| { |
| "schema": "native_validation_extension_v1", |
| "selection": { |
| "specified_utc": "2026-09-10T22:43:17.322774+00:00", |
| "status": "frozen_before_extension_rollouts", |
| "task_order": [ |
| "select_book", |
| "select_mahjong", |
| "select_poker" |
| ], |
| "episodes_per_task": 10, |
| "attempts_per_policy": 30, |
| "total_attempts": 60, |
| "upstream_track_sha256": "61b07440c6f4272705bea0c8d721bc196e744232f48408075613cc9b6f7c8c04", |
| "selected_track_sha256": "520f5edb43e772607eeec07bd837e1bae4139f863f2213d089c9a594c5801c58", |
| "protocol_sha256": "1cad8b0568fd8c00b799e672b366d33a6f1056ab3cc83103ecab829a43612575", |
| "runner_sha256": "c606723d801d2f278044eff228b34be43f8b3483a261a0d8e22fe45443c11659", |
| "preparation_sha256": "f9737e3dc7a91a46bda405e45cf105d90d08fac394a62f29d6a25bc12f9ffe64", |
| "repository_head": "1ca85985921fe775ad276444710923df9449caba", |
| "git_blob_ids": { |
| "validation_extension_protocol.md": "7c48e82352be8743b569ddb194b170ea6115bf79", |
| "vlabench_control.py": "13855d6b36700ae4c5b8eeb8d16db33db7f9975f", |
| "prepare_extension.py": "88b0e9751f729745e71ebe4e1e34a65253bebe8d", |
| "selected_track.json": "88f655ba7ec7cdd475261b2a7e4366334af5e542" |
| }, |
| "settings": { |
| "policy_seed": 17, |
| "max_steps": 200, |
| "max_substeps": 1, |
| "environment_seed_base": 42, |
| "smolvla_chunk": 50, |
| "pi0_chunk": 5 |
| }, |
| "selection": [ |
| { |
| "task": "select_book", |
| "track_index": 0, |
| "seed": 42, |
| "configuration_sha256": "1c866d415fd38913daa9599165b757f3468dc00920ed7a790363ec76485d3854", |
| "instructions": [ |
| "Please take the book contract_law_in_japan" |
| ] |
| }, |
| { |
| "task": "select_book", |
| "track_index": 1, |
| "seed": 43, |
| "configuration_sha256": "868a633adb14efc03f0e736d0b5d8fff980f6c9d3c465f6fa2fab86c13b3ac90", |
| "instructions": [ |
| "Please take the book biopolymer_composites_in_electronics" |
| ] |
| }, |
| { |
| "task": "select_book", |
| "track_index": 2, |
| "seed": 44, |
| "configuration_sha256": "3025ca730b6fa345c403a6dd01cd02a3353fbdbae7709cadda72146974c77fac", |
| "instructions": [ |
| "Please take the book cotton_the_fabric_that_made_the_modern_world" |
| ] |
| }, |
| { |
| "task": "select_book", |
| "track_index": 3, |
| "seed": 45, |
| "configuration_sha256": "73779ddd7002b5b817d69d7b9d3c88f8412f7cf19c1c02f36472b978a6d5e178", |
| "instructions": [ |
| "Please take the book contract_law_in_japan" |
| ] |
| }, |
| { |
| "task": "select_book", |
| "track_index": 4, |
| "seed": 46, |
| "configuration_sha256": "1abdbf8e25e492ae494c26ffee9e3fc4022851def6da000520f70a9225944e3e", |
| "instructions": [ |
| "Please take the book steve_jobs" |
| ] |
| }, |
| { |
| "task": "select_book", |
| "track_index": 5, |
| "seed": 47, |
| "configuration_sha256": "2aac3c86c2c04aa4796ccaec88114d855af072b88e0e3edbaa8e77cff9e94296", |
| "instructions": [ |
| "Please take the book the_life_of_samuel_johnson" |
| ] |
| }, |
| { |
| "task": "select_book", |
| "track_index": 6, |
| "seed": 48, |
| "configuration_sha256": "38ed158d636c3e4e9f802310083b1f428d25d208a35aee50dd509539b198c040", |
| "instructions": [ |
| "Please take the book biopolymer_composites_in_electronics" |
| ] |
| }, |
| { |
| "task": "select_book", |
| "track_index": 7, |
| "seed": 49, |
| "configuration_sha256": "aa3810b86e0f443c5d60a01027e8a7c5811221bce378f7d16842f07d5a88c39f", |
| "instructions": [ |
| "Please take the book critical_infrastructure_protection_in_homeland_security" |
| ] |
| }, |
| { |
| "task": "select_book", |
| "track_index": 8, |
| "seed": 50, |
| "configuration_sha256": "fc0d82594b49a0e7f96410c6b8f3560cbe1612b6e4f3d2f1621fd4898c727b04", |
| "instructions": [ |
| "Please take the book the_life_of_samuel_johnson" |
| ] |
| }, |
| { |
| "task": "select_book", |
| "track_index": 9, |
| "seed": 51, |
| "configuration_sha256": "17760a444193e6f20d16b33eb868a348a9e3be8bf41c83bc01cdf320fb625da3", |
| "instructions": [ |
| "Please take the book electron_transport_in_quantum_dots" |
| ] |
| }, |
| { |
| "task": "select_mahjong", |
| "track_index": 0, |
| "seed": 42, |
| "configuration_sha256": "5a65d689b37861cdd0782fc3378be8e52f118d8d325455cc5d4f228d42124e02", |
| "instructions": [ |
| "Pick up the mahjong of 6 sou" |
| ] |
| }, |
| { |
| "task": "select_mahjong", |
| "track_index": 1, |
| "seed": 43, |
| "configuration_sha256": "8d20693bbc1c49ba0c5e895a12e6351368844f4c1a044dd11a24b69d67c3fee2", |
| "instructions": [ |
| "Pick up the mahjong of 1 pin" |
| ] |
| }, |
| { |
| "task": "select_mahjong", |
| "track_index": 2, |
| "seed": 44, |
| "configuration_sha256": "46849bc66a24346e00577392cbfc2c47576ef7026d7441f7694e1a91e70f69ff", |
| "instructions": [ |
| "Pick up the mahjong of 1 pin" |
| ] |
| }, |
| { |
| "task": "select_mahjong", |
| "track_index": 3, |
| "seed": 45, |
| "configuration_sha256": "3a0a292b4209d1b1e8cd626fa680d28e8d14a508b59319ad1cf9b472cedc3193", |
| "instructions": [ |
| "Pick up the mahjong of 6 sou" |
| ] |
| }, |
| { |
| "task": "select_mahjong", |
| "track_index": 4, |
| "seed": 46, |
| "configuration_sha256": "f6f44e6610bf26a3fc7fca6acf677c692e58a55cd4aba99dcedc48cbf7946140", |
| "instructions": [ |
| "Pick up the mahjong of 1 pin" |
| ] |
| }, |
| { |
| "task": "select_mahjong", |
| "track_index": 5, |
| "seed": 47, |
| "configuration_sha256": "317615a3cbe5cbeb84251b4eb52a36b9f8c06bc849f1aff78a5bbd856ce0f928", |
| "instructions": [ |
| "Pick up the mahjong of 1 pin" |
| ] |
| }, |
| { |
| "task": "select_mahjong", |
| "track_index": 6, |
| "seed": 48, |
| "configuration_sha256": "9e8da3a411108ae83df2e192b95c97bdae2c1d3bd1a957380ff7c1acdd0ac927", |
| "instructions": [ |
| "Pick up the mahjong of 5 man" |
| ] |
| }, |
| { |
| "task": "select_mahjong", |
| "track_index": 7, |
| "seed": 49, |
| "configuration_sha256": "00e3a9ed1ec04b6998fbf8f3c27696d7cfa56c5dc9df1234190180c2d9e1ea9b", |
| "instructions": [ |
| "Pick up the mahjong of 7 man" |
| ] |
| }, |
| { |
| "task": "select_mahjong", |
| "track_index": 8, |
| "seed": 50, |
| "configuration_sha256": "b0d3695c4486dda046b42d762f2ab5db4c43fa2b97b48a55781159a33ad2022d", |
| "instructions": [ |
| "Pick up the mahjong of 8 sou" |
| ] |
| }, |
| { |
| "task": "select_mahjong", |
| "track_index": 9, |
| "seed": 51, |
| "configuration_sha256": "de1040d2fdcabf43d6b884a0e388796e12560818178b5d0167128f4fddd7118c", |
| "instructions": [ |
| "Pick up the mahjong of 9 man" |
| ] |
| }, |
| { |
| "task": "select_poker", |
| "track_index": 0, |
| "seed": 42, |
| "configuration_sha256": "ea4b3bb954923dd4ed192464d0bf8e0c0ecdb073129b7ab1a57a1dbc47478fa8", |
| "instructions": [ |
| "Please pick the poker ace of hearts" |
| ] |
| }, |
| { |
| "task": "select_poker", |
| "track_index": 1, |
| "seed": 43, |
| "configuration_sha256": "56750256f6ebfb57898200ccb286190aedb5578ca5ebba334f0ded72fb94913e", |
| "instructions": [ |
| "Please pick the poker 8 of clubs" |
| ] |
| }, |
| { |
| "task": "select_poker", |
| "track_index": 2, |
| "seed": 44, |
| "configuration_sha256": "78b2f04bfcf53575228aedc0bddcd18df1606662274743139bce7d25f99fa4ba", |
| "instructions": [ |
| "Please pick the poker 4 of hearts" |
| ] |
| }, |
| { |
| "task": "select_poker", |
| "track_index": 3, |
| "seed": 45, |
| "configuration_sha256": "5880a8504bcebb5241487f28ee305bb5b6b00adadfc34cd5e9f2480b20620bb8", |
| "instructions": [ |
| "Please pick the poker 7 of hearts" |
| ] |
| }, |
| { |
| "task": "select_poker", |
| "track_index": 4, |
| "seed": 46, |
| "configuration_sha256": "7f27c8776086335bd02c3d4ec68617ce56e12963d7ffc2c00eedc12615b6de95", |
| "instructions": [ |
| "Please pick the poker king of clubs" |
| ] |
| }, |
| { |
| "task": "select_poker", |
| "track_index": 5, |
| "seed": 47, |
| "configuration_sha256": "1d46819d6dd611c8c5278644cda3b9fe9377b34dab368e72b6c96c0de768960a", |
| "instructions": [ |
| "Please pick the poker jack of diamonds" |
| ] |
| }, |
| { |
| "task": "select_poker", |
| "track_index": 6, |
| "seed": 48, |
| "configuration_sha256": "28957015b948bd749080e6ec15865edb9f97562f18d8c93ae1b9085834ca9fb1", |
| "instructions": [ |
| "Please pick the poker jack of diamonds" |
| ] |
| }, |
| { |
| "task": "select_poker", |
| "track_index": 7, |
| "seed": 49, |
| "configuration_sha256": "69c2d8229e39017f0ec9fa75eb0390073d84fa4602a577b706f47e81dc983398", |
| "instructions": [ |
| "Please pick the poker 10 of spades" |
| ] |
| }, |
| { |
| "task": "select_poker", |
| "track_index": 8, |
| "seed": 50, |
| "configuration_sha256": "86efa842abe1fe36e4d5b10b2ab927c40e68c8a5504a1705452efd3181b09835", |
| "instructions": [ |
| "Please pick the poker 5 of hearts" |
| ] |
| }, |
| { |
| "task": "select_poker", |
| "track_index": 9, |
| "seed": 51, |
| "configuration_sha256": "3b8646dbc4d6cee65801877c11b4c0294ca8c373fb75a6bc65b870fe226ccaaf", |
| "instructions": [ |
| "Please pick the poker 10 of clubs" |
| ] |
| } |
| ] |
| }, |
| "selection_manifest_sha256": "8bca8b264842b2517bf532018c3164d88b794dbaa9ffbda184da0cde46c7f6c6", |
| "runs": { |
| "smolvla_native_extension": { |
| "summary": { |
| "n_records": 30, |
| "n_completed": 30, |
| "technical_errors": [], |
| "scoring": "native_success", |
| "horizons": { |
| "60": { |
| "success": 1, |
| "n": 30, |
| "fraction": 0.03333333333333333, |
| "exact_95_ci": [ |
| 0.0008435709266304788, |
| 0.17216945563341265 |
| ], |
| "success_per_attempt": 0.03333333333333333, |
| "attempt_exact_95_ci": [ |
| 0.0008435709266304788, |
| 0.17216945563341265 |
| ], |
| "attempts": 30, |
| "alternative": null, |
| "both": null, |
| "neither": null |
| }, |
| "200": { |
| "success": 10, |
| "n": 30, |
| "fraction": 0.3333333333333333, |
| "exact_95_ci": [ |
| 0.17287422152603918, |
| 0.5281200447898805 |
| ], |
| "success_per_attempt": 0.3333333333333333, |
