VadRobotics's picture
Add files using upload-large-folder tool
5097b54 verified
Raw
History Blame Contribute Delete
54.2 kB
{
"episodes": [
{
"episode_id": "panda/episode_000000",
"success": true,
"task_success": true,
"failure_reason": "none",
"duration_sec": 60.4,
"frozen_frames": 23,
"phase_annotations": [
{
"phase": "approach",
"frame_range": [
191,
201
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "grasp",
"frame_range": [
201,
202
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left",
"notes": "grasped_object=Bowl"
},
{
"phase": "transport",
"frame_range": [
202,
284
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "place",
"frame_range": [
284,
284
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left",
"notes": "ungrasped_object=Bowl"
},
{
"phase": "retract",
"frame_range": [
284,
570
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "left"
},
{
"phase": "approach",
"frame_range": [
570,
574
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "grasp",
"frame_range": [
574,
575
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "grasped_object=Sponge"
},
{
"phase": "clean_surface",
"frame_range": [
574,
1053
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "clean completed successfully"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
574,
1066
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "place",
"frame_range": [
1757,
1758
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "ungrasped_object=Sponge"
},
{
"phase": "retract",
"frame_range": [
1758,
1812
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "right"
}
],
"scores": {
"D1_path_efficiency": 5,
"D2_grasp_precision": 5,
"D3_placement_accuracy": 1,
"D4_temporal_efficiency": 4,
"D5_motion_smoothness": 4,
"D6_corrective_movements": 5,
"D7_kinematic_headroom": 2
},
"derived": {
"efficiency": 4,
"precision": 3,
"confidence": 0.73,
"composite_score": 3.71,
"episode_grade": "B"
},
"raw_measurements": {
"path_ratio": 1.2022,
"transport_path_ratio": 1.0927,
"grasp_angular_offset_deg": 5.59,
"grasp_positional_offset_pct": 34.45,
"grasp_offset_aperture_pct": 2.98,
"grasp_angular_robust_deg": 0.0,
"placement_positional_offset_pct": 498.38,
"placement_rotation_error_deg": 13.74,
"placement_release_height_m": 0.0,
"duration_ratio_to_median": 1.0477,
"discontinuity_count": 17,
"discontinuity_rate_hz": 0.0201,
"mean_autocorrelation": 0.9984,
"power_below_2hz_pct": 96.56,
"correction_count": 0,
"correction_duration_pct": 0.0,
"peak_kinematic_ratio": 0.8934,
"peak_kinematic_joint": "panda_joint4",
"peak_kinematic_type": "position"
},
"scorer_id": "auto_v1.1.0",
"robot_type": "panda",
"sample_episode_index": 0,
"source_episode_index": 74,
"selection_bucket": "successful"
},
{
"episode_id": "panda/episode_000001",
"success": true,
"task_success": true,
"failure_reason": "none",
"duration_sec": 42.93,
"frozen_frames": 2,
"phase_annotations": [
{
"phase": "approach",
"frame_range": [
209,
210
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "grasp",
"frame_range": [
210,
211
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left",
"notes": "grasped_object=Patty"
},
{
"phase": "transport",
"frame_range": [
211,
272
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "place",
"frame_range": [
272,
272
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left",
"notes": "ungrasped_object=Patty"
},
{
"phase": "retract",
"frame_range": [
272,
448
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "left"
},
{
"phase": "approach",
"frame_range": [
448,
452
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_surface",
"frame_range": [
451,
1145
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "clean completed successfully"
},
{
"phase": "grasp",
"frame_range": [
452,
453
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "grasped_object=Sponge"
},
{
"phase": "transport",
"frame_range": [
453,
834
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
834,
999
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
1038,
1155
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "place",
"frame_range": [
1229,
1229
