| [ |
| { |
| "epoch": 0, |
| "train": { |
| "action": 0.10215476644225419, |
| "arm_role": 0.15410413238290252, |
| "belief": 0.2275839550420642, |
| "corridor": 0.31619268904129666, |
| "disturbance": 0.03557364640194768, |
| "persistence": 4.14529608686765, |
| "phase": 0.853579930961132, |
| "planner_ranking": 0.1402236126984159, |
| "planner_risk": 0.014521602657623589, |
| "planner_success": 0.6516827717423439, |
| "proposal_ranking": 0.12396896040687959, |
| "proposal_reconstruction": 0.15117586574827632, |
| "proposal_success": 0.6129913156231245, |
| "reocclusion": 0.6800185019771258, |
| "support_mode": 0.750041052699089, |
| "total": 1.7794813563426335, |
| "uncertainty": 0.2749920679877202, |
| "world_model": 2.930093298355738 |
| }, |
| "val": { |
| "action": 0.024464906891807914, |
| "arm_role": 0.00021468327213369776, |
| "belief": 0.11063466407358646, |
| "corridor": 0.24291332066059113, |
| "disturbance": 0.0021771492902189493, |
| "persistence": 4.035085469484329, |
| "phase": 0.7842688634991646, |
| "planner_ranking": 0.09380591381341219, |
| "planner_risk": 0.010528087033890188, |
| "planner_success": 0.6487544104456902, |
| "proposal_ranking": 0.09357322473078966, |
| "proposal_reconstruction": 0.05812322115525603, |
| "proposal_success": 0.6223367899656296, |
| "reocclusion": 0.6689130887389183, |
| "support_mode": 0.6824429258704185, |
| "total": 1.57107612490654, |
| "uncertainty": 0.04649291839450598, |
| "world_model": 2.8396184891462326 |
| } |
| }, |
| { |
| "epoch": 1, |
| "train": { |
| "action": 0.026911177905276418, |
| "arm_role": 9.164462486902873e-05, |
| "belief": 0.1127748250340422, |
| "corridor": 0.2482043243944645, |
| "disturbance": 0.0027894085894028344, |
| "persistence": 4.123300572236379, |
| "phase": 0.6966945106784502, |
| "planner_ranking": 0.1299859213953217, |
| "planner_risk": 0.011287257443958273, |
| "planner_success": 0.5469006697336832, |
| "proposal_ranking": 0.09497337446858485, |
| "proposal_reconstruction": 0.0546847361450394, |
| "proposal_success": 0.6040425598621368, |
| "reocclusion": 0.6738451148072878, |
| "support_mode": 0.6803697869181633, |
| "total": 1.4895438154538472, |
| "uncertainty": 0.04838159323359529, |
| "world_model": 2.5581150303284326 |
| }, |
| "val": { |
| "action": 0.0219610589556396, |
| "arm_role": 4.7797779643588e-05, |
| "belief": 0.11248616222292185, |
| "corridor": 0.24107512645423412, |
| "disturbance": 0.00229803760885261, |
| "persistence": 3.881433367729187, |
| "phase": 0.6858366876840591, |
| "planner_ranking": 0.10271583311259747, |
| "planner_risk": 0.010726989770773798, |
| "planner_success": 0.5016077607870102, |
| "proposal_ranking": 0.10926759615540504, |
| "proposal_reconstruction": 0.04846362583339214, |
| "proposal_success": 0.6263654828071594, |
| "reocclusion": 0.6623825207352638, |
| "support_mode": 0.6905809789896011, |
| "total": 1.4332728832960129, |
| "uncertainty": 0.03836950287222862, |
| "world_model": 2.490630403161049 |
| } |
| }, |
| { |
| "epoch": 2, |
| "train": { |
| "action": 0.028564381878823042, |
| "arm_role": 4.20472629230062e-05, |
| "belief": 0.11768585878113906, |
| "corridor": 0.2521046095838149, |
| "disturbance": 0.004006393282907084, |
| "persistence": 4.002537985642751, |
| "phase": 0.6817111050089201, |
| "planner_ranking": 0.14222958280394474, |
| "planner_risk": 0.010941210687936595, |
| "planner_success": 0.51358712464571, |
| "proposal_ranking": 0.10021264447520177, |
| "proposal_reconstruction": 0.05586679264282187, |
| "proposal_success": 0.6042261434098085, |
| "reocclusion": 0.6711050619681677, |
| "support_mode": 0.6735592807332674, |
| "total": 1.4198974122603734, |
| "uncertainty": 0.04468160099349916, |
| "world_model": 2.342899337410927 |
| }, |
| "val": { |
| "action": 0.03662527119740844, |
| "arm_role": 3.9326611840806436e-05, |
| "belief": 0.11038805078715086, |
| "corridor": 0.23578420095145702, |
| "disturbance": 0.0031197248463286087, |
| "persistence": 3.7882876694202423, |
| "phase": 0.677653007209301, |
