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azorematter
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fanuc_dice_eval_20260904_193201

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Tags:
LeRobot
fanuc
crx-5ia
pick-and-place
dice
evaluation
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
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  1. data/chunk-000/file-000.parquet +3 -0
  2. logs/20260904_193201_episode_000_steps.jsonl +0 -0
  3. logs/20260904_193201_run.log +98 -0
  4. logs/20260904_193201_summary.json +200 -0
  5. meta/episodes/chunk-000/file-000.parquet +3 -0
  6. meta/info.json +265 -0
  7. meta/stats.json +1194 -0
  8. meta/tasks.parquet +3 -0
  9. videos/observation.images.cam0/chunk-000/file-000.mp4 +3 -0
  10. videos/observation.images.cam1/chunk-000/file-000.mp4 +3 -0
  11. videos/observation.images.cam2/chunk-000/file-000.mp4 +3 -0
  12. videos/observation.images.gripper/chunk-000/file-000.mp4 +3 -0
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+ size 18396
logs/20260904_193201_episode_000_steps.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
logs/20260904_193201_run.log ADDED
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1
+ eval run 20260904_193201 -> eval_runs/20260904_193201
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+ camera map: {'gripper': 'fanuc_01', 'cam0': 'fanuc_02', 'cam1': 'fanuc_03', 'cam2': 'fanuc_04'}
3
+ task: Pick up the dice and place it on the empty white block.
4
+ cell_pause: a collection is running - waiting for it to finish the episode, park and release the stream
5
+ cell_pause: collector paused (collect_full, session s20260904_131844) - the arm is ours
6
+ policy: connected at /opt/policy/ckpt/imle_stream_orig/checkpoints/055000/pretrained_model
7
+ action contract: joint_abs (absolute joint degrees), 7 wide: J1, J2, J3, J4, J5, J6, grip
8
+ running in-process on cuda, views cam0, gripper
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+ task: not sent - this checkpoint is not task-conditioned (no environment_state feature); 'Pick up the dice and place it on the empty white block.' is recorded for provenance only
10
+ state layout: j7, 7 wide (joint degrees, gripper 1.0 = OPEN)
11
+ observation frames: RAW shared memory ['fanuc_01', 'fanuc_02'] - the channel the corpus was recorded on
12
+ frames: raw (undistort none)
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+ undistort: 'none' matches training dataset dice_stream_j7
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+ [WARNING] camera_map keys ['cam1', 'cam2'] are NOT policy inputs (this policy takes ['gripper', 'cam0']) - they are recorded but never sent
15
+ observation frames: raw pixels, no codec round trip
16
+ observation ok: sent {'cam0': (480, 640, 3), 'gripper': (480, 640, 3)}
17
+ cameras delivered: {'cam0': (480, 640, 3), 'gripper': (480, 640, 3)}
18
+ jpeg quality: 80 (the corpus is lossless renders; raise it with the service's --quality if you are chasing a domain gap)
19
+ start-height gate: OFF (start_z_max_mm is null) - the failed runs began ~200 mm above anything the corpus visits and nothing here would catch that
20
+ state-range gate: ARMED, 6 channels; the arm is currently INSIDE the corpus range
21
+ memory latch: n/a - this policy has no server-side first-frame view
22
+ parked at home before starting
23
+ controller alarm log: md:/errall.ls on 192.168.1.100, diffed per episode by controller time
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+ === episode 1/1 ===
25
+ 1 of 2 blocks bare -> dice is on a block
26
+ dice trim h0 (z -91.5): off 4.83 mm
27
+ dice trim h1 (z -91.5): off 0.73 mm
28
+ dice view check: 3.14 mm off at grasp depth (over the 1.8 gate - the taught references disagree by a position-dependent amount; grasping on the height convergence)
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+ lifting to z -20 before touching the wrist (rotating at z -127 spins the part against its neighbours)
30
+ lifting 55 mm clear of the approach zone first
31
+ block align 0: block at (240,207) area 8018 yaw +5.7 deg -> off 9.62 mm
32
+ block align 1: block at (266,237) area 7390 yaw +4.4 deg -> off 1.33 mm
33
+ block align 2: block at (271,237) area 7264 yaw +5.2 deg -> off 0.28 mm
34
+ lifting to z -20 before touching the wrist (rotating at z -100 spins the part against its neighbours)
35
+ lifting 55 mm clear of the approach zone first
36
+ dice (345.7, 428.6) bare block (201.0, 408.1) [+/-0.28 mm]
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+ oracle: dice [np.float64(345.72), np.float64(428.62)] -> bare block [np.float64(201.04), np.float64(408.05)]
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+ running the policy (timeout 600 s)
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+ recording 4 feeds at 15 fps
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+ start pose: tool 23.34 deg off vertical