| "attempt_exact_95_ci": [ |
| 0.17287422152603918, |
| 0.5281200447898805 |
| ], |
| "attempts": 30, |
| "alternative": null, |
| "both": null, |
| "neither": null |
| } |
| }, |
| "paired_horizon_change": { |
| "n": 30, |
| "gain": 9, |
| "loss": 0, |
| "mcnemar_exact_p_descriptive": 0.00390625, |
| "state_bootstrap_95_ci": [ |
| 0.16666666666666666, |
| 0.43333333333333335 |
| ] |
| }, |
| "by_task": { |
| "select_book": { |
| "n": 10, |
| "errors": 0, |
| "success_60": 0, |
| "success_200": 2, |
| "attempt_exact_95_ci_200": [ |
| 0.025210726326833372, |
| 0.5560954623076415 |
| ] |
| }, |
| "select_mahjong": { |
| "n": 10, |
| "errors": 0, |
| "success_60": 0, |
| "success_200": 0, |
| "attempt_exact_95_ci_200": [ |
| 0.0, |
| 0.3084971078187608 |
| ] |
| }, |
| "select_poker": { |
| "n": 10, |
| "errors": 0, |
| "success_60": 1, |
| "success_200": 8, |
| "attempt_exact_95_ci_200": [ |
| 0.44390453769235844, |
| 0.9747892736731666 |
| ] |
| } |
| }, |
| "completed_rollout_lengths_over_60": [ |
| 78, |
| 76, |
| 76, |
| 68, |
| 71, |
| 70, |
| 73, |
| 85, |
| 73 |
| ], |
| "progress_mean": 0.5388888888888889, |
| "progress_observed_n": 30, |
| "ik_nonconverged": 3, |
| "action_count": 4729, |
| "ee_path_m_mean": 1.814202222105306, |
| "wall_s_total": 649.0020261126338, |
| "manifest": { |
| "args": { |
| "out": "storage/validation_extension_20260911/smolvla_native_extension", |
| "tasks": "select_book,select_mahjong,select_poker", |
| "seeds": "1000,1001,1002", |
| "policy_seed": 17, |
| "max_steps": 200, |
| "max_substeps": 1, |
| "tolerance": 0.02, |
| "chunk": 50, |
| "port": 5581, |
| "video": false, |
| "render_every_step": false, |
| "paired_spec": null, |
| "track_config": "storage/validation_extension_20260911/frozen_inputs/selected_track.json", |
| "episodes_per_task": 10, |
| "replay_dir": null, |
| "limit": 0 |
| }, |
| "server": { |
| "ok": true, |
| "checkpoint": "lerobot/smolvla_vlabench", |
| "revision": "4fd586e12dc14b04d9d606ddbb77448df4f0ff29", |
| "resolved_path": "/raid/nurgaly/multimodal_robotics/hf_cache/hub/models--lerobot--smolvla_vlabench/snapshots/4fd586e12dc14b04d9d606ddbb77448df4f0ff29", |
| "chunk_size": 50, |
| "n_action_steps": 50, |
| "n_obs_steps": 1, |
| "resize_imgs_with_padding": [ |
| 512, |
| 512 |
| ], |
| "input_features": { |
| "observation.state": [ |
| 6 |
| ], |
| "observation.images.camera1": [ |
| 3, |
| 256, |
| 256 |
| ], |
| "observation.images.camera2": [ |
| 3, |
| 256, |
| 256 |
| ], |
| "observation.images.camera3": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "output_features": { |
| "action": [ |
| 7 |
| ] |
| } |
| }, |
| "git_commit": "1ca85985921fe775ad276444710923df9449caba", |
| "runner_sha256": "c606723d801d2f278044eff228b34be43f8b3483a261a0d8e22fe45443c11659", |
| "packages": { |
| "numpy": "1.25.0", |
| "mujoco": "3.2.2", |
| "dm-control": "1.0.22" |
| } |
| }, |
| "result_hashes": { |
| "select_book_0": "ad3d19ac4892c8e96d3d5dfa09e5601bb3289484c11daf6503f66db2996509bf", |
| "select_book_1": "6267ce86fc18a810111ad16b980ad8c8527cab80ad25a9d342722e2d14f0f0f8", |
| "select_book_2": "80efa39e4ae9d2091133dc5cdf7f64cef817c7bbe9e7b9c43b4f21ae1d7b5997", |
| "select_book_3": "8f4627ffda7d91c0244ea71438b67377374220d8fce5fa8dea64006184914d3f", |
| "select_book_4": "ef35f636abaad95e3219ff4f24e9b6c943d3b527c1bf67475e400a6c432d9dae", |
| "select_book_5": "f6c02b44c952e9331eed0b0d316941f07b6ba478e3a74e8f7a7c11036bdc63ae", |
| "select_book_6": "c516242f1fa153488ce76745291ad401953a3dc690ea847f2c312634ed5ed984", |
| "select_book_7": "2f9caed2f2a126418d1bd51ab3133b310105c6a178b32f5a78e4f8a8b79a4c86", |
| "select_book_8": "0c178a3ad75129bd2d3a08d9b2a1edbb2f6703f6cf59dc198b3cce67f3d85a57", |
| "select_book_9": "7fe6882e506de7c63644f48773d9cfdf47f15a74edfd0f6500f7517e0ef13b78", |
| "select_mahjong_0": "c995748b184433e1316641bc1ea45fc77c514fe85a28d5c8be6fceadc3ac3b75", |
| "select_mahjong_1": "285c90ddc00072da47a69cd5a276b0e8fee829489aeebd5ed9bb2e498b6be80d", |
| "select_mahjong_2": "afb8bf4e2cda73d94e5718fb257c37a7c2f9faacb88cb7d8e2e49bbf5674c129", |
| "select_mahjong_3": "c1555ecef1850a0f8ac70cb9f7e1f6c39f122595bad072351fad9b2db0389489", |
| "select_mahjong_4": "51067ab26b5ce24510eb509d16e0847aa5b287f5ba0e099fd93832f427ca63bb", |
| "select_mahjong_5": "8b7912cd9d13c1e2dd6344fa1e785ff4ddd81952cf667729ea65883234219b2b", |
| "select_mahjong_6": "6f551b7970b703d6ba1dbdea5a984f7c9cd09d429094d32b14cf204e2dab38f8", |
| "select_mahjong_7": "7a6361f86658d52fd3eb857f2e8d5808f751150ad1b89caf5cbc9b0d4fafd253", |
| "select_mahjong_8": "fc92754c5a7e6d390112eb52b9da3d3c40f1dabccf6279c13ed8aeb14cd5cb5f", |
| "select_mahjong_9": "2c85506978958b02382e64a50d5a964e52708805f657f4e09b5d5fa6c6c1a58d", |
| "select_poker_0": "cfd320dd1608d3cd0eeaf50ad829951f6f18808058fcc4c177e68a03f52070ff", |
| "select_poker_1": "6d017c8d2d9bccb8f22101fbf4ee99ab9539d732ddd44481e1d3acfd32582704", |
| "select_poker_2": "ea617e3d1c04f60bcf0f83e44f83fa1d6e3b064aa5b1453221d5f61c806d7058", |
| "select_poker_3": "38eb088d1aaf34edfc6534f0038c8eb539cfce21e822f1fec2aadb57e9b5477d", |
| "select_poker_4": "edf7e7d75e81e44604ba594005f2b39e961e52b14d753412c21471c4a7c46f2d", |
| "select_poker_5": "b01a9670f255c9b2a0bd1646b7c47c7fe14c5891a7476077fb6cc65bbf94a685", |
| "select_poker_6": "1bf564e992e44c57c0967f639ca117ba773938d85b260c715752c977902e79b1", |
| "select_poker_7": "cc761b60862418ab12ad07ab9dbf3e190d7ce6ec657774f8073f8e1c6e6846e3", |
| "select_poker_8": "e224a954ccd12fcd731442c41a12023c1cfd54473274f74292ca8f66c99cfd6c", |
| "select_poker_9": "07b6b1e83d040a775ae21c6cfad291cafd4a00694fa103e584e2b71ac5b30427" |
| } |
| }, |
| "episodes": [ |
| { |
| "id": "select_book_0", |
| "policy_seed": 17, |
| "instruction": "Please take the book contract_law_in_japan", |
| "initial": { |
| "native_success": false, |
| "simulation_time_s": 1.9999999999998905, |
| "object_displacement_m": { |
| "table": 0.0, |
| "shelf_seen": 0.0, |
| "flash_mx_bible": 0.0, |
| "contract_law_in_japan": 0.0, |
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| "id": "select_book_7", |
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| "id": "select_book_8", |
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| { |
| "id": "select_book_9", |
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| { |
| "id": "select_mahjong_0", |
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| "1_pin": 0.1025889424424769, |
| "9_man": 0.05966591109799712, |
| "7_man": 0.0676689892151659, |
| "5_man": 0.0006757394145827687, |
| "5_pin": 1.674971768205726e-05, |
| "4_sou": 1.7116363183275527e-05 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 1.0, |
| "grasped_objects": [], |
| "ee_path_m": 2.313661277777603, |
| "joint_path_rad": 22.5698357087416 |
| } |
| }, |
| "steps": 200, |
| "ik_nonconverged": 0, |
| "simulator_steps": 200, |
| "wall_s": 12.60265412600711, |
| "total_wall_s": 24.921236429014243, |
| "initial_physics_sha256": "344136836a8e1f75ca4e767a3ffeed95a82df5e2b38d24dc5efc79afa492cfa9", |
| "initial_rgb_sha256": "defb4a085b166a4b3e188571394ef9d59f7b85384abf8e5df0475302e225b84c", |
| "ee_path_m": 2.313661277777603, |
| "joint_path_rad": 22.5698357087416, |
| "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400", |
| "initial_simulation_time_s": 1.9999999999998905, |
| "ever_grasped_objects": [ |
| "1_pin" |
| ], |
| "observation_matches_upstream": true, |
| "row": { |
| "task": "select_mahjong", |
| "seed": 51, |
| "track_index": 9 |
| }, |
| "recorded_action_steps": 200, |
| "requested_entity_for_grasp_measurement": "9_man", |
| "first_native_completion": null, |
| "first_requested_completion": null, |
| "first_alternative_completion": null, |
| "first_requested_grasp": null, |
| "first_any_grasp": 48, |
| "grasp_observation_complete": true, |
| "both_predicates_ever_true": false |
| }, |
| { |
| "id": "select_poker_0", |
| "policy_seed": 17, |
| "instruction": "Please pick the poker ace of hearts", |
| "initial": { |
| "native_success": false, |
| "simulation_time_s": 1.9999999999998905, |
| "object_displacement_m": { |
| "table": 0.0, |
| "card_holder0": 0.0, |
| "king_of_clubs": 0.0, |
| "card_holder1": 0.0, |
| "ace_of_hearts": 0.0, |
| "card_holder2": 0.0, |
| "jack_of_hearts": 0.0, |
| "card_holder3": 0.0, |
| "9_of_spades": 0.0 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 0.0, |
| "grasped_objects": [] |
| }, |
| "final": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 1.4842973176764969e-06, |
| "card_holder0": 1.5217190192303886e-06, |
| "king_of_clubs": 1.5217126465375135e-06, |
| "card_holder1": 0.000152337074517711, |
| "ace_of_hearts": 0.04070608609204358, |
| "card_holder2": 1.4765446979951329e-06, |
| "jack_of_hearts": 1.4765383028538306e-06, |
| "card_holder3": 1.4575928349251644e-06, |
| "9_of_spades": 1.4575864360267645e-06 |
| }, |
| "task_progress": 0.3333333333333333, |
| "intention_score": 1.0, |
| "grasped_objects": [] |
| }, |
| "snapshots": { |
| "60": { |
| "native_success": false, |
| "simulation_time_s": 8.000000000001005, |
| "object_displacement_m": { |
| "table": 9.628079660291284e-07, |
| "card_holder0": 1.01907045586761e-06, |
| "king_of_clubs": 1.0215209449969159e-06, |
| "card_holder1": 9.067533013498364e-05, |
| "ace_of_hearts": 0.010161165396752894, |
| "card_holder2": 9.86858653802242e-07, |
| "jack_of_hearts": 9.893135074917689e-07, |
| "card_holder3": 9.732626937868762e-07, |
| "9_of_spades": 9.757185656456536e-07 |
| }, |
| "task_progress": 0.6666666666666666, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "ace_of_hearts" |
| ], |
| "ee_path_m": 0.5595900707213236, |
| "joint_path_rad": 3.223097099136394 |
| }, |
| "200": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 1.4842973176764969e-06, |