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "ungrasped_object=Sponge"
},
{
"phase": "retract",
"frame_range": [
1229,
1288
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "right"
}
],
"scores": {
"D1_path_efficiency": 5,
"D2_grasp_precision": 3,
"D3_placement_accuracy": 1,
"D4_temporal_efficiency": 5,
"D5_motion_smoothness": 4,
"D6_corrective_movements": 5,
"D7_kinematic_headroom": 2
},
"derived": {
"efficiency": 5,
"precision": 2,
"confidence": 0.73,
"composite_score": 3.57,
"episode_grade": "B"
},
"raw_measurements": {
"path_ratio": 1.1224,
"transport_path_ratio": 1.0411,
"grasp_angular_offset_deg": 2.64,
"grasp_positional_offset_pct": 12.46,
"grasp_offset_aperture_pct": 5.26,
"grasp_angular_robust_deg": 0.0,
"placement_positional_offset_pct": 369.17,
"placement_rotation_error_deg": 12.17,
"placement_release_height_m": 0.0351,
"duration_ratio_to_median": 0.7531,
"discontinuity_count": 17,
"discontinuity_rate_hz": 0.0283,
"mean_autocorrelation": 0.9982,
"power_below_2hz_pct": 97.38,
"correction_count": 0,
"correction_duration_pct": 0.0,
"peak_kinematic_ratio": 0.8734,
"peak_kinematic_joint": "panda_joint2",
"peak_kinematic_type": "position"
},
"scorer_id": "auto_v1.1.0",
"robot_type": "panda",
"sample_episode_index": 1,
"source_episode_index": 89,
"selection_bucket": "successful"
},
{
"episode_id": "panda/episode_000002",
"success": true,
"task_success": true,
"failure_reason": "none",
"duration_sec": 52.73,
"frozen_frames": 1582,
"phase_annotations": [
{
"phase": "approach",
"frame_range": [
171,
181
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "grasp",
"frame_range": [
181,
182
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left",
"notes": "grasped_object=Ketchup"
},
{
"phase": "transport",
"frame_range": [
182,
300
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "place",
"frame_range": [
300,
301
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left",
"notes": "ungrasped_object=Ketchup"
},
{
"phase": "retract",
"frame_range": [
301,
520
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "left"
},
{
"phase": "approach",
"frame_range": [
520,
523
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_surface",
"frame_range": [
522,
1416
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "clean completed successfully"
},
{
"phase": "grasp",
"frame_range": [
523,
524
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "grasped_object=Sponge"
},
{
"phase": "transport",
"frame_range": [
524,
802
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
802,
1021
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
1052,
1245
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
1314,
1446
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "place",
"frame_range": [
1547,
1547
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "ungrasped_object=Sponge"
},
{
"phase": "retract",
"frame_range": [
1547,
1582
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "right"
}
],
"scores": {
"D1_path_efficiency": 2,
"D2_grasp_precision": 1,
"D3_placement_accuracy": 1,
"D4_temporal_efficiency": 1,
"D5_motion_smoothness": 4,
"D6_corrective_movements": 5,
"D7_kinematic_headroom": 1
},
"derived": {
"efficiency": 2,
"precision": 1,
"confidence": 0.67,
"composite_score": 2.14,
"episode_grade": "D"
},
"raw_measurements": {
"path_ratio": 13.7652,
"transport_path_ratio": 2.8802,
"grasp_angular_offset_deg": 5.07,
"grasp_positional_offset_pct": 1905.67,
"grasp_offset_aperture_pct": 100.0,
"grasp_angular_robust_deg": 180.0,
"placement_positional_offset_pct": 455.71,
"placement_rotation_error_deg": 9.77,
"placement_release_height_m": 0.0,
"duration_ratio_to_median": 0.0,
"discontinuity_count": 28,
"discontinuity_rate_hz": 0.0379,
"mean_autocorrelation": 0.9985,
"power_below_2hz_pct": 97.6,
"correction_count": 0,
"correction_duration_pct": 0.0,
"peak_kinematic_ratio": 1.0047,
"peak_kinematic_joint": "panda_joint4",
"peak_kinematic_type": "position"
},
"scorer_id": "auto_v1.1.0",
"robot_type": "panda",
"sample_episode_index": 2,
"source_episode_index": 119,
"selection_bucket": "suboptimal"
},
{
"episode_id": "panda/episode_000003",
"success": true,
