VadRobotics's picture
Add files using upload-large-folder tool
5097b54 verified
Raw
History Blame Contribute Delete
24.7 kB
{
"episodes": [
{
"episode_id": "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"
},
{
"episode_id": "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"
},
{
"episode_id": "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"
},
{
"episode_id": "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"
},
{
"episode_id": "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"
}
]
}