| "card_holder0": 1.5217190192303886e-06, |
| "king_of_clubs": 1.5217126465375135e-06, |
| "card_holder1": 0.000152337074517711, |
| "ace_of_hearts": 0.04070608609204358, |
| "card_holder2": 1.4765446979951329e-06, |
| "jack_of_hearts": 1.4765383028538306e-06, |
| "card_holder3": 1.4575928349251644e-06, |
| "9_of_spades": 1.4575864360267645e-06 |
| }, |
| "task_progress": 0.3333333333333333, |
| "intention_score": 1.0, |
| "grasped_objects": [], |
| "ee_path_m": 2.19152102369014, |
| "joint_path_rad": 10.666845551983716 |
| } |
| }, |
| "steps": 200, |
| "ik_nonconverged": 0, |
| "simulator_steps": 200, |
| "wall_s": 9.739907140028663, |
| "total_wall_s": 29.176524845999666, |
| "initial_physics_sha256": "339b19645ae708790791e552f644cbde01605e01ef97b9e0466fb54e33252e9d", |
| "initial_rgb_sha256": "ebb5c56987e2a62b0285dda51f4268891be45b80efbd020b6a33d7aa63717eaf", |
| "ee_path_m": 2.19152102369014, |
| "joint_path_rad": 10.666845551983716, |
| "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400", |
| "initial_simulation_time_s": 1.9999999999998905, |
| "ever_grasped_objects": [ |
| "ace_of_hearts" |
| ], |
| "observation_matches_upstream": true, |
| "row": { |
| "task": "select_poker", |
| "seed": 42, |
| "track_index": 0 |
| }, |
| "recorded_action_steps": 200, |
| "requested_entity_for_grasp_measurement": "ace_of_hearts", |
| "first_native_completion": null, |
| "first_requested_completion": null, |
| "first_alternative_completion": null, |
| "first_requested_grasp": 57, |
| "first_any_grasp": 57, |
| "grasp_observation_complete": true, |
| "both_predicates_ever_true": false |
| }, |
| { |
| "id": "select_poker_1", |
| "policy_seed": 17, |
| "instruction": "Please pick the poker 8 of clubs", |
| "initial": { |
| "native_success": false, |
| "simulation_time_s": 1.9999999999998905, |
| "object_displacement_m": { |
| "table": 0.0, |
| "card_holder0": 0.0, |
| "2_of_hearts": 0.0, |
| "card_holder1": 0.0, |
| "5_of_hearts": 0.0, |
| "card_holder2": 0.0, |
| "8_of_clubs": 0.0, |
| "card_holder3": 0.0, |
| "queen_of_diamonds": 0.0 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 0.0, |
| "grasped_objects": [] |
| }, |
| "final": { |
| "native_success": true, |
| "simulation_time_s": 7.900000000000973, |
| "object_displacement_m": { |
| "table": 1.3962256994388766e-06, |
| "card_holder0": 1.3642991672798837e-06, |
| "2_of_hearts": 1.3643054453144112e-06, |
| "card_holder1": 1.3854917393122944e-06, |
| "5_of_hearts": 1.3854980538592524e-06, |
| "card_holder2": 0.00442694942522576, |
| "8_of_clubs": 0.07733772977643756, |
| "card_holder3": 1.425887364063808e-06, |
| "queen_of_diamonds": 1.4258936668327125e-06 |
| }, |
| "task_progress": 1.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "8_of_clubs" |
| ] |
| }, |
| "snapshots": { |
| "59": { |
| "native_success": true, |
| "simulation_time_s": 7.900000000000973, |
| "object_displacement_m": { |
| "table": 1.3962256994388766e-06, |
| "card_holder0": 1.3642991672798837e-06, |
| "2_of_hearts": 1.3643054453144112e-06, |
| "card_holder1": 1.3854917393122944e-06, |
| "5_of_hearts": 1.3854980538592524e-06, |
| "card_holder2": 0.00442694942522576, |
| "8_of_clubs": 0.07733772977643756, |
| "card_holder3": 1.425887364063808e-06, |
| "queen_of_diamonds": 1.4258936668327125e-06 |
| }, |
| "task_progress": 1.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "8_of_clubs" |
| ], |
| "ee_path_m": 0.5897535426360065, |
| "joint_path_rad": 4.07907123771381 |
| }, |
| "60": { |
| "native_success": true, |
| "simulation_time_s": 7.900000000000973, |
| "object_displacement_m": { |
| "table": 1.3962256994388766e-06, |
| "card_holder0": 1.3642991672798837e-06, |
| "2_of_hearts": 1.3643054453144112e-06, |
| "card_holder1": 1.3854917393122944e-06, |
| "5_of_hearts": 1.3854980538592524e-06, |
| "card_holder2": 0.00442694942522576, |
| "8_of_clubs": 0.07733772977643756, |
| "card_holder3": 1.425887364063808e-06, |
| "queen_of_diamonds": 1.4258936668327125e-06 |
| }, |
| "task_progress": 1.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "8_of_clubs" |
| ], |
| "ee_path_m": 0.5897535426360065, |
| "joint_path_rad": 4.07907123771381 |
| }, |
| "200": { |
| "native_success": true, |
| "simulation_time_s": 7.900000000000973, |
| "object_displacement_m": { |
| "table": 1.3962256994388766e-06, |
| "card_holder0": 1.3642991672798837e-06, |
| "2_of_hearts": 1.3643054453144112e-06, |
| "card_holder1": 1.3854917393122944e-06, |
| "5_of_hearts": 1.3854980538592524e-06, |
| "card_holder2": 0.00442694942522576, |
| "8_of_clubs": 0.07733772977643756, |
| "card_holder3": 1.425887364063808e-06, |
| "queen_of_diamonds": 1.4258936668327125e-06 |
| }, |
| "task_progress": 1.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "8_of_clubs" |
| ], |
| "ee_path_m": 0.5897535426360065, |
| "joint_path_rad": 4.07907123771381 |
| } |
| }, |
| "steps": 59, |
| "ik_nonconverged": 0, |
| "simulator_steps": 59, |
| "wall_s": 2.9174804750364274, |
| "total_wall_s": 11.766505873994902, |
| "initial_physics_sha256": "401a81724d79cf7b156be5ffb1bc121d198cf65c6c388df20bb9d259b22be413", |
| "initial_rgb_sha256": "66c62b893f83d4cf8056ac2f071455efa009995ce44326a8720a03d87086ff19", |
| "ee_path_m": 0.5897535426360065, |
| "joint_path_rad": 4.07907123771381, |
| "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400", |
| "initial_simulation_time_s": 1.9999999999998905, |
| "ever_grasped_objects": [ |
| "8_of_clubs" |
| ], |
| "observation_matches_upstream": true, |
| "row": { |
| "task": "select_poker", |
| "seed": 43, |
| "track_index": 1 |
| }, |
| "recorded_action_steps": 59, |
| "requested_entity_for_grasp_measurement": "8_of_clubs", |
| "first_native_completion": 59, |
| "first_requested_completion": 59, |
| "first_alternative_completion": null, |
| "first_requested_grasp": 48, |
| "first_any_grasp": 48, |
| "grasp_observation_complete": true, |
| "both_predicates_ever_true": false |
| }, |
| { |
| "id": "select_poker_2", |
| "policy_seed": 17, |
| "instruction": "Please pick the poker 4 of hearts", |
| "initial": { |
| "native_success": false, |
| "simulation_time_s": 1.9999999999998905, |
| "object_displacement_m": { |
| "table": 0.0, |
| "card_holder0": 0.0, |
| "4_of_diamonds": 0.0, |
| "card_holder1": 0.0, |
| "9_of_spades": 0.0, |
| "card_holder2": 0.0, |
| "8_of_hearts": 0.0, |
| "card_holder3": 0.0, |
| "4_of_hearts": 0.0 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 0.0, |
| "grasped_objects": [] |
| }, |
| "final": { |
| "native_success": true, |
| "simulation_time_s": 9.600000000000119, |
| "object_displacement_m": { |
| "table": 2.3094065799263035e-06, |
| "card_holder0": 2.1606128001149775e-06, |
| "4_of_diamonds": 2.1606126340906584e-06, |
| "card_holder1": 2.271518344132842e-06, |
| "9_of_spades": 2.271518176695513e-06, |
| "card_holder2": 2.353692341810603e-06, |
| "8_of_hearts": 2.3536921558226876e-06, |
| "card_holder3": 0.00025818656368839233, |
| "4_of_hearts": 0.07345712225046193 |
| }, |
| "task_progress": 1.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "4_of_hearts" |
| ] |
| }, |
| "snapshots": { |
| "60": { |
| "native_success": false, |
| "simulation_time_s": 8.000000000001005, |
| "object_displacement_m": { |
| "table": 1.2375224169883454e-06, |
| "card_holder0": 1.1876195470034099e-06, |
| "4_of_diamonds": 1.1902813191297722e-06, |
| "card_holder1": 1.2491702899464079e-06, |
| "9_of_spades": 1.251843614036155e-06, |
| "card_holder2": 1.2929436464917408e-06, |
| "8_of_hearts": 1.2955935506645817e-06, |
| "card_holder3": 0.00011563132391109287, |
| "4_of_hearts": 0.011655655992879597 |
| }, |
| "task_progress": 0.6666666666666666, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "4_of_hearts" |
| ], |
| "ee_path_m": 0.5783741364492895, |
| "joint_path_rad": 3.5756506648308712 |
| }, |
| "76": { |
| "native_success": true, |
| "simulation_time_s": 9.600000000000119, |
| "object_displacement_m": { |
| "table": 2.3094065799263035e-06, |
| "card_holder0": 2.1606128001149775e-06, |
| "4_of_diamonds": 2.1606126340906584e-06, |
| "card_holder1": 2.271518344132842e-06, |
| "9_of_spades": 2.271518176695513e-06, |
| "card_holder2": 2.353692341810603e-06, |
| "8_of_hearts": 2.3536921558226876e-06, |
| "card_holder3": 0.00025818656368839233, |
| "4_of_hearts": 0.07345712225046193 |
| }, |
| "task_progress": 1.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "4_of_hearts" |
| ], |
| "ee_path_m": 0.6801207902675396, |
| "joint_path_rad": 4.079776246031183 |
| }, |
| "200": { |
| "native_success": true, |
| "simulation_time_s": 9.600000000000119, |
| "object_displacement_m": { |
| "table": 2.3094065799263035e-06, |
| "card_holder0": 2.1606128001149775e-06, |
| "4_of_diamonds": 2.1606126340906584e-06, |
| "card_holder1": 2.271518344132842e-06, |
| "9_of_spades": 2.271518176695513e-06, |
| "card_holder2": 2.353692341810603e-06, |
| "8_of_hearts": 2.3536921558226876e-06, |
| "card_holder3": 0.00025818656368839233, |
| "4_of_hearts": 0.07345712225046193 |
| }, |
| "task_progress": 1.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "4_of_hearts" |
| ], |
| "ee_path_m": 0.6801207902675396, |
| "joint_path_rad": 4.079776246031183 |
| } |
| }, |
| "steps": 76, |
| "ik_nonconverged": 0, |
| "simulator_steps": 76, |
| "wall_s": 3.658139457926154, |
| "total_wall_s": 27.10494249605108, |
| "initial_physics_sha256": "2a0421213e0694417da367d315846ffdaee6de5045efc4ed613511b74d7dca8a", |
| "initial_rgb_sha256": "a386fb575532a7ae7970eb44edd0bb4b5b745214dae709c2110e6dda8a5c92d9", |
| "ee_path_m": 0.6801207902675396, |
| "joint_path_rad": 4.079776246031183, |
| "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400", |
| "initial_simulation_time_s": 1.9999999999998905, |
| "ever_grasped_objects": [ |
| "4_of_hearts" |
| ], |
