queue_remaining": 12}
|
| 28 |
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{"event": "plan_adopted", "time_ns": 1790282743824458751, "actions_sent": 218, "prediction": 13, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 137.23323900194373, "blended_steps": 5}
|
| 29 |
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{"event": "prediction_requested", "time_ns": 1790282744269083227, "actions_sent": 231, "prediction": 14, "queue_remaining": 12}
|
| 30 |
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{"event": "plan_adopted", "time_ns": 1790282744372181890, "actions_sent": 234, "prediction": 14, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 117.65022001054604, "blended_steps": 5}
|
| 31 |
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{"event": "prediction_requested", "time_ns": 1790282744848927998, "actions_sent": 248, "prediction": 15, "queue_remaining": 12}
|
| 32 |
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{"event": "plan_adopted", "time_ns": 1790282744988955954, "actions_sent": 252, "prediction": 15, "queue_remaining": 24, "skipped_prefix": 6, "observation_age_ms": 169.0171220107004, "blended_steps": 5}
|
| 33 |
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{"event": "prediction_requested", "time_ns": 1790282745392095277, "actions_sent": 264, "prediction": 16, "queue_remaining": 12}
|
| 34 |
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{"event": "plan_adopted", "time_ns": 1790282745499109053, "actions_sent": 267, "prediction": 16, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.46911400509998, "blended_steps": 5}
|
| 35 |
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{"event": "prediction_requested", "time_ns": 1790282745945457391, "actions_sent": 280, "prediction": 17, "queue_remaining": 12}
|
| 36 |
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{"event": "plan_adopted", "time_ns": 1790282746047986068, "actions_sent": 283, "prediction": 17, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 127.13270800304599, "blended_steps": 5}
|
| 37 |
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{"event": "prediction_requested", "time_ns": 1790282746525871837, "actions_sent": 297, "prediction": 18, "queue_remaining": 12}
|
| 38 |
+
{"event": "operator_stopped", "time_ns": 1790282746570345979, "actions_sent": 299, "result": "success"}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/manifests/action.json
ADDED
|
@@ -0,0 +1,28 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
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"action.executed": 299,
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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| 10 |
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"items": 2525,
|
| 11 |
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|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003",
|
| 14 |
+
"executed_actions": 299,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 3,
|
| 18 |
+
"run_id": "20260925_044412_384882_round_0003",
|
| 19 |
+
"workflow": "openpi_rollout"
|
| 20 |
+
},
|
| 21 |
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"policy_action_chunks": 0,
|
| 22 |
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"record_id": "prometheus_action_recorder",
|
| 23 |
+
"record_mode": "action",
|
| 24 |
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"schema": "prometheus_raw_episode_v1",
|
| 25 |
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"status": "saved",
|
| 26 |
+
"updated_at_unix": 1790282746.7115474
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/manifests/camera.json
ADDED
|
@@ -0,0 +1,101 @@
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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"prometheus_camera_base_0_recorder": {
|
| 3 |
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"camera_frames": {
|
| 4 |
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"base_0_rgb": 318
|
| 5 |
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},
|
| 6 |
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"camera_timestamp_samples": 318,
|
| 7 |
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"complete_sensor_bundles": 318,
|
| 8 |
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"counts": {
|
| 9 |
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|
| 10 |
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|
| 11 |
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"camera.left_wrist_0_rgb": 318,
|
| 12 |
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"camera.right_wrist_0_rgb": 318,
|
| 13 |
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"dropped": 0,
|
| 14 |
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"event.workflow": 1,
|
| 15 |
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"items": 2525,
|
| 16 |
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"robot.robot_state": 1271
|
| 17 |
+
},
|
| 18 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003",
|
| 21 |
+
"failure": "",
|
| 22 |
+
"metadata": {
|
| 23 |
+
"round_number": 3,
|