| "planner_ranking": 0.12569222133606672, |
| "planner_risk": 0.010821192641742527, |
| "planner_success": 0.5561830475926399, |
| "proposal_ranking": 0.09295124560594559, |
| "proposal_reconstruction": 0.06929249316453934, |
| "proposal_success": 0.6254506856203079, |
| "reocclusion": 0.6604316681623459, |
| "support_mode": 0.6677745059132576, |
| "total": 1.2636573165655136, |
| "uncertainty": 0.02768313675187528, |
| "world_model": 1.7483449429273605 |
| } |
| }, |
| { |
| "epoch": 3, |
| "train": { |
| "action": 0.030749366773913305, |
| "arm_role": 4.2617077118241774e-05, |
| "belief": 0.11198224344601233, |
| "corridor": 0.24353070246676603, |
| "disturbance": 0.004747987113660201, |
| "persistence": 3.7688617209593454, |
| "phase": 0.6659654900431633, |
| "planner_ranking": 0.12002094245205323, |
| "planner_risk": 0.010106622396657864, |
| "planner_success": 0.472127099831899, |
| "proposal_ranking": 0.09478530536095302, |
| "proposal_reconstruction": 0.059262806084007025, |
| "proposal_success": 0.6104264035820961, |
| "reocclusion": 0.6585924625396729, |
| "support_mode": 0.6661049971977869, |
| "total": 1.3116108278433483, |
| "uncertainty": 0.02409021647569413, |
| "world_model": 2.0509919623533883 |
| }, |
| "val": { |
| "action": 0.020845535211265087, |
| "arm_role": 4.311565771786263e-05, |
| "belief": 0.105616076849401, |
| "corridor": 0.23376570269465446, |
| "disturbance": 0.002147116305422969, |
| "persistence": 3.7260473370552063, |
| "phase": 0.6661699637770653, |
| "planner_ranking": 0.10419025458395481, |
| "planner_risk": 0.010339341242797673, |
| "planner_success": 0.46252304688096046, |
| "proposal_ranking": 0.09330006875097752, |
| "proposal_reconstruction": 0.04469671146944165, |
| "proposal_success": 0.6214711964130402, |
| "reocclusion": 0.6415831819176674, |
| "support_mode": 0.6682936698198318, |
| "total": 1.2371356934309006, |
| "uncertainty": 0.021665064617991447, |
| "world_model": 1.8418128192424774 |
| } |
| }, |
| { |
| "epoch": 4, |
| "train": { |
| "action": 0.023547588226695854, |
| "arm_role": 4.4845532405209575e-05, |
| "belief": 0.10733066033571959, |
| "corridor": 0.2384033997853597, |
| "disturbance": 0.0032167407577314102, |
| "persistence": 3.8173932135105133, |
| "phase": 0.6745133176445961, |
| "planner_ranking": 0.10369156207889318, |
| "planner_risk": 0.01009264924020196, |
| "planner_success": 0.4860173078874747, |
| "proposal_ranking": 0.09702414429436128, |
| "proposal_reconstruction": 0.0478425626643002, |
| "proposal_success": 0.6053199768066406, |
| "reocclusion": 0.6491402039925257, |
| "support_mode": 0.6703156977891922, |
| "total": 1.2156481097141902, |
| "uncertainty": 0.024805960594676435, |
| "world_model": 1.684378559390704 |
| }, |
| "val": { |
| "action": 0.02007221127860248, |
| "arm_role": 6.0773097175115254e-05, |
| "belief": 0.10199161060154438, |
| "corridor": 0.22850653901696205, |
| "disturbance": 0.0017478264489909634, |
| "persistence": 3.6291932463645935, |
| "phase": 0.6642125844955444, |
| "planner_ranking": 0.09935609716922045, |
| "planner_risk": 0.009536529192700982, |
| "planner_success": 0.45760077610611916, |
| "proposal_ranking": 0.09855884779244661, |
| "proposal_reconstruction": 0.04397509805858135, |
| "proposal_success": 0.6215623244643211, |
| "reocclusion": 0.6404022425413132, |
| "support_mode": 0.6641640961170197, |
| "total": 1.153723917901516, |
| "uncertainty": 0.02464893041178584, |
| "world_model": 1.56255304813385 |
| } |
| }, |
| { |
| "epoch": 5, |
| "train": { |
| "action": 0.022455799548576277, |
| "arm_role": 5.3321499156785045e-05, |
| "belief": 0.10393211245536804, |
| "corridor": 0.23205090935031572, |
| "disturbance": 0.0021382822984984764, |
| "persistence": 3.760234226783117, |
| "phase": 0.6825721388061842, |
| "planner_ranking": 0.11921679352720578, |
| "planner_risk": 0.010239185998216271, |
| "planner_success": 0.467387559513251, |
| "proposal_ranking": 0.09636436806370814, |
| "proposal_reconstruction": 0.0463158117296795, |