| "observation_matches_upstream": true, |
| "row": { |
| "task": "select_poker", |
| "seed": 44, |
| "track_index": 2 |
| }, |
| "recorded_action_steps": 76, |
| "requested_entity_for_grasp_measurement": "4_of_hearts", |
| "first_native_completion": 76, |
| "first_requested_completion": 76, |
| "first_alternative_completion": null, |
| "first_requested_grasp": 59, |
| "first_any_grasp": 59, |
| "grasp_observation_complete": true, |
| "both_predicates_ever_true": false |
| }, |
| { |
| "id": "select_poker_3", |
| "policy_seed": 17, |
| "instruction": "Please pick the poker 7 of hearts", |
| "initial": { |
| "native_success": false, |
| "simulation_time_s": 1.9999999999998905, |
| "object_displacement_m": { |
| "table": 0.0, |
| "card_holder0": 0.0, |
| "7_of_hearts": 0.0, |
| "card_holder1": 0.0, |
| "3_of_hearts": 0.0, |
| "card_holder2": 0.0, |
| "jack_of_diamonds": 0.0 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 0.0, |
| "grasped_objects": [] |
| }, |
| "final": { |
| "native_success": true, |
| "simulation_time_s": 8.800000000000562, |
| "object_displacement_m": { |
| "table": 1.70158947158189e-06, |
| "card_holder0": 0.00022401670190470304, |
| "7_of_hearts": 0.07266306092695803, |
| "card_holder1": 1.7340487083730243e-06, |
| "3_of_hearts": 1.7340482855526271e-06, |
| "card_holder2": 1.6691220852543862e-06, |
| "jack_of_diamonds": 1.6691217078306785e-06 |
| }, |
| "task_progress": 1.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "7_of_hearts" |
| ] |
| }, |
| "snapshots": { |
| "60": { |
| "native_success": false, |
| "simulation_time_s": 8.000000000001005, |
| "object_displacement_m": { |
| "table": 1.691422376383579e-06, |
| "card_holder0": 0.00022335676374748485, |
| "7_of_hearts": 0.007603403164153921, |
| "card_holder1": 1.7286452641086817e-06, |
| "3_of_hearts": 1.7291402766595592e-06, |
| "card_holder2": 1.6641154330210908e-06, |
| "jack_of_diamonds": 1.6646104724579928e-06 |
| }, |
| "task_progress": 0.6666666666666666, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "7_of_hearts" |
| ], |
| "ee_path_m": 0.5607122512594082, |
| "joint_path_rad": 2.9621904336643894 |
| }, |
| "68": { |
| "native_success": true, |
| "simulation_time_s": 8.800000000000562, |
| "object_displacement_m": { |
| "table": 1.70158947158189e-06, |
| "card_holder0": 0.00022401670190470304, |
| "7_of_hearts": 0.07266306092695803, |
| "card_holder1": 1.7340487083730243e-06, |
| "3_of_hearts": 1.7340482855526271e-06, |
| "card_holder2": 1.6691220852543862e-06, |
| "jack_of_diamonds": 1.6691217078306785e-06 |
| }, |
| "task_progress": 1.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "7_of_hearts" |
| ], |
| "ee_path_m": 0.6413440169556102, |
| "joint_path_rad": 3.2471176639866925 |
| }, |
| "200": { |
| "native_success": true, |
| "simulation_time_s": 8.800000000000562, |
| "object_displacement_m": { |
| "table": 1.70158947158189e-06, |
| "card_holder0": 0.00022401670190470304, |
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| "card_holder1": 1.7340487083730243e-06, |
| "3_of_hearts": 1.7340482855526271e-06, |
| "card_holder2": 1.6691220852543862e-06, |
| "jack_of_diamonds": 1.6691217078306785e-06 |
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| "task_progress": 1.0, |
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| "7_of_hearts" |
| ], |
| "ee_path_m": 0.6413440169556102, |
| "joint_path_rad": 3.2471176639866925 |
| } |
| }, |
| "steps": 68, |
| "ik_nonconverged": 0, |
| "simulator_steps": 68, |
| "wall_s": 3.2034608100075275, |
| "total_wall_s": 11.275750051019713, |
| "initial_physics_sha256": "4f73f82f5780df87d49802fea7a0ce90af32e09917a271a7e9b88f8acf135ca1", |
| "initial_rgb_sha256": "d7d475b1055f2b8a2182df21752a915bfebff589934c546aa4a378799920c9f0", |
| "ee_path_m": 0.6413440169556102, |
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| "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400", |
| "initial_simulation_time_s": 1.9999999999998905, |
| "ever_grasped_objects": [ |
| "7_of_hearts" |
| ], |
| "observation_matches_upstream": true, |
| "row": { |
| "task": "select_poker", |
| "seed": 45, |
| "track_index": 3 |
| }, |
| "recorded_action_steps": 68, |
| "requested_entity_for_grasp_measurement": "7_of_hearts", |
| "first_native_completion": 68, |
| "first_requested_completion": 68, |
| "first_alternative_completion": null, |
| "first_requested_grasp": 52, |
| "first_any_grasp": 52, |
| "grasp_observation_complete": true, |
| "both_predicates_ever_true": false |
| }, |
| { |
| "id": "select_poker_4", |
| "policy_seed": 17, |
| "instruction": "Please pick the poker king of clubs", |
| "initial": { |
| "native_success": false, |
| "simulation_time_s": 1.9999999999998905, |
| "object_displacement_m": { |
| "table": 0.0, |
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| "king_of_clubs": 0.0, |
| "card_holder1": 0.0, |
| "king_of_diamonds": 0.0, |
| "card_holder2": 0.0, |
| "9_of_hearts": 0.0 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 0.0, |
| "grasped_objects": [] |
| }, |
| "final": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 1.2979915641472927e-06, |
| "card_holder0": 0.0001799304837672313, |
| "king_of_clubs": 0.15807570821468342, |
| "card_holder1": 1.320648161007497e-06, |
| "king_of_diamonds": 1.320642555086331e-06, |
| "card_holder2": 1.2826274957339705e-06, |
| "9_of_hearts": 1.282622133496488e-06 |
| }, |
| "task_progress": 0.3333333333333333, |
| "intention_score": 1.0, |
| "grasped_objects": [] |
| }, |
| "snapshots": { |
| "60": { |
| "native_success": false, |
| "simulation_time_s": 8.000000000001005, |
| "object_displacement_m": { |
| "table": 1.2439790715075198e-06, |
| "card_holder0": 0.00016666340720168486, |
| "king_of_clubs": 0.014904774535260462, |
| "card_holder1": 1.2759360183747246e-06, |
| "king_of_diamonds": 1.2767946395495693e-06, |
| "card_holder2": 1.239528239501382e-06, |
| "9_of_hearts": 1.2403891544812052e-06 |
| }, |
| "task_progress": 0.6666666666666666, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "king_of_clubs" |
| ], |
| "ee_path_m": 0.5417197536823236, |
| "joint_path_rad": 3.092389863237434 |
| }, |
| "200": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 1.2979915641472927e-06, |
| "card_holder0": 0.0001799304837672313, |
| "king_of_clubs": 0.15807570821468342, |
| "card_holder1": 1.320648161007497e-06, |
| "king_of_diamonds": 1.320642555086331e-06, |
| "card_holder2": 1.2826274957339705e-06, |
| "9_of_hearts": 1.282622133496488e-06 |
| }, |
| "task_progress": 0.3333333333333333, |
| "intention_score": 1.0, |
| "grasped_objects": [], |
| "ee_path_m": 2.130629449011144, |
| "joint_path_rad": 11.892025355990365 |
| } |
| }, |
| "steps": 200, |
| "ik_nonconverged": 0, |
| "simulator_steps": 200, |
| "wall_s": 9.05627077294048, |
| "total_wall_s": 17.31737293396145, |
| "initial_physics_sha256": "d3c4ef3a6ba89aaddcabbb3ab17c8d7336dda841bfb53d1997b7174ee156ab7c", |
| "initial_rgb_sha256": "2880da9836a512a63cbc5f3576689a114472875f888a77ad5154d220b2cd1708", |
| "ee_path_m": 2.130629449011144, |
| "joint_path_rad": 11.892025355990365, |
| "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400", |
| "initial_simulation_time_s": 1.9999999999998905, |
| "ever_grasped_objects": [ |
| "king_of_clubs" |
| ], |
| "observation_matches_upstream": true, |
| "row": { |
| "task": "select_poker", |
| "seed": 46, |
| "track_index": 4 |
| }, |
| "recorded_action_steps": 200, |
| "requested_entity_for_grasp_measurement": "king_of_clubs", |
| "first_native_completion": null, |
| "first_requested_completion": null, |
| "first_alternative_completion": null, |
| "first_requested_grasp": 54, |
| "first_any_grasp": 54, |
| "grasp_observation_complete": true, |
| "both_predicates_ever_true": false |
| }, |
| { |
| "id": "select_poker_5", |
| "policy_seed": 17, |
| "instruction": "Please pick the poker jack of diamonds", |
| "initial": { |
| "native_success": false, |
| "simulation_time_s": 1.9999999999998905, |
| "object_displacement_m": { |
| "table": 0.0, |
| "card_holder0": 0.0, |
| "queen_of_spades": 0.0, |
| "card_holder1": 0.0, |
| "2_of_hearts": 0.0, |
| "card_holder2": 0.0, |
| "6_of_clubs": 0.0, |
| "card_holder3": 0.0, |
| "jack_of_diamonds": 0.0 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 0.0, |
| "grasped_objects": [] |
| }, |
| "final": { |
| "native_success": true, |
| "simulation_time_s": 9.100000000000396, |
| "object_displacement_m": { |
| "table": 1.5686678320881322e-06, |
| "card_holder0": 1.4863509905729015e-06, |
| "queen_of_spades": 1.4863504067409376e-06, |
| "card_holder1": 1.55177319658717e-06, |
| "2_of_hearts": 1.551772600018374e-06, |
| "card_holder2": 1.605856699953621e-06, |
| "6_of_clubs": 1.6058560816648942e-06, |
| "card_holder3": 0.00046091149566042416, |
| "jack_of_diamonds": 0.07750629331372669 |
| }, |
| "task_progress": 1.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "jack_of_diamonds" |
| ] |
| }, |
| "snapshots": { |
| "60": { |
| "native_success": false, |
| "simulation_time_s": 8.000000000001005, |
| "object_displacement_m": { |
| "table": 1.4893082861539894e-06, |
| "card_holder0": 1.4419166918279897e-06, |
| "queen_of_spades": 1.4446109773092742e-06, |
| "card_holder1": 1.5037732710519602e-06, |
| "2_of_hearts": 1.5064845954847712e-06, |
| "card_holder2": 1.5548805917723938e-06, |
| "6_of_clubs": 1.5576049757866387e-06, |
| "card_holder3": 0.0003944184846713389, |
| "jack_of_diamonds": 0.020856185178696692 |
| }, |
| "task_progress": 0.6666666666666666, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "jack_of_diamonds" |
| ], |
| "ee_path_m": 0.5420778691629571, |
| "joint_path_rad": 5.826627445123918 |
| }, |
| "71": { |
| "native_success": true, |
| "simulation_time_s": 9.100000000000396, |
| "object_displacement_m": { |
