{ "ckpt": "/app/project/trex/outputs/closed_loop/ppo3/logs/model_0.pt", "num_envs": 64, "rounds": 4, "rollouts": 256, "seed": 987654, "obs_noise_sigma": 0.01, "success_def": "insert_depth >= 0.03 m & |tilt| <= ~20 deg & peg bottom xy within 0.006 m of hole center, latched", "sr_base_bc": 0.84765625, "sr_std": 0.06286514429465266, "rounds_detail": [ { "round": 0, "sr": 0.921875, "success": [ true, true, true, true, true, true, true, true, false, true, true, true, false, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, false, true, true, true, true, true, true, true, false, true, true, true, true, true, true, true, true, false, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true ], "success_step": [ 38, 31, 65, 115, 47, 35, 50, 64, -1, 62, 39, 32, -1, 96, 42, 45, 28, 53, 64, 35, 56, 58, 48, 31, 51, 31, 53, 33, -1, 33, 33, 63, 52, 31, 67, 129, -1, 106, 33, 67, 37, 34, 35, 32, 45, -1, 30, 51, 65, 30, 90, 52, 28, 65, 34, 44, 53, 34, 29, 33, 217, 65, 69, 64 ], "depth_max": [ 0.0421, 0.04, 0.04, 0.04, 0.04, 0.04, 0.0403, 0.04, 0.0355, 0.0408, 0.04, 0.04, 0.0355, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.0355, 0.0406, 0.04, 0.0409, 0.04, 0.04, 0.0404, 0.04, 0.0355, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.0355, 0.04, 0.04, 0.04, 0.04, 0.04, 0.0411, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04 ], "diagnostics": { "released": [ true, true, true, true, true, true, true, true, false, true, true, true, false, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, false, true, true, true, true, true, true, true, false, true, true, true, true, true, true, true, true, false, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true ], "release_step": [ 37, 30, 64, 99, 37, 34, 43, 63, -1, 50, 38, 31, -1, 95, 41, 44, 27, 52, 61, 34, 54, 57, 37, 30, 43, 30, 52, 32, -1, 32, 32, 62, 51, 30, 65, 125, -1, 105, 32, 66, 36, 33, 34, 31, 38, -1, 29, 50, 64, 29, 89, 49, 27, 64, 33, 37, 52, 33, 28, 32, 216, 64, 68, 57 ], "release_xy_err": [ 0.0087, 0.0105, 0.0096, 0.0097, 0.0096, 0.0082, 0.0091, 0.0102, null, 0.0095, 0.0087, 0.0111, null, 0.0086, 0.0092, 0.0086, 0.0104, 0.0116, 0.0091, 0.01, 0.0084, 0.0109, 0.0089, 0.0106, 0.0094, 0.0115, 0.0111, 0.0088, null, 0.009, 0.011, 0.0092, 0.0107, 0.0114, 0.009, 0.0053, null, 0.0075, 0.0106, 0.0107, 0.0081, 0.0103, 0.0081, 0.0107, 0.0084, null, 0.0096, 0.0089, 0.0094, 0.0091, 0.0118, 0.0091, 0.008, 0.0093, 0.0101, 0.0103, 0.0088, 0.0086, 0.0109, 0.0104, 0.005, 0.0095, 0.0099, 0.0114 ], "min_tip_dist": [ 0.0065, 0.0039, 0.0071, 0.0082, 0.0048, 0.0053, 0.0041, 0.0065, 0.0129, 0.0038, 0.0082, 0.0111, 0.0122, 0.0075, 0.0056, 0.009, 0.0107, 0.0084, 0.0086, 0.0043, 0.0087, 0.006, 0.0033, 0.0083, 0.0061, 0.0095, 0.0084, 0.0084, 0.013, 0.0047, 0.0106, 0.0052, 0.004, 0.0045, 0.0035, 0.0067, 0.014, 0.0039, 0.0108, 0.0087, 0.0039, 0.0086, 0.0048, 0.0108, 0.0058, 0.0128, 0.0084, 0.0103, 0.0051, 0.0093, 0.0065, 0.0033, 0.009, 0.0087, 0.0077, 0.0047, 0.0074, 0.007, 0.0048, 0.0104, 0.0056, 0.0045, 0.0047, 0.0031 ], "class": [ "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success" ] } }, { "round": 1, "sr": 0.875, "success": [ false, true, true, false, true, false, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, false, true, true, true, true, false, true, true, true, true, true, true, true, true, true, false, true, true, true, true, false, true, true, true, true, true, true, true, true, true, true, true, false, true, true, true, true, true, true ], "success_step": [ -1, 57, 32, -1, 46, -1, 72, 49, 298, 40, 29, 62, 64, 36, 63, 120, 54, 53, 76, 85, 48, 32, 65, 36, 31, -1, 58, 63, 45, 34, -1, 33, 33, 33, 37, 40, 57, 28, 29, 385, -1, 56, 77, 68, 160, -1, 29, 42, 54, 61, 52, 52, 62, 394, 78, 52, 30, -1, 54, 39, 69, 35, 37, 34 ], "depth_max": [ 0.0465, 0.04, 0.04, 0.0355, 0.04, 0.0355, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.0355, 0.04, 0.04, 0.0402, 0.04, 0.0355, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.0355, 0.04, 0.04, 0.04, 0.04, 0.0355, 0.04, 0.04, 0.04, 0.04, 0.04, 0.0407, 0.042, 0.04, 0.04, 0.04, 0.04, 0.0355, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04 ], "diagnostics": { "released": [ true, true, true, false, true, false, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, false, true, true, true, true, false, true, true, true, true, true, true, true, true, true, false, true, true, true, true, false, true, true, true, true, true, true, true, true, true, true, true, false, true, true, true, true, true, true ], "release_step": [ 102, 45, 31, -1, 45, -1, 71, 41, 297, 39, 28, 47, 63, 35, 43, 118, 53, 52, 75, 84, 47, 31, 41, 35, 30, -1, 57, 60, 36, 33, -1, 32, 32, 32, 29, 39, 53, 27, 28, 383, -1, 39, 76, 67, 159, -1, 28, 38, 35, 59, 50, 51, 61, 393, 77, 51, 29, -1, 43, 38, 30, 34, 32, 33 ], "release_xy_err": [ 0.0096, 0.0111, 0.0104, null, 0.0067, null, 0.0088, 0.0076, 0.006, 0.0077, 0.0112, 0.0106, 0.0083, 0.0089, 0.0101, 0.0093, 0.0096, 0.0096, 0.0113, 0.0113, 0.0106, 0.0113, 0.0108, 0.0084, 0.009, null, 0.012, 0.0115, 0.0096, 0.0088, null, 0.0108, 0.0114, 0.0088, 0.0096, 0.0108, 0.0081, 0.0084, 0.0088, 0.0101, null, 0.0095, 0.0099, 0.0104, 0.0096, null, 0.0091, 0.0085, 0.0096, 0.0051, 0.011, 0.0102, 0.0111, 0.009, 0.0114, 0.0101, 0.0108, null, 0.0093, 0.0078, 0.0095, 0.0106, 0.0093, 0.0094 ], "min_tip_dist": [ 0.0119, 0.0083, 0.0078, 0.0154, 0.0081, 0.0151, 0.0046, 0.0045, 0.0089, 0.0109, 0.0112, 0.0066, 0.0035, 0.0042, 0.0077, 0.004, 0.0058, 0.0049, 0.0115, 0.0107, 0.0115, 0.0113, 0.0081, 0.006, 0.0097, 0.0121, 0.0051, 0.0054, 0.0057, 0.0045, 0.0128, 0.0108, 0.0068, 0.0114, 0.0053, 0.0084, 0.0082, 0.0099, 0.0061, 0.0095, 0.0128, 0.0051, 0.0093, 0.0031, 0.004, 0.0121, 0.0092, 0.007, 0.0058, 0.0062, 0.0042, 0.0072, 0.0047, 0.0115, 0.006, 0.0102, 0.0028, 0.012, 0.006, 0.006, 0.0058, 0.0045, 0.0048, 0.0044 ], "class": [ "c_partial_press", "d_success", "d_success", "a_never_released", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success" ] } }, { "round": 2, "sr": 0.84375, "success": [ true, true, true, true, false, true, true, false, true, true, true, true, true, false, true, true, true, false, true, true, true, true, true, true, false, false, true, true, true, true, true, true, true, true, true, true, true, false, true, true, true, true, true, true, false, true, true, true, false, true, false, true, true, true, true, true, true, true, true, true, true, true, true, true ], "success_step": [ 35, 38, 99, 36, -1, 28, 61, -1, 36, 52, 275, 33, 41, -1, 74, 34, 32, -1, 39, 60, 49, 60, 50, 60, -1, -1, 61, 28, 335, 110, 78, 60, 37, 58, 25, 53, 26, -1, 71, 45, 46, 65, 69, 34, -1, 95, 31, 77, -1, 55, -1, 45, 55, 295, 130, 51, 27, 33, 24, 69, 27, 29, 37, 39 ], "depth_max": [ 0.04, 0.04, 0.04, 0.04, 0.0355, 0.04, 0.0408, 0.0355, 0.0428, 0.0429, 0.04, 0.04, 0.04, 0.0355, 0.04, 0.04, 0.04, 0.0834, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.0355, 0.0355, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.042, 0.04, 0.0355, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.0355, 0.04, 0.04, 0.04, 0.0355, 0.04, 0.0355, 0.0405, 0.0413, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04 ], "diagnostics": { "released": [ true, true, true, true, false, true, true, false, true, true, true, true, true, false, true, true, true, false, true, true, true, true, true, true, false, false, true, true, true, true, true, true, true, true, true, true, true, false, true, true, true, true, true, true, false, true, true, true, false, true, false, true, true, true, true, true, true, true, true, true, true, true, true, true ], "release_step": [ 34, 37, 98, 35, -1, 27, 43, -1, 35, 51, 274, 32, 40, -1, 73, 33, 31, -1, 38, 59, 47, 59, 49, 59, -1, -1, 53, 27, 334, 41, 77, 58, 36, 57, 24, 52, 25, -1, 70, 43, 45, 63, 64, 33, -1, 94, 30, 76, -1, 54, -1, 37, 46, 294, 129, 43, 26, 32, 23, 68, 26, 28, 36, 38 ], "release_xy_err": [ 0.0093, 0.0099, 0.0098, 0.0088, null, 0.0087, 0.009, null, 0.009, 0.0101, 0.0105, 0.01, 0.0112, null, 0.0083, 0.0084, 0.0099, null, 0.0107, 0.0115, 0.0085, 0.0104, 0.0085, 0.0081, null, null, 0.0113, 0.0116, 0.0112, 0.0099, 0.0103, 0.0084, 0.009, 0.0108, 0.0092, 0.0086, 0.0112, null, 0.0096, 0.0093, 0.0096, 0.0092, 0.009, 0.0107, null, 0.0076, 0.0097, 0.0113, null, 0.0108, null, 0.0096, 0.0091, 0.0114, 0.0109, 0.0093, 0.0089, 0.0093, 0.0096, 0.01, 0.0116, 0.0093, 0.0086, 0.009 ], "min_tip_dist": [ 0.0041, 0.0099, 0.0047, 0.0092, 0.013, 0.0101, 0.0041, 0.0131, 0.0059, 0.0047, 0.0049, 0.0103, 0.0107, 0.0131, 0.0055, 0.0064, 0.01, 0.0121, 0.0044, 0.0115, 0.0081, 0.0049, 0.0065, 0.0069, 0.0139, 0.0158, 0.0118, 0.0039, 0.0114, 0.0062, 0.0074, 0.0064, 0.0057, 0.0037, 0.0105, 0.0082, 0.0067, 0.0161, 0.0057, 0.009, 0.0078, 0.0036, 0.004, 0.0042, 0.0156, 0.004, 0.0099, 0.0064, 0.0123, 0.0113, 0.0124, 0.0044, 0.0047, 0.0114, 0.008, 0.006, 0.0089, 0.0087, 0.0103, 0.0033, 0.0046, 0.0103, 0.0045, 0.0068 ], "class": [ "d_success", "d_success", "d_success", "d_success", "a_never_released", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "a_never_released", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "a_never_released", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success" ] } }, { "round": 3, "sr": 0.75, "success": [ true, false, false, false, true, true, true, true, true, false, true, true, true, true, true, true, true, true, false, true, false, true, true, true, true, false, false, true, false, true, true, true, false, false, true, true, true, true, true, true, true, true, true, false, false, true, true, false, true, true, false, true, true, true, true, true, false, true, true, true, true, true, true, true ], "success_step": [ 33, -1, -1, -1, 334, 57, 33, 36, 62, -1, 34, 35, 53, 51, 32, 34, 54, 59, -1, 62, -1, 83, 55, 40, 35, -1, -1, 37, -1, 337, 69, 29, -1, -1, 42, 183, 50, 59, 35, 60, 45, 135, 50, -1, -1, 34, 30, -1, 65, 71, -1, 98, 52, 38, 58, 71, -1, 131, 38, 51, 54, 85, 57, 65 ], "depth_max": [ 0.04, 0.0355, 0.0355, 0.0355, 0.04, 0.0402, 0.04, 0.04, 0.0405, 0.0355, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.0355, 0.04, 0.0355, 0.04, 0.04, 0.04, 0.04, 0.0355, 0.0355, 0.04, 0.0355, 0.04, 0.04, 0.04, 0.0355, 0.0355, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.0355, 0.0355, 0.04, 0.04, 0.0355, 0.0409, 0.04, 0.0355, 0.04, 0.04, 0.0401, 0.0408, 0.04, 0.0945, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04 ], "diagnostics": { "released": [ true, false, true, false, true, true, true, true, true, false, true, true, true, true, true, true, true, true, false, true, false, true, true, true, true, false, false, true, false, true, true, true, false, false, true, true, true, true, true, true, true, true, true, false, false, true, true, false, true, true, false, true, true, true, true, true, false, true, true, true, true, true, true, true ], "release_step": [ 32, -1, 43, -1, 37, 55, 32, 35, 60, -1, 33, 34, 43, 50, 31, 33, 53, 58, -1, 55, -1, 29, 54, 39, 34, -1, -1, 36, -1, 51, 68, 28, -1, -1, 34, 46, 43, 50, 34, 59, 34, 131, 49, -1, -1, 33, 28, -1, 64, 69, -1, 97, 51, 37, 54, 70, -1, 130, 37, 49, 41, 84, 50, 64 ], "release_xy_err": [ 0.0096, null, 0.0087, null, 0.0102, 0.0091, 0.0092, 0.0092, 0.0109, null, 0.0096, 0.0104, 0.0089, 0.0116, 0.0107, 0.0078, 0.0106, 0.0103, null, 0.0093, null, 0.0096, 0.0113, 0.0078, 0.0092, null, null, 0.009, null, 0.0095, 0.0115, 0.0083, null, null, 0.0093, 0.0099, 0.009, 0.009, 0.0083, 0.0085, 0.0097, 0.0073, 0.0098, null, null, 0.0114, 0.0086, null, 0.0084, 0.0053, null, 0.0095, 0.0088, 0.0093, 0.0086, 0.0101, null, 0.0012, 0.0115, 0.0105, 0.0103, 0.0114, 0.0089, 0.0117 ], "min_tip_dist": [ 0.0104, 0.0145, 0.0111, 0.0129, 0.0093, 0.0031, 0.0069, 0.0068, 0.0052, 0.0186, 0.0097, 0.0051, 0.0064, 0.0068, 0.0075, 0.007, 0.0105, 0.0048, 0.0129, 0.0038, 0.013, 0.0082, 0.0032, 0.0068, 0.0055, 0.0123, 0.0131, 0.0053, 0.02, 0.0053, 0.0096, 0.0095, 0.0126, 0.0207, 0.0067, 0.0053, 0.0032, 0.0064, 0.0048, 0.0066, 0.0075, 0.0076, 0.0051, 0.0174, 0.019, 0.0071, 0.0091, 0.0143, 0.0037, 0.0079, 0.0136, 0.0038, 0.0044, 0.0073, 0.0088, 0.0104, 0.0159, 0.0066, 0.0113, 0.0043, 0.0075, 0.0051, 0.0082, 0.0059 ], "class": [ "d_success", "a_never_released", "c_partial_press", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "a_never_released", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "a_never_released", "a_never_released", "d_success", "a_never_released", "d_success", "d_success", "d_success", "a_never_released", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "a_never_released", "a_never_released", "d_success", "d_success", "a_never_released", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "a_never_released", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success", "d_success" ] } } ] }