"task_success": true,
"failure_reason": "none",
"duration_sec": 93.73,
"frozen_frames": 858,
"phase_annotations": [
{
"phase": "approach",
"frame_range": [
67,
68
],
"execution_quality": "success",
"task_alignment": "wrong_object",
"hand": "left"
},
{
"phase": "grasp",
"frame_range": [
68,
69
],
"execution_quality": "success",
"task_alignment": "wrong_object",
"hand": "left",
"notes": "grasped_object=Water"
},
{
"phase": "transport",
"frame_range": [
69,
264
],
"execution_quality": "success",
"task_alignment": "wrong_object",
"hand": "left"
},
{
"phase": "place",
"frame_range": [
264,
264
],
"execution_quality": "success",
"task_alignment": "wrong_object",
"hand": "left",
"notes": "ungrasped_object=Water"
},
{
"phase": "retract",
"frame_range": [
264,
445
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "left"
},
{
"phase": "approach",
"frame_range": [
524,
528
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "grasp",
"frame_range": [
528,
529
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "grasped_object=Sponge"
},
{
"phase": "transport",
"frame_range": [
529,
1595
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "place",
"frame_range": [
766,
766
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "ungrasped_object=Sponge"
},
{
"phase": "retract",
"frame_range": [
766,
843
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "right"
},
{
"phase": "approach",
"frame_range": [
1291,
1295
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "grasp",
"frame_range": [
1295,
1296
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "grasped_object=Sponge"
},
{
"phase": "transport",
"frame_range": [
1296,
1595
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_surface",
"frame_range": [
1595,
2655
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "clean completed successfully"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
1595,
1662
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
1700,
1864
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
1888,
2264
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
2330,
2548
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
2589,
2695
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "place",
"frame_range": [
2763,
2763
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "ungrasped_object=Sponge"
},
{
"phase": "retract",
"frame_range": [
2763,
2812
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "right"
}
],
"scores": {
"D1_path_efficiency": 3,
"D2_grasp_precision": 3,
"D3_placement_accuracy": 1,
"D4_temporal_efficiency": 4,
"D5_motion_smoothness": 4,
"D6_corrective_movements": 5,
"D7_kinematic_headroom": 1
},
"derived": {
"efficiency": 4,
"precision": 2,
"confidence": 0.67,
"composite_score": 3.0,
"episode_grade": "C"
},
"raw_measurements": {
"path_ratio": 3.1816,
"transport_path_ratio": 1.7393,
"grasp_angular_offset_deg": 15.19,
"grasp_positional_offset_pct": 1266.44,
"grasp_offset_aperture_pct": 8.9,
"grasp_angular_robust_deg": 11.25,
"placement_positional_offset_pct": 101.0,
"placement_rotation_error_deg": 180.0,
"placement_release_height_m": 0.0,
"duration_ratio_to_median": 1.1444,
"discontinuity_count": 200,
"discontinuity_rate_hz": 0.1524,
"mean_autocorrelation": 0.9994,
"power_below_2hz_pct": 95.36,
"correction_count": 0,
"correction_duration_pct": 0.0,
"peak_kinematic_ratio": 1.0388,
"peak_kinematic_joint": "panda_joint7",
"peak_kinematic_type": "position"
},
"scorer_id": "auto_v1.1.0",
"robot_type": "panda",
"sample_episode_index": 3,
"source_episode_index": 72,
"selection_bucket": "suboptimal"
},
{
"episode_id": "panda/episode_000004",
"success": false,
"task_success": false,
"failure_reason": "cleanup_incomplete",
"duration_sec": 24.5,
"frozen_frames": 735,
"phase_annotations": [
{
"phase": "approach",
"frame_range": [
225,
229
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "grasp",
"frame_range": [
229,
230
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "grasped_object=Sponge"
},
{
"phase": "transport",
"frame_range": [
230,
678
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "place",
"frame_range": [
678,
678