| "table": 1.5686678320881322e-06, |
| "card_holder0": 1.4863509905729015e-06, |
| "queen_of_spades": 1.4863504067409376e-06, |
| "card_holder1": 1.55177319658717e-06, |
| "2_of_hearts": 1.551772600018374e-06, |
| "card_holder2": 1.605856699953621e-06, |
| "6_of_clubs": 1.6058560816648942e-06, |
| "card_holder3": 0.00046091149566042416, |
| "jack_of_diamonds": 0.07750629331372669 |
| }, |
| "task_progress": 1.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "jack_of_diamonds" |
| ], |
| "ee_path_m": 0.6902013022982645, |
| "joint_path_rad": 6.983734040770905 |
| }, |
| "200": { |
| "native_success": true, |
| "simulation_time_s": 9.100000000000396, |
| "object_displacement_m": { |
| "table": 1.5686678320881322e-06, |
| "card_holder0": 1.4863509905729015e-06, |
| "queen_of_spades": 1.4863504067409376e-06, |
| "card_holder1": 1.55177319658717e-06, |
| "2_of_hearts": 1.551772600018374e-06, |
| "card_holder2": 1.605856699953621e-06, |
| "6_of_clubs": 1.6058560816648942e-06, |
| "card_holder3": 0.00046091149566042416, |
| "jack_of_diamonds": 0.07750629331372669 |
| }, |
| "task_progress": 1.0, |
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| "grasped_objects": [ |
| "jack_of_diamonds" |
| ], |
| "ee_path_m": 0.6902013022982645, |
| "joint_path_rad": 6.983734040770905 |
| } |
| }, |
| "steps": 71, |
| "ik_nonconverged": 0, |
| "simulator_steps": 71, |
| "wall_s": 3.3348486790200695, |
| "total_wall_s": 14.683284799917601, |
| "initial_physics_sha256": "3f877b9d0aa4fce89fea983af27077a9d496f88b112aa78045878e19d2b8e8af", |
| "initial_rgb_sha256": "67de1c279efd41435848e9230907ab7da0592ff1df19ee35da9a7f99170eddf9", |
| "ee_path_m": 0.6902013022982645, |
| "joint_path_rad": 6.983734040770905, |
| "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400", |
| "initial_simulation_time_s": 1.9999999999998905, |
| "ever_grasped_objects": [ |
| "jack_of_diamonds" |
| ], |
| "observation_matches_upstream": true, |
| "row": { |
| "task": "select_poker", |
| "seed": 47, |
| "track_index": 5 |
| }, |
| "recorded_action_steps": 71, |
| "requested_entity_for_grasp_measurement": "jack_of_diamonds", |
| "first_native_completion": 71, |
| "first_requested_completion": 71, |
| "first_alternative_completion": null, |
| "first_requested_grasp": 50, |
| "first_any_grasp": 50, |
| "grasp_observation_complete": true, |
| "both_predicates_ever_true": false |
| }, |
| { |
| "id": "select_poker_6", |
| "policy_seed": 17, |
| "instruction": "Please pick the poker jack of diamonds", |
| "initial": { |
| "native_success": false, |
| "simulation_time_s": 1.9999999999998905, |
| "object_displacement_m": { |
| "table": 0.0, |
| "card_holder0": 0.0, |
| "king_of_hearts": 0.0, |
| "card_holder1": 0.0, |
| "5_of_hearts": 0.0, |
| "card_holder2": 0.0, |
| "jack_of_diamonds": 0.0 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 0.0, |
| "grasped_objects": [] |
| }, |
| "final": { |
| "native_success": true, |
| "simulation_time_s": 9.000000000000451, |
| "object_displacement_m": { |
| "table": 1.5688761233623465e-06, |
| "card_holder0": 1.5346466526192236e-06, |
| "king_of_hearts": 1.5346468679690177e-06, |
| "card_holder1": 1.555542116993019e-06, |
| "5_of_hearts": 1.5555423224539347e-06, |
| "card_holder2": 0.0003868293125529698, |
| "jack_of_diamonds": 0.07692195529394462 |
| }, |
| "task_progress": 1.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "jack_of_diamonds" |
| ] |
| }, |
| "snapshots": { |
| "60": { |
| "native_success": false, |
| "simulation_time_s": 8.000000000001005, |
| "object_displacement_m": { |
| "table": 1.556638231933628e-06, |
| "card_holder0": 1.5259848746328324e-06, |
| "king_of_hearts": 1.5262635712161806e-06, |
| "card_holder1": 1.5467548856949063e-06, |
| "5_of_hearts": 1.5470323019208594e-06, |
| "card_holder2": 0.00038616889163841365, |
| "jack_of_diamonds": 0.02059099032945023 |
| }, |
| "task_progress": 0.6666666666666666, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "jack_of_diamonds" |
| ], |
| "ee_path_m": 0.5583730972167308, |
| "joint_path_rad": 3.8647965388483776 |
| }, |
| "70": { |
| "native_success": true, |
| "simulation_time_s": 9.000000000000451, |
| "object_displacement_m": { |
| "table": 1.5688761233623465e-06, |
| "card_holder0": 1.5346466526192236e-06, |
| "king_of_hearts": 1.5346468679690177e-06, |
| "card_holder1": 1.555542116993019e-06, |
| "5_of_hearts": 1.5555423224539347e-06, |
| "card_holder2": 0.0003868293125529698, |
| "jack_of_diamonds": 0.07692195529394462 |
| }, |
| "task_progress": 1.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "jack_of_diamonds" |
| ], |
| "ee_path_m": 0.6523622253945656, |
| "joint_path_rad": 4.234626754147298 |
| }, |
| "200": { |
| "native_success": true, |
| "simulation_time_s": 9.000000000000451, |
| "object_displacement_m": { |
| "table": 1.5688761233623465e-06, |
| "card_holder0": 1.5346466526192236e-06, |
| "king_of_hearts": 1.5346468679690177e-06, |
| "card_holder1": 1.555542116993019e-06, |
| "5_of_hearts": 1.5555423224539347e-06, |
| "card_holder2": 0.0003868293125529698, |
| "jack_of_diamonds": 0.07692195529394462 |
| }, |
| "task_progress": 1.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "jack_of_diamonds" |
| ], |
| "ee_path_m": 0.6523622253945656, |
| "joint_path_rad": 4.234626754147298 |
| } |
| }, |
| "steps": 70, |
| "ik_nonconverged": 0, |
| "simulator_steps": 70, |
| "wall_s": 3.2748297880170867, |
| "total_wall_s": 11.047312866081484, |
| "initial_physics_sha256": "d18289fba45ef11a37b36a73ca32c126b785c583ccf86e0bd26d67b5897af86d", |
| "initial_rgb_sha256": "252f2c9232c392055cf89377d5af9af0e9b68ff523044e03630691ee19216069", |
| "ee_path_m": 0.6523622253945656, |
| "joint_path_rad": 4.234626754147298, |
| "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400", |
| "initial_simulation_time_s": 1.9999999999998905, |
| "ever_grasped_objects": [ |
| "jack_of_diamonds" |
| ], |
| "observation_matches_upstream": true, |
| "row": { |
| "task": "select_poker", |
| "seed": 48, |
| "track_index": 6 |
| }, |
| "recorded_action_steps": 70, |
| "requested_entity_for_grasp_measurement": "jack_of_diamonds", |
| "first_native_completion": 70, |
| "first_requested_completion": 70, |
| "first_alternative_completion": null, |
| "first_requested_grasp": 51, |
| "first_any_grasp": 51, |
| "grasp_observation_complete": true, |
| "both_predicates_ever_true": false |
| }, |
| { |
| "id": "select_poker_7", |
| "policy_seed": 17, |
| "instruction": "Please pick the poker 10 of spades", |
| "initial": { |
| "native_success": false, |
| "simulation_time_s": 1.9999999999998905, |
| "object_displacement_m": { |
| "table": 0.0, |
| "card_holder0": 0.0, |
| "10_of_spades": 0.0, |
| "card_holder1": 0.0, |
| "2_of_diamonds": 0.0, |
| "card_holder2": 0.0, |
| "3_of_spades": 0.0, |
| "card_holder3": 0.0, |
| "6_of_hearts": 0.0 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 0.0, |
| "grasped_objects": [] |
| }, |
| "final": { |
| "native_success": true, |
| "simulation_time_s": 9.300000000000285, |
| "object_displacement_m": { |
| "table": 1.4218461447348843e-06, |
| "card_holder0": 0.00015694326928306402, |
| "10_of_spades": 0.07230470547799002, |
| "card_holder1": 1.4572211121421477e-06, |
| "2_of_diamonds": 1.4572202269262207e-06, |
| "card_holder2": 1.3964161633671633e-06, |
| "3_of_spades": 1.3964153104587936e-06, |
| "card_holder3": 1.3356888982338469e-06, |
| "6_of_hearts": 1.3356880655104286e-06 |
| }, |
| "task_progress": 1.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "10_of_spades" |
| ] |
| }, |
| "snapshots": { |
| "60": { |
| "native_success": false, |
| "simulation_time_s": 8.000000000001005, |
| "object_displacement_m": { |
| "table": 1.1569193768092892e-06, |
| "card_holder0": 0.00012799785397157333, |
| "10_of_spades": 0.017503799696016904, |
| "card_holder1": 1.2085177732071078e-06, |
| "2_of_diamonds": 1.210397977188289e-06, |
| "card_holder2": 1.1583254050648443e-06, |
| "3_of_spades": 1.1602023173693578e-06, |
| "card_holder3": 1.1099061988271624e-06, |
| "6_of_hearts": 1.1118058400311084e-06 |
| }, |
| "task_progress": 0.6666666666666666, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "10_of_spades" |
| ], |
| "ee_path_m": 0.5678820929124554, |
| "joint_path_rad": 3.020372490624796 |
| }, |
| "73": { |
| "native_success": true, |
| "simulation_time_s": 9.300000000000285, |
| "object_displacement_m": { |
| "table": 1.4218461447348843e-06, |
| "card_holder0": 0.00015694326928306402, |
| "10_of_spades": 0.07230470547799002, |
| "card_holder1": 1.4572211121421477e-06, |
| "2_of_diamonds": 1.4572202269262207e-06, |
| "card_holder2": 1.3964161633671633e-06, |
| "3_of_spades": 1.3964153104587936e-06, |
| "card_holder3": 1.3356888982338469e-06, |
| "6_of_hearts": 1.3356880655104286e-06 |
| }, |
| "task_progress": 1.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "10_of_spades" |
| ], |
| "ee_path_m": 0.6605036199053812, |
| "joint_path_rad": 3.4512469125495344 |
| }, |
| "200": { |
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| "joint_path_rad": 9.023256061670908 |
| } |
| }, |
| "steps": 101, |
| "ik_nonconverged": 0, |
| "simulator_steps": 101, |
| "wall_s": 8.08842745795846, |
| "total_wall_s": 21.508232019958086, |
| "initial_physics_sha256": "344136836a8e1f75ca4e767a3ffeed95a82df5e2b38d24dc5efc79afa492cfa9", |
| "initial_rgb_sha256": "defb4a085b166a4b3e188571394ef9d59f7b85384abf8e5df0475302e225b84c", |
| "ee_path_m": 0.8186774197434359, |
| "joint_path_rad": 9.023256061670908, |
| "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400", |
| "initial_simulation_time_s": 1.9999999999998905, |
| "ever_grasped_objects": [ |
| "9_man" |
| ], |
| "observation_matches_upstream": true, |
| "row": { |
| "task": "select_mahjong", |