| 24 |
+
"run_id": "20260925_044412_384882_round_0003",
|
| 25 |
+
"workflow": "openpi_rollout"
|
| 26 |
+
},
|
| 27 |
+
"record_id": "prometheus_camera_base_0_recorder",
|
| 28 |
+
"record_mode": "sensor",
|
| 29 |
+
"schema": "prometheus_raw_episode_v1",
|
| 30 |
+
"sensor_kind": "camera",
|
| 31 |
+
"sensor_name": "base_0",
|
| 32 |
+
"status": "saved",
|
| 33 |
+
"updated_at_unix": 1790282746.7115474
|
| 34 |
+
},
|
| 35 |
+
"prometheus_camera_left_wrist_0_recorder": {
|
| 36 |
+
"camera_frames": {
|
| 37 |
+
"left_wrist_0_rgb": 318
|
| 38 |
+
},
|
| 39 |
+
"camera_timestamp_samples": 318,
|
| 40 |
+
"complete_sensor_bundles": 318,
|
| 41 |
+
"counts": {
|
| 42 |
+
"action.executed": 299,
|
| 43 |
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"camera.base_0_rgb": 318,
|
| 44 |
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"camera.left_wrist_0_rgb": 318,
|
| 45 |
+
"camera.right_wrist_0_rgb": 318,
|
| 46 |
+
"dropped": 0,
|
| 47 |
+
"event.workflow": 1,
|
| 48 |
+
"items": 2525,
|
| 49 |
+
"robot.robot_state": 1271
|
| 50 |
+
},
|
| 51 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 52 |
+
"duplicate_sensor_messages": 0,
|
| 53 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003",
|
| 54 |
+
"failure": "",
|
| 55 |
+
"metadata": {
|
| 56 |
+
"round_number": 3,
|
| 57 |
+
"run_id": "20260925_044412_384882_round_0003",
|
| 58 |
+
"workflow": "openpi_rollout"
|
| 59 |
+
},
|
| 60 |
+
"record_id": "prometheus_camera_left_wrist_0_recorder",
|
| 61 |
+
"record_mode": "sensor",
|
| 62 |
+
"schema": "prometheus_raw_episode_v1",
|
| 63 |
+
"sensor_kind": "camera",
|
| 64 |
+
"sensor_name": "left_wrist_0",
|
| 65 |
+
"status": "saved",
|
| 66 |
+
"updated_at_unix": 1790282746.7115474
|
| 67 |
+
},
|
| 68 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 69 |
+
"camera_frames": {
|
| 70 |
+
"right_wrist_0_rgb": 318
|
| 71 |
+
},
|
| 72 |
+
"camera_timestamp_samples": 318,
|
| 73 |
+
"complete_sensor_bundles": 318,
|
| 74 |
+
"counts": {
|
| 75 |
+
"action.executed": 299,
|
| 76 |
+
"camera.base_0_rgb": 318,
|
| 77 |
+
"camera.left_wrist_0_rgb": 318,
|
| 78 |
+
"camera.right_wrist_0_rgb": 318,
|
| 79 |
+
"dropped": 0,
|
| 80 |
+
"event.workflow": 1,
|
| 81 |
+
"items": 2525,
|
| 82 |
+
"robot.robot_state": 1271
|
| 83 |
+
},
|
| 84 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 85 |
+
"duplicate_sensor_messages": 0,
|
| 86 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003",
|
| 87 |
+
"failure": "",
|
| 88 |
+
"metadata": {
|
| 89 |
+
"round_number": 3,
|
| 90 |
+
"run_id": "20260925_044412_384882_round_0003",
|
| 91 |
+
"workflow": "openpi_rollout"
|
| 92 |
+
},
|
| 93 |
+
"record_id": "prometheus_camera_right_wrist_0_recorder",
|
| 94 |
+
"record_mode": "sensor",
|
| 95 |
+
"schema": "prometheus_raw_episode_v1",
|
| 96 |
+
"sensor_kind": "camera",
|
| 97 |
+
"sensor_name": "right_wrist_0",
|
| 98 |
+
"status": "saved",
|
| 99 |
+
"updated_at_unix": 1790282746.7115474
|
| 100 |
+
}
|
| 101 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/manifests/event.json
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 299,
|
| 5 |
+
"camera.base_0_rgb": 318,
|
| 6 |
+
"camera.left_wrist_0_rgb": 318,
|
| 7 |
+
"camera.right_wrist_0_rgb": 318,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2525,
|
| 11 |
+
"robot.robot_state": 1271
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003",
|
| 14 |
+
"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 3,
|
| 18 |
+
"run_id": "20260925_044412_384882_round_0003",
|
| 19 |
+
"workflow": "openpi_rollout"
|
| 20 |
+
},
|
| 21 |
+
"record_id": "prometheus_event_recorder",
|
| 22 |
+
"record_mode": "event",
|
| 23 |
+
"schema": "prometheus_raw_episode_v1",
|
| 24 |
+
"status": "saved",
|
| 25 |
+
"updated_at_unix": 1790282746.7115474
|
| 26 |
+
}
|
| 27 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 299,
|
| 5 |
+
"camera.base_0_rgb": 318,
|
| 6 |
+
"camera.left_wrist_0_rgb": 318,
|
| 7 |
+
"camera.right_wrist_0_rgb": 318,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2525,
|
| 11 |
+
"robot.robot_state": 1271
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 1271,
|
| 17 |
+
"right": 1271
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"round_number": 3,
|
| 21 |
+
"run_id": "20260925_044412_384882_round_0003",
|
| 22 |
+
"workflow": "openpi_rollout"
|
| 23 |
+
},
|
| 24 |
+
"pending_robot_samples": 0,
|
| 25 |
+
"plot_outputs": [],
|
| 26 |
+
"record_id": "prometheus_robot_recorder",
|
| 27 |
+
"record_mode": "robot",
|
| 28 |
+
"robot_samples": {
|
| 29 |
+
"left": 1271,
|
| 30 |
+
"right": 1271
|
| 31 |
+
},
|
| 32 |
+
"schema": "prometheus_raw_episode_v1",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1790282746.7115474
|
| 35 |
+
}
|
| 36 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003/workflow_manifest.json
ADDED
|
@@ -0,0 +1,613 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/action/executed_action_dict.pkl
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/camera/metadata.json
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/camera/timestamp.pkl