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "ungrasped_object=Sponge"
},
{
"phase": "retract",
"frame_range": [
678,
681
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "right"
}
],
"scores": {
"D1_path_efficiency": 1,
"D2_grasp_precision": 1,
"D3_placement_accuracy": 1,
"D4_temporal_efficiency": 1,
"D5_motion_smoothness": 4,
"D6_corrective_movements": 5,
"D7_kinematic_headroom": 1
},
"derived": {
"efficiency": 1,
"precision": 1,
"confidence": 0.67,
"composite_score": 2.0,
"episode_grade": "D"
},
"raw_measurements": {
"path_ratio": 8.8426,
"transport_path_ratio": 3.6645,
"grasp_angular_offset_deg": 7.68,
"grasp_positional_offset_pct": 2263.18,
"grasp_offset_aperture_pct": 100.0,
"grasp_angular_robust_deg": 180.0,
"placement_positional_offset_pct": 101.0,
"placement_rotation_error_deg": 180.0,
"placement_release_height_m": 0.0,
"duration_ratio_to_median": 0.0,
"discontinuity_count": 17,
"discontinuity_rate_hz": 0.0495,
"mean_autocorrelation": 0.9966,
"power_below_2hz_pct": 96.6,
"correction_count": 0,
"correction_duration_pct": 0.0,
"peak_kinematic_ratio": 1.122,
"peak_kinematic_joint": "panda_joint2",
"peak_kinematic_type": "acceleration"
},
"scorer_id": "auto_v1.1.0",
"robot_type": "panda",
"sample_episode_index": 4,
"source_episode_index": 131,
"selection_bucket": "failure"
},
{
"episode_id": "widowxai/episode_000000",
"success": true,
"task_success": true,
"failure_reason": "none",
"duration_sec": 47.3,
"frozen_frames": 3,
"phase_annotations": [
{
"phase": "approach",
"frame_range": [
375,
399
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "grasp",
"frame_range": [
399,
400
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left",
"notes": "grasped_object=Sponge"
},
{
"phase": "transport",
"frame_range": [
400,
457
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "clean_surface",
"frame_range": [
457,
1197
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "clean completed successfully"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
457,
1253
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "place",
"frame_range": [
1305,
1305
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left",
"notes": "ungrasped_object=Sponge"
},
{
"phase": "retract",
"frame_range": [
1305,
1313
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "left"
}
],
"scores": {
"D1_path_efficiency": 4,
"D2_grasp_precision": 1,
"D3_placement_accuracy": 1,
"D4_temporal_efficiency": 5,
"D5_motion_smoothness": 5,
"D6_corrective_movements": 5,
"D7_kinematic_headroom": 1
},
"derived": {
"efficiency": 4,
"precision": 1,
"confidence": 0.73,
"composite_score": 3.14,
"episode_grade": "C"
},
"raw_measurements": {
"path_ratio": 3.6925,
"transport_path_ratio": 1.4028,
"grasp_angular_offset_deg": 65.08,
"grasp_positional_offset_pct": 1311.8,
"grasp_offset_aperture_pct": 100.0,
"grasp_angular_robust_deg": 180.0,
"placement_positional_offset_pct": 101.0,
"placement_rotation_error_deg": 180.0,
"placement_release_height_m": 0.0,
"duration_ratio_to_median": 0.6204,
"discontinuity_count": 63,
"discontinuity_rate_hz": 0.0951,
"mean_autocorrelation": 0.9971,
"power_below_2hz_pct": 98.44,
"correction_count": 0,
"correction_duration_pct": 0.0,
"peak_kinematic_ratio": 1.2538,
"peak_kinematic_joint": "panda_joint6",
"peak_kinematic_type": "position"
},
"scorer_id": "auto_v1.1.0",
"robot_type": "widowxai",
"sample_episode_index": 5,
"source_episode_index": 11,
"selection_bucket": "successful"
},
{
"episode_id": "widowxai/episode_000001",
"success": true,
"task_success": true,
"failure_reason": "none",
"duration_sec": 75.93,
"frozen_frames": 4,
"phase_annotations": [
{
"phase": "approach",
"frame_range": [
230,
257
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "grasp",
"frame_range": [
257,
258
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left",
"notes": "grasped_object=Rice"
},
{
"phase": "transport",
"frame_range": [
258,
426
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "place",
"frame_range": [
426,
426
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left",
"notes": "ungrasped_object=Rice"
},
{
"phase": "retract",
"frame_range": [
426,
466