| "seed": 51, |
| "track_index": 9 |
| }, |
| "recorded_action_steps": 101, |
| "requested_entity_for_grasp_measurement": "9_man", |
| "first_native_completion": 101, |
| "first_requested_completion": 101, |
| "first_alternative_completion": null, |
| "first_requested_grasp": 50, |
| "first_any_grasp": 50, |
| "grasp_observation_complete": true, |
| "both_predicates_ever_true": false |
| }, |
| { |
| "id": "select_poker_0", |
| "policy_seed": 17, |
| "instruction": "Please pick the poker ace of hearts", |
| "initial": { |
| "native_success": false, |
| "simulation_time_s": 1.9999999999998905, |
| "object_displacement_m": { |
| "table": 0.0, |
| "card_holder0": 0.0, |
| "king_of_clubs": 0.0, |
| "card_holder1": 0.0, |
| "ace_of_hearts": 0.0, |
| "card_holder2": 0.0, |
| "jack_of_hearts": 0.0, |
| "card_holder3": 0.0, |
| "9_of_spades": 0.0 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 0.0, |
| "grasped_objects": [] |
| }, |
| "final": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 2.5053744124385133e-06, |
| "card_holder0": 2.3672576592786226e-06, |
| "king_of_clubs": 2.367252981319401e-06, |
| "card_holder1": 2.47213029363553e-06, |
| "ace_of_hearts": 2.4721256121320463e-06, |
| "card_holder2": 2.573595620169021e-06, |
| "jack_of_hearts": 2.573590923501408e-06, |
| "card_holder3": 0.0010948817146649325, |
| "9_of_spades": 0.15367767084833767 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "9_of_spades" |
| ] |
| }, |
| "snapshots": { |
| "60": { |
| "native_success": false, |
| "simulation_time_s": 8.000000000001005, |
| "object_displacement_m": { |
| "table": 6.8940928971136875e-18, |
| "card_holder0": 4.508722185830055e-12, |
| "king_of_clubs": 6.680046889017659e-12, |
| "card_holder1": 4.508722185830055e-12, |
| "ace_of_hearts": 6.679882222301353e-12, |
| "card_holder2": 4.508722185830055e-12, |
| "jack_of_hearts": 6.679881188955326e-12, |
| "card_holder3": 4.508722185830055e-12, |
| "9_of_spades": 6.680046889017659e-12 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 1.0, |
| "grasped_objects": [], |
| "ee_path_m": 0.5503166123125328, |
| "joint_path_rad": 3.5845917430287577 |
| }, |
| "200": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 2.5053744124385133e-06, |
| "card_holder0": 2.3672576592786226e-06, |
| "king_of_clubs": 2.367252981319401e-06, |
| "card_holder1": 2.47213029363553e-06, |
| "ace_of_hearts": 2.4721256121320463e-06, |
| "card_holder2": 2.573595620169021e-06, |
| "jack_of_hearts": 2.573590923501408e-06, |
| "card_holder3": 0.0010948817146649325, |
| "9_of_spades": 0.15367767084833767 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "9_of_spades" |
| ], |
| "ee_path_m": 0.9198946066704285, |
| "joint_path_rad": 6.6412964765171365 |
| } |
| }, |
| "steps": 200, |
| "ik_nonconverged": 0, |
| "simulator_steps": 200, |
| "wall_s": 11.484088551951572, |
| "total_wall_s": 23.673757618991658, |
| "initial_physics_sha256": "339b19645ae708790791e552f644cbde01605e01ef97b9e0466fb54e33252e9d", |
| "initial_rgb_sha256": "ebb5c56987e2a62b0285dda51f4268891be45b80efbd020b6a33d7aa63717eaf", |
| "ee_path_m": 0.9198946066704285, |
| "joint_path_rad": 6.6412964765171365, |
| "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400", |
| "initial_simulation_time_s": 1.9999999999998905, |
| "ever_grasped_objects": [ |
| "9_of_spades" |
| ], |
| "observation_matches_upstream": true, |
| "row": { |
| "task": "select_poker", |
| "seed": 42, |
| "track_index": 0 |
| }, |
| "recorded_action_steps": 200, |
| "requested_entity_for_grasp_measurement": "ace_of_hearts", |
| "first_native_completion": null, |
| "first_requested_completion": null, |
| "first_alternative_completion": null, |
| "first_requested_grasp": null, |
| "first_any_grasp": 79, |
| "grasp_observation_complete": true, |
| "both_predicates_ever_true": false |
| }, |
| { |
| "id": "select_poker_1", |
| "policy_seed": 17, |
| "instruction": "Please pick the poker 8 of clubs", |
| "initial": { |
| "native_success": false, |
| "simulation_time_s": 1.9999999999998905, |
| "object_displacement_m": { |
| "table": 0.0, |
| "card_holder0": 0.0, |
| "2_of_hearts": 0.0, |
| "card_holder1": 0.0, |
| "5_of_hearts": 0.0, |
| "card_holder2": 0.0, |
| "8_of_clubs": 0.0, |
| "card_holder3": 0.0, |
| "queen_of_diamonds": 0.0 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 0.0, |
| "grasped_objects": [] |
| }, |
| "final": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 1.2957247275884524e-06, |
| "card_holder0": 1.2425737473947764e-06, |
| "2_of_hearts": 1.2425683979803701e-06, |
| "card_holder1": 1.280747236096036e-06, |
| "5_of_hearts": 1.2807421013436063e-06, |
| "card_holder2": 1.325493439616243e-06, |
| "8_of_clubs": 1.3254881340570608e-06, |
| "card_holder3": 0.0002020216177774237, |
| "queen_of_diamonds": 0.18108762475564455 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "queen_of_diamonds" |
| ] |
| }, |
| "snapshots": { |
| "60": { |
| "native_success": false, |
| "simulation_time_s": 8.000000000001005, |
| "object_displacement_m": { |
| "table": 1.1544686029607307e-07, |
| "card_holder0": 1.5238875604191465e-07, |
| "2_of_hearts": 1.5649778098477488e-07, |
| "card_holder1": 1.5548883559355318e-07, |
| "5_of_hearts": 1.5947944763471511e-07, |
| "card_holder2": 1.5988611609352435e-07, |
| "8_of_clubs": 1.6373634470347792e-07, |
| "card_holder3": 5.479763352667111e-06, |
| "queen_of_diamonds": 0.0042169656844885765 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 1.0, |
| "grasped_objects": [], |
| "ee_path_m": 0.5691304376053498, |
| "joint_path_rad": 4.172524705897054 |
| }, |
| "200": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 1.2957247275884524e-06, |
| "card_holder0": 1.2425737473947764e-06, |
| "2_of_hearts": 1.2425683979803701e-06, |
| "card_holder1": 1.280747236096036e-06, |
| "5_of_hearts": 1.2807421013436063e-06, |
| "card_holder2": 1.325493439616243e-06, |
| "8_of_clubs": 1.3254881340570608e-06, |
| "card_holder3": 0.0002020216177774237, |
| "queen_of_diamonds": 0.18108762475564455 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "queen_of_diamonds" |
| ], |
| "ee_path_m": 0.9377317569133085, |
| "joint_path_rad": 6.57971930172724 |
| } |
| }, |
| "steps": 200, |
| "ik_nonconverged": 0, |
| "simulator_steps": 200, |
| "wall_s": 11.832821925985627, |
| "total_wall_s": 38.71634974004701, |
| "initial_physics_sha256": "401a81724d79cf7b156be5ffb1bc121d198cf65c6c388df20bb9d259b22be413", |
| "initial_rgb_sha256": "66c62b893f83d4cf8056ac2f071455efa009995ce44326a8720a03d87086ff19", |
| "ee_path_m": 0.9377317569133085, |
| "joint_path_rad": 6.57971930172724, |
| "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400", |
| "initial_simulation_time_s": 1.9999999999998905, |
| "ever_grasped_objects": [ |
| "queen_of_diamonds" |
| ], |
| "observation_matches_upstream": true, |
| "row": { |
| "task": "select_poker", |
| "seed": 43, |
| "track_index": 1 |
| }, |
| "recorded_action_steps": 200, |
| "requested_entity_for_grasp_measurement": "8_of_clubs", |
| "first_native_completion": null, |
| "first_requested_completion": null, |
| "first_alternative_completion": null, |
| "first_requested_grasp": null, |
| "first_any_grasp": 65, |
| "grasp_observation_complete": true, |
| "both_predicates_ever_true": false |
| }, |
| { |
| "id": "select_poker_2", |
| "policy_seed": 17, |
| "instruction": "Please pick the poker 4 of hearts", |
| "initial": { |
| "native_success": false, |
| "simulation_time_s": 1.9999999999998905, |
| "object_displacement_m": { |
| "table": 0.0, |
| "card_holder0": 0.0, |
| "4_of_diamonds": 0.0, |
| "card_holder1": 0.0, |
| "9_of_spades": 0.0, |
| "card_holder2": 0.0, |
| "8_of_hearts": 0.0, |
| "card_holder3": 0.0, |
| "4_of_hearts": 0.0 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 0.0, |
| "grasped_objects": [] |
| }, |
| "final": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 1.899592806460806e-06, |
| "card_holder0": 1.93999252400987e-06, |
| "4_of_diamonds": 1.939994783537665e-06, |
| "card_holder1": 0.003468771007662175, |
| "9_of_spades": 0.1740630592327064, |
| "card_holder2": 1.8867046079135392e-06, |
| "8_of_hearts": 1.8867069217421191e-06, |
| "card_holder3": 1.8605672122056821e-06, |
| "4_of_hearts": 1.86056959113384e-06 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "9_of_spades" |
| ] |
| }, |
| "snapshots": { |
| "60": { |
| "native_success": false, |
| "simulation_time_s": 8.000000000001005, |
| "object_displacement_m": { |
| "table": 1.0807951506631997e-07, |
| "card_holder0": 1.0887581947008312e-07, |
| "4_of_diamonds": 1.0897735941823765e-07, |
| "card_holder1": 5.924056602951192e-06, |
| "9_of_spades": 0.004104256558259839, |
| "card_holder2": 1.0989538668639716e-07, |
| "8_of_hearts": 1.0998542447583232e-07, |
| "card_holder3": 1.1140920561130923e-07, |
| "4_of_hearts": 1.1149583557353035e-07 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 1.0, |
| "grasped_objects": [], |
| "ee_path_m": 0.5177582726641496, |
| "joint_path_rad": 3.1570802191191425 |
| }, |
| "200": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 1.899592806460806e-06, |
| "card_holder0": 1.93999252400987e-06, |
| "4_of_diamonds": 1.939994783537665e-06, |
| "card_holder1": 0.003468771007662175, |
| "9_of_spades": 0.1740630592327064, |
| "card_holder2": 1.8867046079135392e-06, |
| "8_of_hearts": 1.8867069217421191e-06, |
| "card_holder3": 1.8605672122056821e-06, |
| "4_of_hearts": 1.86056959113384e-06 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "9_of_spades" |
| ], |
| "ee_path_m": 0.8199850636012368, |
| "joint_path_rad": 5.165467789920947 |
| } |
| }, |
| "steps": 200, |
| "ik_nonconverged": 0, |
| "simulator_steps": 200, |
| "wall_s": 13.889342772075906, |
| "total_wall_s": 35.47050356690306, |