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+ transport: Stream Motion, whole chunks at 125 Hz
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+ observations: pairs 33 ms apart (this checkpoint takes 2 steps)
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+ recorded 657 frames per feed (0 dropped)
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+ lifting to z -20 before touching the wrist (rotating at z -98 spins the part against its neighbours)
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+ policy: budget after 1000 steps / 35.0 s
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+ controller alarms during episode: none
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+ 1 of 2 blocks bare -> dice is on a block
48
+ dice trim h0 (z -91.5): off 0.34 mm
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+ dice view check: 2.91 mm off at grasp depth (over the 1.8 gate - the taught references disagree by a position-dependent amount; grasping on the height convergence)
50
+ lifting to z -20 before touching the wrist (rotating at z -127 spins the part against its neighbours)
51
+ lifting 55 mm clear of the approach zone first
52
+ block align 0: block at (242,187) area 7858 yaw +5.4 deg -> off 13.00 mm
53
+ block align 1: block at (266,237) area 7389 yaw +4.2 deg -> off 1.39 mm
54
+ block align 2: block at (271,237) area 7254 yaw +4.9 deg -> off 0.30 mm
55
+ lifting to z -20 before touching the wrist (rotating at z -100 spins the part against its neighbours)
56
+ lifting 55 mm clear of the approach zone first
57
+ dice (344.4, 429.5) bare block (200.3, 408.5) [+/-0.30 mm]
58
+ result: on_block=True, 145.0 mm from the target block -> failure
59
+ APPROACH_NO_GRASP | stage 3/6 | progress 0.97 | cos_align +0.99 | path 45959 mm | grip max 0.00
60
+ (resampling: 468, 362 is outside the caller's placement hull)
61
+ spot (265, 538), 134 mm clear of everything (1 blacklisted zone honoured)
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+ re-randomising the bare block -> (265.1, 538.2)
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+ block pre-grasp: -4.0 deg off (turning +1.4)
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+ block pre-grasp: -3.5 deg off (turning +1.2)
65
+ block pre-grasp: square (-1.6 deg off)
66
+ block align 0: block at (272,239) area 7242 yaw +1.9 deg -> off 0.57 mm
67
+ block align 1: block at (272,236) area 7216 yaw +1.6 deg -> off 0.07 mm
68
+ block depth check: off 0.60 mm
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+ block grasped at (199.8, 408.8)
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+ block squaring: square (-2.2 deg off)
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+ parked at home
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+
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+ === 0/1 succeeded ===
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+ success 0% (95% Wilson 0-79%, width 79 pts)
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+ posterior median 29% (95% Beta 1-84%)
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+ scoring success_at_end (the dice must still be on the block)
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+
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+ reached at least stage k:
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+ stage 0 1/1 #
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+ stage 1 1/1 #
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+ stage 2 1/1 #
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+ stage 3 1/1 #
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+ stage 4 0/1
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+ stage 5 0/1
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+ stage 6 0/1
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+
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+ failure classes:
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+ APPROACH_NO_GRASP 1 (air_grasp x1)
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+
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+ progress 0.970 (95% bootstrap 0.970-0.970; 1.0 = reached the dice)
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+ cos_align +0.987 (+1 straight at the dice, 0 uncorrelated, -1 away)
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+ toward 100% of steps
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+ path 45959 mm/episode
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+ d_min 1 mm clamp rate nan gripper max 0.00
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+ timing median reach 6 s, grasp -- s (among episodes that got there)
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+ jitter follow_max median 3.24 deg, reversals median 1, stretch max 2.5
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+ === 0/1 succeeded (0%) ===
98
+ uploading eval_runs/20260904_193201 to the Hub ...
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