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "left"
},
{
"phase": "approach",
"frame_range": [
955,
974
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "grasp",
"frame_range": [
974,
975
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left",
"notes": "grasped_object=Sponge"
},
{
"phase": "transport",
"frame_range": [
975,
1110
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "clean_surface",
"frame_range": [
1110,
2086
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "clean completed successfully"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
1110,
1195
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
1315,
1693
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
1719,
1915
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
1944,
2096
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "place",
"frame_range": [
2190,
2190
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left",
"notes": "ungrasped_object=Sponge"
},
{
"phase": "retract",
"frame_range": [
2190,
2205
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "left"
}
],
"scores": {
"D1_path_efficiency": 5,
"D2_grasp_precision": 2,
"D3_placement_accuracy": 1,
"D4_temporal_efficiency": 4,
"D5_motion_smoothness": 4,
"D6_corrective_movements": 5,
"D7_kinematic_headroom": 1
},
"derived": {
"efficiency": 4,
"precision": 2,
"confidence": 0.67,
"composite_score": 3.14,
"episode_grade": "C"
},
"raw_measurements": {
"path_ratio": 33.4937,
"transport_path_ratio": 1.1419,
"grasp_angular_offset_deg": 45.97,
"grasp_positional_offset_pct": 945.82,
"grasp_offset_aperture_pct": 25.58,
"grasp_angular_robust_deg": 12.35,
"placement_positional_offset_pct": 282.73,
"placement_rotation_error_deg": 19.57,
"placement_release_height_m": 0.0048,
"duration_ratio_to_median": 0.9963,
"discontinuity_count": 91,
"discontinuity_rate_hz": 0.0856,
"mean_autocorrelation": 0.9993,
"power_below_2hz_pct": 95.54,
"correction_count": 0,
"correction_duration_pct": 0.0,
"peak_kinematic_ratio": 1.8142,
"peak_kinematic_joint": "panda_joint4",
"peak_kinematic_type": "acceleration"
},
"scorer_id": "auto_v1.1.0",
"robot_type": "widowxai",
"sample_episode_index": 6,
"source_episode_index": 109,
"selection_bucket": "successful"
},
{
"episode_id": "widowxai/episode_000002",
"success": true,
"task_success": true,
"failure_reason": "none",
"duration_sec": 114.67,
"frozen_frames": 4,
"phase_annotations": [
{
"phase": "approach",
"frame_range": [
316,
334
],
"execution_quality": "success",
"task_alignment": "wrong_object",
"hand": "left"
},
{
"phase": "grasp",
"frame_range": [
334,
335
],
"execution_quality": "success",
"task_alignment": "wrong_object",
"hand": "left",
"notes": "grasped_object=Pepper"
},
{
"phase": "transport",
"frame_range": [
335,
437
],
"execution_quality": "success",
"task_alignment": "wrong_object",
"hand": "left"
},
{
"phase": "place",
"frame_range": [
437,
437
],
"execution_quality": "success",
"task_alignment": "wrong_object",
"hand": "left",
"notes": "ungrasped_object=Pepper"
},
{
"phase": "retract",
"frame_range": [
437,
441
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "left"
},
{
"phase": "approach",
"frame_range": [
671,
719
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "grasp",
"frame_range": [
719,
720
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left",
"notes": "grasped_object=Sponge"
},
{
"phase": "transport",
"frame_range": [
720,
1018
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "place",
"frame_range": [
995,
995
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left",
"notes": "ungrasped_object=Sponge"
},
{
"phase": "retract",
"frame_range": [
995,
1011
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "left"
},
{
"phase": "clean_surface",
"frame_range": [
1018,
3294
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "clean completed successfully"
},
{
"phase": "approach",
"frame_range": [
1328,
1356
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "grasp",
"frame_range": [
1356,
1357
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "grasped_object=BubbleGum"
},
{
"phase": "transport",
"frame_range": [
1357,