| "initial_physics_sha256": "2a0421213e0694417da367d315846ffdaee6de5045efc4ed613511b74d7dca8a", |
| "initial_rgb_sha256": "a386fb575532a7ae7970eb44edd0bb4b5b745214dae709c2110e6dda8a5c92d9", |
| "ee_path_m": 0.8199850636012368, |
| "joint_path_rad": 5.165467789920947, |
| "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400", |
| "initial_simulation_time_s": 1.9999999999998905, |
| "ever_grasped_objects": [ |
| "9_of_spades" |
| ], |
| "observation_matches_upstream": true, |
| "row": { |
| "task": "select_poker", |
| "seed": 44, |
| "track_index": 2 |
| }, |
| "recorded_action_steps": 200, |
| "requested_entity_for_grasp_measurement": "4_of_hearts", |
| "first_native_completion": null, |
| "first_requested_completion": null, |
| "first_alternative_completion": null, |
| "first_requested_grasp": null, |
| "first_any_grasp": 65, |
| "grasp_observation_complete": true, |
| "both_predicates_ever_true": false |
| }, |
| { |
| "id": "select_poker_3", |
| "policy_seed": 17, |
| "instruction": "Please pick the poker 7 of hearts", |
| "initial": { |
| "native_success": false, |
| "simulation_time_s": 1.9999999999998905, |
| "object_displacement_m": { |
| "table": 0.0, |
| "card_holder0": 0.0, |
| "7_of_hearts": 0.0, |
| "card_holder1": 0.0, |
| "3_of_hearts": 0.0, |
| "card_holder2": 0.0, |
| "jack_of_diamonds": 0.0 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 0.0, |
| "grasped_objects": [] |
| }, |
| "final": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 1.581991182979486e-06, |
| "card_holder0": 1.619362172474523e-06, |
| "7_of_hearts": 0.003967494972988828, |
| "card_holder1": 0.00021764327193826425, |
| "3_of_hearts": 0.1321218294445332, |
| "card_holder2": 1.5597715263265536e-06, |
| "jack_of_diamonds": 1.559767294283169e-06 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "3_of_hearts" |
| ] |
| }, |
| "snapshots": { |
| "60": { |
| "native_success": false, |
| "simulation_time_s": 8.000000000001005, |
| "object_displacement_m": { |
| "table": 1.5819911572480886e-06, |
| "card_holder0": 1.6193642882266507e-06, |
| "7_of_hearts": 0.003968252441981155, |
| "card_holder1": 0.00021764327708049424, |
| "3_of_hearts": 0.023965752567572877, |
| "card_holder2": 1.5597784343746734e-06, |
| "jack_of_diamonds": 1.559777969157102e-06 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "3_of_hearts" |
| ], |
| "ee_path_m": 0.7310413271437627, |
| "joint_path_rad": 5.392046010725491 |
| }, |
| "200": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 1.581991182979486e-06, |
| "card_holder0": 1.619362172474523e-06, |
| "7_of_hearts": 0.003967494972988828, |
| "card_holder1": 0.00021764327193826425, |
| "3_of_hearts": 0.1321218294445332, |
| "card_holder2": 1.5597715263265536e-06, |
| "jack_of_diamonds": 1.559767294283169e-06 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "3_of_hearts" |
| ], |
| "ee_path_m": 0.9301030713684105, |
| "joint_path_rad": 7.207904983838096 |
| } |
| }, |
| "steps": 200, |
| "ik_nonconverged": 0, |
| "simulator_steps": 200, |
| "wall_s": 10.988815787015483, |
| "total_wall_s": 28.103729766095057, |
| "initial_physics_sha256": "4f73f82f5780df87d49802fea7a0ce90af32e09917a271a7e9b88f8acf135ca1", |
| "initial_rgb_sha256": "d7d475b1055f2b8a2182df21752a915bfebff589934c546aa4a378799920c9f0", |
| "ee_path_m": 0.9301030713684105, |
| "joint_path_rad": 7.207904983838096, |
| "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400", |
| "initial_simulation_time_s": 1.9999999999998905, |
| "ever_grasped_objects": [ |
| "3_of_hearts" |
| ], |
| "observation_matches_upstream": true, |
| "row": { |
| "task": "select_poker", |
| "seed": 45, |
| "track_index": 3 |
| }, |
| "recorded_action_steps": 200, |
| "requested_entity_for_grasp_measurement": "7_of_hearts", |
| "first_native_completion": null, |
| "first_requested_completion": null, |
| "first_alternative_completion": null, |
| "first_requested_grasp": null, |
| "first_any_grasp": 55, |
| "grasp_observation_complete": true, |
| "both_predicates_ever_true": false |
| }, |
| { |
| "id": "select_poker_4", |
| "policy_seed": 17, |
| "instruction": "Please pick the poker king of clubs", |
| "initial": { |
| "native_success": false, |
| "simulation_time_s": 1.9999999999998905, |
| "object_displacement_m": { |
| "table": 0.0, |
| "card_holder0": 0.0, |
| "king_of_clubs": 0.0, |
| "card_holder1": 0.0, |
| "king_of_diamonds": 0.0, |
| "card_holder2": 0.0, |
| "9_of_hearts": 0.0 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 0.0, |
| "grasped_objects": [] |
| }, |
| "final": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 2.0061795356107742e-06, |
| "card_holder0": 2.04365014651291e-06, |
| "king_of_clubs": 2.043648556246969e-06, |
| "card_holder1": 0.0003507463877834346, |
| "king_of_diamonds": 0.14298666072287158, |
| "card_holder2": 1.9904731404981674e-06, |
| "9_of_hearts": 1.9904715496426696e-06 |
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| ] |
| }, |
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| "simulation_time_s": 8.000000000001005, |
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| "table": 1.6340764082917854e-06, |
| "card_holder0": 1.722486833393881e-06, |
| "king_of_clubs": 1.729087177706652e-06, |
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| "king_of_diamonds": 0.01889137948523284, |
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| }, |
| "200": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
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| "table": 2.0061795356107742e-06, |
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| "king_of_diamonds": 0.14298666072287158, |
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| "9_of_hearts": 1.9904715496426696e-06 |
| }, |
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| "king_of_diamonds" |
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| "ee_path_m": 0.7430632446044622, |
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| }, |
| "steps": 200, |
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| "simulator_steps": 200, |
| "wall_s": 11.300138161983341, |
| "total_wall_s": 22.6579574609641, |
| "initial_physics_sha256": "d3c4ef3a6ba89aaddcabbb3ab17c8d7336dda841bfb53d1997b7174ee156ab7c", |
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| "king_of_diamonds" |
| ], |
| "observation_matches_upstream": true, |
| "row": { |
| "task": "select_poker", |
| "seed": 46, |
| "track_index": 4 |
| }, |
| "recorded_action_steps": 200, |
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| }, |
| { |
| "id": "select_poker_5", |
| "policy_seed": 17, |
| "instruction": "Please pick the poker jack of diamonds", |
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| "simulation_time_s": 1.9999999999998905, |
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| "table": 0.0, |
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| "card_holder1": 0.0, |
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| "6_of_clubs": 0.0, |
| "card_holder3": 0.0, |
| "jack_of_diamonds": 0.0 |
| }, |
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| "grasped_objects": [] |
| }, |
| "final": { |
| "native_success": true, |
| "simulation_time_s": 10.099999999999842, |
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| "table": 8.701445340284591e-08, |
| "card_holder0": 8.077451329751893e-08, |
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| "card_holder1": 8.439084050709102e-08, |
| "2_of_hearts": 8.439370778955749e-08, |
| "card_holder2": 8.751528926642473e-08, |
| "6_of_clubs": 8.751815495558491e-08, |
| "card_holder3": 6.347980279495723e-06, |
| "jack_of_diamonds": 0.07302395095498104 |
| }, |
| "task_progress": 1.0, |
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| "grasped_objects": [ |
| "jack_of_diamonds" |
| ] |
| }, |
| "snapshots": { |
| "60": { |
| "native_success": false, |
| "simulation_time_s": 8.000000000001005, |
| "object_displacement_m": { |
| "table": 3.76259482732533e-17, |
| "card_holder0": 4.333071178949439e-12, |
| "queen_of_spades": 6.439532138314071e-12, |
| "card_holder1": 4.33168168541829e-12, |
| "2_of_hearts": 6.441436821980827e-12, |
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| "6_of_clubs": 6.441409080902708e-12, |
| "card_holder3": 4.321373936978884e-12, |
| "jack_of_diamonds": 6.435522799863457e-12 |
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| "81": { |
| "native_success": true, |
| "simulation_time_s": 10.099999999999842, |
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| "card_holder3": 6.347980279495723e-06, |
| "jack_of_diamonds": 0.07302395095498104 |
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| "task_progress": 1.0, |
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| "200": { |
| "native_success": true, |
| "simulation_time_s": 10.099999999999842, |
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| "card_holder3": 6.347980279495723e-06, |
| "jack_of_diamonds": 0.07302395095498104 |
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| "task_progress": 1.0, |
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| ], |
| "ee_path_m": 0.7285887145591426, |
| "joint_path_rad": 5.341813116792842 |
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| }, |
| "steps": 81, |
| "ik_nonconverged": 0, |
| "simulator_steps": 81, |
| "wall_s": 7.19851082097739, |
| "total_wall_s": 31.067448391928338, |
| "initial_physics_sha256": "3f877b9d0aa4fce89fea983af27077a9d496f88b112aa78045878e19d2b8e8af", |
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| "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400", |
| "initial_simulation_time_s": 1.9999999999998905, |
| "ever_grasped_objects": [ |
| "jack_of_diamonds" |
| ], |
| "observation_matches_upstream": true, |
| "row": { |