| "proposal_success": 0.604705015818278, |
| "reocclusion": 0.6451127852002779, |
| "support_mode": 0.6723414833347002, |
| "total": 1.1677857091029484, |
| "uncertainty": 0.017458321526646614, |
| "world_model": 1.5345012545585632 |
| }, |
| "val": { |
| "action": 0.020456953439861536, |
| "arm_role": 5.5397130381606985e-05, |
| "belief": 0.100255505181849, |
| "corridor": 0.22343307547271252, |
| "disturbance": 0.0018057649213005789, |
| "persistence": 3.819442391395569, |
| "phase": 0.6870930641889572, |
| "planner_ranking": 0.12271129060536623, |
| "planner_risk": 0.009507962386123836, |
| "planner_success": 0.47849390283226967, |
| "proposal_ranking": 0.09397839661687613, |
| "proposal_reconstruction": 0.04395680082961917, |
| "proposal_success": 0.6256562769412994, |
| "reocclusion": 0.6624282449483871, |
| "support_mode": 0.6657112762331963, |
| "total": 1.3062576353549957, |
| "uncertainty": 0.007776510377880186, |
| "world_model": 2.0670085549354553 |
| } |
| }, |
| { |
| "epoch": 6, |
| "train": { |
| "action": 0.022894175878415506, |
| "arm_role": 5.4112812904349994e-05, |
| "belief": 0.10060124254475038, |
| "corridor": 0.23040568207701048, |
| "disturbance": 0.0020979453014054648, |
| "persistence": 3.749631315469742, |
| "phase": 0.6835000167290369, |
| "planner_ranking": 0.10540719423443079, |
| "planner_risk": 0.011304946111825606, |
| "planner_success": 0.43665214255452156, |
| "proposal_ranking": 0.09107906681795915, |
| "proposal_reconstruction": 0.04669830979158481, |
| "proposal_success": 0.6054539605975151, |
| "reocclusion": 0.6455749049782753, |
| "support_mode": 0.6700228725870451, |
| "total": 1.1786824663480122, |
| "uncertainty": 0.014146532688755542, |
| "world_model": 1.6150691360235214 |
| }, |
| "val": { |
| "action": 0.02070643357001245, |
| "arm_role": 4.2248018871759996e-05, |
| "belief": 0.10063061211258173, |
| "corridor": 0.22452155128121376, |
| "disturbance": 0.0018244763487018645, |
| "persistence": 3.6125852465629578, |
| "phase": 0.6734225451946259, |
| "planner_ranking": 0.0999936256557703, |
| "planner_risk": 0.010059075022581965, |
| "planner_success": 0.45402833819389343, |
| "proposal_ranking": 0.0882191276177764, |
| "proposal_reconstruction": 0.04391673672944307, |
| "proposal_success": 0.624024972319603, |
| "reocclusion": 0.6362400725483894, |
| "support_mode": 0.664807952940464, |
| "total": 1.134026937186718, |
| "uncertainty": 0.009506796195637435, |
| "world_model": 1.4956171810626984 |
| } |
| }, |
| { |
| "epoch": 7, |
| "train": { |
| "action": 0.02265403970765571, |
| "arm_role": 4.537651936213175e-05, |
| "belief": 0.10131731970856588, |
| "corridor": 0.22949850497146448, |
| "disturbance": 0.0021897068994197375, |
| "persistence": 3.6896196703116098, |
| "phase": 0.6795123865207037, |
| "planner_ranking": 0.09418578383823235, |
| "planner_risk": 0.00923546745131413, |
| "planner_success": 0.42756689339876175, |
| "proposal_ranking": 0.09173912275582552, |
| "proposal_reconstruction": 0.04657370550557971, |
| "proposal_success": 0.6038760592540106, |
| "reocclusion": 0.6364429369568825, |
| "support_mode": 0.6676999057332674, |
| "total": 1.1160989701747894, |
| "uncertainty": 0.01297911632961283, |
| "world_model": 1.4062732805808384 |
| }, |
| "val": { |
| "action": 0.023696284973993897, |
| "arm_role": 3.5256778573966585e-05, |
| "belief": 0.09744055476039648, |
| "corridor": 0.22240561619400978, |
| "disturbance": 0.0017758552203304134, |
| "persistence": 3.608371615409851, |
| "phase": 0.6682962626218796, |
| "planner_ranking": 0.10720822960138321, |
| "planner_risk": 0.009278025652747601, |
| "planner_success": 0.4377236105501652, |
| "proposal_ranking": 0.09098756965249777, |
| "proposal_reconstruction": 0.04804757330566645, |
| "proposal_success": 0.6270129010081291, |
| "reocclusion": 0.6341496035456657, |
| "support_mode": 0.6644193530082703, |
| "total": 1.0928071364760399, |
| "uncertainty": 0.015584498294629157, |
| "world_model": 1.3288657069206238 |
| } |
| } |
| ] |