1493
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "place",
"frame_range": [
1493,
1493
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "ungrasped_object=BubbleGum"
},
{
"phase": "retract",
"frame_range": [
1493,
1738
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "right"
},
{
"phase": "approach",
"frame_range": [
1738,
1757
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "grasp",
"frame_range": [
1757,
1758
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "grasped_object=MouseB"
},
{
"phase": "transport",
"frame_range": [
1758,
1900
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "place",
"frame_range": [
1900,
1900
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "ungrasped_object=MouseB"
},
{
"phase": "retract",
"frame_range": [
1900,
1903
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "right"
},
{
"phase": "approach",
"frame_range": [
2156,
2175
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "grasp",
"frame_range": [
2175,
2176
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "grasped_object=Sponge"
},
{
"phase": "transport",
"frame_range": [
2176,
2991
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
2991,
3177
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "place",
"frame_range": [
3354,
3354
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "ungrasped_object=Sponge"
},
{
"phase": "retract",
"frame_range": [
3354,
3373
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "right"
}
],
"scores": {
"D1_path_efficiency": 2,
"D2_grasp_precision": 1,
"D3_placement_accuracy": 1,
"D4_temporal_efficiency": 2,
"D5_motion_smoothness": 3,
"D6_corrective_movements": 5,
"D7_kinematic_headroom": 1
},
"derived": {
"efficiency": 2,
"precision": 1,
"confidence": 0.6,
"composite_score": 2.14,
"episode_grade": "D"
},
"raw_measurements": {
"path_ratio": 38.2399,
"transport_path_ratio": 2.0171,
"grasp_angular_offset_deg": 74.92,
"grasp_positional_offset_pct": 594.7,
"grasp_offset_aperture_pct": 12.7,
"grasp_angular_robust_deg": 74.73,
"placement_positional_offset_pct": 513.42,
"placement_rotation_error_deg": 50.89,
"placement_release_height_m": 0.0176,
"duration_ratio_to_median": 1.5054,
"discontinuity_count": 311,
"discontinuity_rate_hz": 0.1937,
"mean_autocorrelation": 0.9966,
"power_below_2hz_pct": 94.07,
"correction_count": 0,
"correction_duration_pct": 0.0,
"peak_kinematic_ratio": 2.0037,
"peak_kinematic_joint": "panda_joint6",
"peak_kinematic_type": "position"
},
"scorer_id": "auto_v1.1.0",
"robot_type": "widowxai",
"sample_episode_index": 7,
"source_episode_index": 140,
"selection_bucket": "suboptimal"
},
{
"episode_id": "widowxai/episode_000003",
"success": true,
"task_success": true,
"failure_reason": "none",
"duration_sec": 101.2,
"frozen_frames": 3036,
"phase_annotations": [
{
"phase": "approach",
"frame_range": [
579,
626
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "grasp",
"frame_range": [
626,
627
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "grasped_object=Sponge"
},
{
"phase": "transport",
"frame_range": [
627,
1825
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "place",
"frame_range": [
1069,
1069
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "ungrasped_object=Sponge"
},
{
"phase": "retract",
"frame_range": [
1069,
1085
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "right"
},
{
"phase": "approach",
"frame_range": [
1575,
1624
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "grasp",
"frame_range": [
1624,
1625
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "grasped_object=Sponge"
},
{
"phase": "transport",
"frame_range": [
1625,
1825
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_surface",
"frame_range": [
1825,
2730
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "clean completed successfully"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
1825,
2243
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
2366,
2677
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "place",
"frame_range": [
2928,
2928
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "ungrasped_object=Sponge"
},
{
"phase": "retract",