| "task": "select_poker", |
| "seed": 47, |
| "track_index": 5 |
| }, |
| "recorded_action_steps": 81, |
| "requested_entity_for_grasp_measurement": "jack_of_diamonds", |
| "first_native_completion": 81, |
| "first_requested_completion": 81, |
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| "first_requested_grasp": 70, |
| "first_any_grasp": 70, |
| "grasp_observation_complete": true, |
| "both_predicates_ever_true": false |
| }, |
| { |
| "id": "select_poker_6", |
| "policy_seed": 17, |
| "instruction": "Please pick the poker jack of diamonds", |
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| "native_success": false, |
| "simulation_time_s": 1.9999999999998905, |
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| "table": 0.0, |
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| "king_of_hearts": 0.0, |
| "card_holder1": 0.0, |
| "5_of_hearts": 0.0, |
| "card_holder2": 0.0, |
| "jack_of_diamonds": 0.0 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 0.0, |
| "grasped_objects": [] |
| }, |
| "final": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
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| "table": 7.963175977996894e-12, |
| "card_holder0": 2.7047755761198188e-12, |
| "king_of_hearts": 5.1439003197112e-12, |
| "card_holder1": 2.758864510809938e-12, |
| "5_of_hearts": 5.061531228027968e-12, |
| "card_holder2": 1.8973040347905483e-10, |
| "jack_of_diamonds": 0.12007180668753599 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 1.0, |
| "grasped_objects": [] |
| }, |
| "snapshots": { |
| "60": { |
| "native_success": false, |
| "simulation_time_s": 8.000000000001005, |
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| "table": 2.536736159790958e-18, |
| "card_holder0": 2.393856990022778e-12, |
| "king_of_hearts": 3.5731698895719894e-12, |
| "card_holder1": 2.448947906106182e-12, |
| "5_of_hearts": 3.632004243438395e-12, |
| "card_holder2": 2.448947906106182e-12, |
| "jack_of_diamonds": 3.621923973471597e-12 |
| }, |
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| "joint_path_rad": 4.7338529128880396 |
| }, |
| "200": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 7.963175977996894e-12, |
| "card_holder0": 2.7047755761198188e-12, |
| "king_of_hearts": 5.1439003197112e-12, |
| "card_holder1": 2.758864510809938e-12, |
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| "card_holder2": 1.8973040347905483e-10, |
| "jack_of_diamonds": 0.12007180668753599 |
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| "ee_path_m": 1.0388892920014832, |
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| }, |
| "steps": 200, |
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| "simulator_steps": 200, |
| "wall_s": 11.17526014696341, |
| "total_wall_s": 31.144301246036775, |
| "initial_physics_sha256": "d18289fba45ef11a37b36a73ca32c126b785c583ccf86e0bd26d67b5897af86d", |
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| "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400", |
| "initial_simulation_time_s": 1.9999999999998905, |
| "ever_grasped_objects": [], |
| "observation_matches_upstream": true, |
| "row": { |
| "task": "select_poker", |
| "seed": 48, |
| "track_index": 6 |
| }, |
| "recorded_action_steps": 200, |
| "requested_entity_for_grasp_measurement": "jack_of_diamonds", |
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| "grasp_observation_complete": true, |
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| }, |
| { |
| "id": "select_poker_7", |
| "policy_seed": 17, |
| "instruction": "Please pick the poker 10 of spades", |
| "initial": { |
| "native_success": false, |
| "simulation_time_s": 1.9999999999998905, |
| "object_displacement_m": { |
| "table": 0.0, |
| "card_holder0": 0.0, |
| "10_of_spades": 0.0, |
| "card_holder1": 0.0, |
| "2_of_diamonds": 0.0, |
| "card_holder2": 0.0, |
| "3_of_spades": 0.0, |
| "card_holder3": 0.0, |
| "6_of_hearts": 0.0 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 0.0, |
| "grasped_objects": [] |
| }, |
| "final": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 1.2885084952721704e-06, |
| "card_holder0": 1.4215209437955659e-06, |
| "10_of_spades": 0.12933573224783604, |
| "card_holder1": 1.29702198235373e-06, |
| "2_of_diamonds": 0.00020161907588575864, |
| "card_holder2": 1.2675165832754969e-06, |
| "3_of_spades": 1.2675234108296312e-06, |
| "card_holder3": 1.2064839858308458e-06, |
| "6_of_hearts": 1.2064910107457445e-06 |
| }, |
| "task_progress": 0.3333333333333333, |
| "intention_score": 1.0, |
| "grasped_objects": [] |
| }, |
| "snapshots": { |
| "60": { |
| "native_success": false, |
| "simulation_time_s": 8.000000000001005, |
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| "table": 1.4704366005196447e-17, |
| "card_holder0": 3.181617165483508e-12, |
| "10_of_spades": 4.791229964684182e-12, |
| "card_holder1": 3.1739808369145446e-12, |
| "2_of_diamonds": 4.784198322567789e-12, |
| "card_holder2": 3.2189887056018394e-12, |
| "3_of_spades": 4.7841153717326715e-12, |
| "card_holder3": 3.181617165483508e-12, |
| "6_of_hearts": 4.802119319432815e-12 |
| }, |
| "task_progress": 0.0, |
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| "joint_path_rad": 2.7251812850144614 |
| }, |
| "200": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 1.2885084952721704e-06, |
| "card_holder0": 1.4215209437955659e-06, |
| "10_of_spades": 0.12933573224783604, |
| "card_holder1": 1.29702198235373e-06, |
| "2_of_diamonds": 0.00020161907588575864, |
| "card_holder2": 1.2675165832754969e-06, |
| "3_of_spades": 1.2675234108296312e-06, |
| "card_holder3": 1.2064839858308458e-06, |
| "6_of_hearts": 1.2064910107457445e-06 |
| }, |
| "task_progress": 0.3333333333333333, |
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| "ee_path_m": 1.5600090400330577, |
| "joint_path_rad": 9.531318139807045 |
| } |
| }, |
| "steps": 200, |
| "ik_nonconverged": 0, |
| "simulator_steps": 200, |
| "wall_s": 11.488611993961968, |
| "total_wall_s": 24.42733594600577, |
| "initial_physics_sha256": "8624c852e28beead0562dc2c07b4ac27dcf3adf778f7b8c9291e3c024f6bdbcc", |
| "initial_rgb_sha256": "b913d8922ec692baac7b73db6421a31ceeecc035eefc4b530f1b2dfb41d420fe", |
| "ee_path_m": 1.5600090400330577, |
| "joint_path_rad": 9.531318139807045, |
| "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400", |
| "initial_simulation_time_s": 1.9999999999998905, |
| "ever_grasped_objects": [ |
| "10_of_spades" |
| ], |
| "observation_matches_upstream": true, |
| "row": { |
| "task": "select_poker", |
| "seed": 49, |
| "track_index": 7 |
| }, |
| "recorded_action_steps": 200, |
| "requested_entity_for_grasp_measurement": "10_of_spades", |
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| "first_requested_completion": null, |
| "first_alternative_completion": null, |
| "first_requested_grasp": 61, |
| "first_any_grasp": 61, |
| "grasp_observation_complete": true, |
| "both_predicates_ever_true": false |
| }, |
| { |
| "id": "select_poker_8", |
| "policy_seed": 17, |
| "instruction": "Please pick the poker 5 of hearts", |
| "initial": { |
| "native_success": false, |
| "simulation_time_s": 1.9999999999998905, |
| "object_displacement_m": { |
| "table": 0.0, |
| "card_holder0": 0.0, |
| "4_of_hearts": 0.0, |
| "card_holder1": 0.0, |
| "5_of_hearts": 0.0, |
| "card_holder2": 0.0, |
| "ace_of_spades": 0.0 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 0.0, |
| "grasped_objects": [] |
| }, |
| "final": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 7.220779325434463e-07, |
| "card_holder0": 7.13941941944604e-07, |
| "4_of_hearts": 7.139377284337198e-07, |
| "card_holder1": 7.225560959402387e-07, |
| "5_of_hearts": 7.225516403686072e-07, |
| "card_holder2": 0.00010875920159894, |
| "ace_of_spades": 0.15452740545309593 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "ace_of_spades" |
| ] |
| }, |
| "snapshots": { |
| "60": { |
| "native_success": false, |
| "simulation_time_s": 8.000000000001005, |
| "object_displacement_m": { |
| "table": 3.0669245106255487e-19, |
| "card_holder0": 3.0718538955360006e-12, |
| "4_of_hearts": 4.55616124491301e-12, |
| "card_holder1": 3.007233742346648e-12, |
| "5_of_hearts": 4.559239866208675e-12, |
| "card_holder2": 3.0456786339370177e-12, |
| "ace_of_spades": 4.5509064706161225e-12 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 1.0, |
| "grasped_objects": [], |
| "ee_path_m": 0.5213758097275103, |
| "joint_path_rad": 3.318250302244072 |
| }, |
| "200": { |
| "native_success": false, |
| "simulation_time_s": 22.000000000003904, |
| "object_displacement_m": { |
| "table": 7.220779325434463e-07, |
| "card_holder0": 7.13941941944604e-07, |
| "4_of_hearts": 7.139377284337198e-07, |
| "card_holder1": 7.225560959402387e-07, |
| "5_of_hearts": 7.225516403686072e-07, |
| "card_holder2": 0.00010875920159894, |
| "ace_of_spades": 0.15452740545309593 |
| }, |
| "task_progress": 0.0, |
| "intention_score": 1.0, |
| "grasped_objects": [ |
| "ace_of_spades" |
| ], |
| "ee_path_m": 0.864236583978489, |
| "joint_path_rad": 5.967902092855325 |
| } |
| }, |
| "steps": 200, |
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| } |
| } |
| }, |
| "configuration_validation": "Recorded configurations match the prospective configuration hashes after undoing only VLABench's in-place expansion of xml_path to the installed VLABench/assets root. All relative asset names, instructions, goal conditions, and other fields are unchanged. This export-time normalization does not modify the frozen selection or raw records.", |
| "between_policy_checks": { |
| "common_trials": 27, |
| "scheduled_configurations": 30, |
| "physics_mismatches": [], |
| "rgb_mismatches": [], |
| "control_mismatches": [], |
| "time_mismatches": [] |
| } |
| } |
|
|