ADDED
|
Binary file (8.4 kB). View file
|
|
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,41 @@
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|
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|
|
|
|
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|
|
| 1 |
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{"event": "prediction_requested", "time_ns": 1790282809233583084, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
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| 4 |
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{"event": "plan_adopted", "time_ns": 1790282810079174016, "actions_sent": 21, "prediction": 1, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 138.94572999561206, "blended_steps": 5}
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 11 |
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| 12 |
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| 18 |
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| 19 |
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| 25 |
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| 27 |
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| 28 |
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| 30 |
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| 34 |
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| 41 |
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{"event": "operator_stopped", "time_ns": 1790282820597070945, "actions_sent": 330, "result": "failure"}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/event/event_dict.pkl
ADDED
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Binary file (109 Bytes). View file
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|
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/manifests/action.json
ADDED
|
@@ -0,0 +1,28 @@
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|
| 1 |
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{
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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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| 22 |
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| 23 |
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| 27 |
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| 28 |
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|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/manifests/camera.json
ADDED
|
@@ -0,0 +1,101 @@
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| 1 |
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| 20 |
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| 21 |
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| 30 |
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| 101 |
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|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/manifests/event.json
ADDED
|
@@ -0,0 +1,27 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 330,
|
| 5 |
+
"camera.base_0_rgb": 347,
|
| 6 |
+
"camera.left_wrist_0_rgb": 347,
|
| 7 |
+
"camera.right_wrist_0_rgb": 348,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2762,
|
| 11 |
+
"robot.robot_state": 1389
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004",
|
| 14 |
+
"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 4,
|
| 18 |
+
"run_id": "20260925_044412_384882_round_0004",
|
| 19 |
+
"workflow": "openpi_rollout"
|
| 20 |
+
},
|
| 21 |
+
"record_id": "prometheus_event_recorder",
|
| 22 |
+
"record_mode": "event",
|
| 23 |
+
"schema": "prometheus_raw_episode_v1",
|
| 24 |
+
"status": "saved",
|
| 25 |
+
"updated_at_unix": 1790282820.704688
|
| 26 |
+
}
|
| 27 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 330,
|
| 5 |
+
"camera.base_0_rgb": 347,
|
| 6 |
+
"camera.left_wrist_0_rgb": 347,
|
| 7 |
+
"camera.right_wrist_0_rgb": 348,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2762,
|
| 11 |
+
"robot.robot_state": 1389
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 1389,
|
| 17 |
+
"right": 1389
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"round_number": 4,
|
| 21 |
+
"run_id": "20260925_044412_384882_round_0004",
|
| 22 |
+
"workflow": "openpi_rollout"
|
| 23 |
+
},
|
| 24 |
+
"pending_robot_samples": 0,
|
| 25 |
+
"plot_outputs": [],
|
| 26 |
+
"record_id": "prometheus_robot_recorder",
|
| 27 |
+
"record_mode": "robot",
|
| 28 |
+
"robot_samples": {
|
| 29 |
+
"left": 1389,
|
| 30 |
+
"right": 1389
|
| 31 |
+
},
|
| 32 |
+
"schema": "prometheus_raw_episode_v1",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1790282820.704688
|
| 35 |
+
}
|
| 36 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0004/workflow_manifest.json
ADDED
|
@@ -0,0 +1,613 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
|
|
|
|
|
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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 |
+
{
|
| 2 |
+
"acceleration_limits": [
|
| 3 |
+
118.7426430016755,
|
| 4 |
+
165.012131490699,
|
| 5 |
+
134.04180689399348,
|
| 6 |
+
274.86399842805685,
|
| 7 |
+
195.25766555964873,
|
| 8 |
+
454.5340796113012,
|