"frame_range": [
2928,
2934
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "right"
}
],
"scores": {
"D1_path_efficiency": 3,
"D2_grasp_precision": 1,
"D3_placement_accuracy": 1,
"D4_temporal_efficiency": 1,
"D5_motion_smoothness": 5,
"D6_corrective_movements": 5,
"D7_kinematic_headroom": 1
},
"derived": {
"efficiency": 2,
"precision": 1,
"confidence": 0.73,
"composite_score": 2.43,
"episode_grade": "D"
},
"raw_measurements": {
"path_ratio": 3.5,
"transport_path_ratio": 1.5,
"grasp_angular_offset_deg": 0.0,
"grasp_positional_offset_pct": 522.26,
"grasp_offset_aperture_pct": 168.86,
"grasp_angular_robust_deg": 0.0,
"placement_positional_offset_pct": 101.0,
"placement_rotation_error_deg": 180.0,
"placement_release_height_m": 0.0,
"duration_ratio_to_median": 0.0,
"discontinuity_count": 0,
"discontinuity_rate_hz": 0.0,
"mean_autocorrelation": 1.0,
"power_below_2hz_pct": 100.0,
"correction_count": 0,
"correction_duration_pct": 0.0,
"peak_kinematic_ratio": 1.2538,
"peak_kinematic_joint": "panda_joint6",
"peak_kinematic_type": "position"
},
"scorer_id": "auto_v1.1.0",
"robot_type": "widowxai",
"sample_episode_index": 8,
"source_episode_index": 37,
"selection_bucket": "suboptimal"
},
{
"episode_id": "widowxai/episode_000004",
"success": false,
"task_success": false,
"failure_reason": "cleanup_incomplete",
"duration_sec": 95.17,
"frozen_frames": 35,
"phase_annotations": [
{
"phase": "approach",
"frame_range": [
300,
328
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "grasp",
"frame_range": [
328,
329
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left",
"notes": "grasped_object=Sponge"
},
{
"phase": "transport",
"frame_range": [
329,
965
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left"
},
{
"phase": "place",
"frame_range": [
460,
460
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "left",
"notes": "ungrasped_object=Sponge"
},
{
"phase": "retract",
"frame_range": [
460,
465
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "left"
},
{
"phase": "approach",
"frame_range": [
801,
827
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "grasp",
"frame_range": [
827,
828
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "grasped_object=Sponge"
},
{
"phase": "transport",
"frame_range": [
828,
965
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
965,
1016
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
1126,
1441
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
1651,
2104
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
2208,
2611
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "clean_swipe_pass",
"frame_range": [
2648,
2688
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right"
},
{
"phase": "place",
"frame_range": [
2758,
2758
],
"execution_quality": "success",
"task_alignment": "correct",
"hand": "right",
"notes": "ungrasped_object=Sponge"
},
{
"phase": "retract",
"frame_range": [
2758,
2761
],
"execution_quality": "success",
"task_alignment": "not_applicable",
"hand": "right"
}
],
"scores": {
"D1_path_efficiency": 2,
"D2_grasp_precision": 1,
"D3_placement_accuracy": 1,
"D4_temporal_efficiency": 3,
"D5_motion_smoothness": 3,
"D6_corrective_movements": 5,
"D7_kinematic_headroom": 1
},
"derived": {
"efficiency": 2,
"precision": 1,
"confidence": 0.6,
"composite_score": 2.29,
"episode_grade": "D"
},
"raw_measurements": {
"path_ratio": 5.5954,
"transport_path_ratio": 2.1777,
"grasp_angular_offset_deg": 81.4,
"grasp_positional_offset_pct": 328.47,
"grasp_offset_aperture_pct": 104.4,
"grasp_angular_robust_deg": 82.53,
"placement_positional_offset_pct": 101.0,
"placement_rotation_error_deg": 180.0,
"placement_release_height_m": 0.0,
"duration_ratio_to_median": 1.2355,
"discontinuity_count": 233,
"discontinuity_rate_hz": 0.1748,
"mean_autocorrelation": 0.9981,
"power_below_2hz_pct": 93.1,
"correction_count": 0,
"correction_duration_pct": 0.0,
"peak_kinematic_ratio": 1.6797,
"peak_kinematic_joint": "panda_joint6",
"peak_kinematic_type": "position"
},
"scorer_id": "auto_v1.1.0",
"robot_type": "widowxai",
"sample_episode_index": 9,
"source_episode_index": 122,
"selection_bucket": "failure"
}
]
}