| 9 |
+
109.40927818565227,
|
| 10 |
+
178.49339036295515,
|
| 11 |
+
476.6444930964641,
|
| 12 |
+
557.9080874526715,
|
| 13 |
+
587.1810202100611,
|
| 14 |
+
362.1711802492357,
|
| 15 |
+
208.8803265352197,
|
| 16 |
+
208.9010343469399
|
| 17 |
+
],
|
| 18 |
+
"actions_sent": 330,
|
| 19 |
+
"async_execution": {
|
| 20 |
+
"blend_steps": 5,
|
| 21 |
+
"chunk_counter_meaning": "completed groups of 30 acknowledged targets",
|
| 22 |
+
"expired_prefix_actions": 82,
|
| 23 |
+
"mode": "async_overlap",
|
| 24 |
+
"plans_adopted": 20,
|
| 25 |
+
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/camera/timestamp.pkl
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/event/event_dict.pkl
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Binary file (109 Bytes). View file
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/manifests/action.json
ADDED
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@@ -0,0 +1,28 @@
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/manifests/camera.json
ADDED
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|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/manifests/event.json
ADDED
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@@ -0,0 +1,27 @@
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| 21 |
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"record_id": "prometheus_event_recorder",
|
| 22 |
+
"record_mode": "event",
|
| 23 |
+
"schema": "prometheus_raw_episode_v1",
|
| 24 |
+
"status": "saved",
|
| 25 |
+
"updated_at_unix": 1790283114.4626744
|
| 26 |
+
}
|
| 27 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 473,
|
| 5 |
+
"camera.base_0_rgb": 493,
|
| 6 |
+
"camera.left_wrist_0_rgb": 494,
|
| 7 |
+
"camera.right_wrist_0_rgb": 494,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 3929,
|
| 11 |
+
"robot.robot_state": 1974
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 1974,
|
| 17 |
+
"right": 1974
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"round_number": 7,
|
| 21 |
+
"run_id": "20260925_044948_709454_round_0007",
|
| 22 |
+
"workflow": "openpi_rollout"
|
| 23 |
+
},
|
| 24 |
+
"pending_robot_samples": 0,
|
| 25 |
+
"plot_outputs": [],
|
| 26 |
+
"record_id": "prometheus_robot_recorder",
|
| 27 |
+
"record_mode": "robot",
|
| 28 |
+
"robot_samples": {
|
| 29 |
+
"left": 1974,
|
| 30 |
+
"right": 1974
|
| 31 |
+
},
|
| 32 |
+
"schema": "prometheus_raw_episode_v1",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1790283114.4626744
|
| 35 |
+
}
|
| 36 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0007/workflow_manifest.json
ADDED
|
@@ -0,0 +1,613 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"acceleration_limits": [
|
| 3 |
+
118.7426430016755,
|
| 4 |
+
165.012131490699,
|
| 5 |
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|
| 6 |
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274.86399842805685,
|
| 7 |
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|
| 8 |
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454.5340796113012,
|
| 9 |
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|
| 10 |
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178.49339036295515,
|
| 11 |
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476.6444930964641,
|
| 12 |
+
557.9080874526715,
|
| 13 |
+
587.1810202100611,
|
| 14 |
+
362.1711802492357,
|
| 15 |
+
208.8803265352197,
|
| 16 |
+
208.9010343469399
|
| 17 |
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],
|
| 18 |
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"actions_sent": 473,
|
| 19 |
+
"async_execution": {
|
| 20 |
+
"blend_steps": 5,
|
| 21 |
+
"chunk_counter_meaning": "completed groups of 30 acknowledged targets",
|
| 22 |
+
"expired_prefix_actions": 121,
|
| 23 |
+
"mode": "async_overlap",
|
| 24 |
+
"plans_adopted": 29,
|
| 25 |
+
"prediction_horizon": 30,
|
| 26 |
+
"predictions_requested": 29,
|
| 27 |
+
"prefetch_steps": 12,
|
| 28 |
+
"queue_underruns": 0,
|
| 29 |
+
"target_budget": 1200
|
| 30 |
+
},
|
| 31 |
+
"chunks": 15,
|
| 32 |
+
"command_velocity_limits": [
|
| 33 |
+
7.326937734087213,
|
| 34 |
+
7.492612143357643,
|
| 35 |
+
9.039960411055707,
|
| 36 |
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10.989442599937178,
|
| 37 |
+
11.822247140410347,
|
| 38 |
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21.729793477053846,
|
| 39 |
+
4.549583926449072,
|
| 40 |
+
9.542591565847905,
|
| 41 |
+
16.49783855493206,
|
| 42 |
+
19.18122166486826,
|
| 43 |
+
20.271305218109156,
|
| 44 |
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13.274309575261345,
|
| 45 |
+
14.009155302643812,
|
| 46 |
+
4.764187300355128
|
| 47 |
+
],
|
| 48 |
+
"config": {
|
| 49 |
+
"async_inference": {
|
| 50 |
+
"blend_steps": 5,
|
| 51 |
+
"enabled": true,
|
| 52 |
+
"prefetch_steps": 12
|
| 53 |
+
},
|
| 54 |
+
"data": {
|
| 55 |
+
"bridge": {
|
| 56 |
+
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0008/action/executed_action_dict.pkl
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0008/camera/metadata.json
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