| eval run 20260904_194409 -> eval_runs/20260904_194409 |
| camera map: {'gripper': 'fanuc_01', 'cam0': 'fanuc_02', 'cam1': 'fanuc_03', 'cam2': 'fanuc_04'} |
| task: Pick up the dice and place it on the empty white block. |
| cell_pause: a collection is running - waiting for it to finish the episode, park and release the stream |
| cell_pause: collector paused (collect_full, session s20260904_131844) - the arm is ours |
| policy: connected at /opt/policy/ckpt/imle_stream_orig/checkpoints/080000/pretrained_model |
| action contract: joint_abs (absolute joint degrees), 7 wide: J1, J2, J3, J4, J5, J6, grip |
| running in-process on cuda, views cam0, gripper |
| 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 |
| state layout: j7, 7 wide (joint degrees, gripper 1.0 = OPEN) |
| observation frames: RAW shared memory ['fanuc_01', 'fanuc_02'] - the channel the corpus was recorded on |
| frames: raw (undistort none) |
| undistort: 'none' matches training dataset dice_stream_j7 |
| [WARNING] camera_map keys ['cam1', 'cam2'] are NOT policy inputs (this policy takes ['gripper', 'cam0']) - they are recorded but never sent |
| observation frames: raw pixels, no codec round trip |
| observation ok: sent {'cam0': (480, 640, 3), 'gripper': (480, 640, 3)} |
| cameras delivered: {'cam0': (480, 640, 3), 'gripper': (480, 640, 3)} |
| jpeg quality: 80 (the corpus is lossless renders; raise it with the service's --quality if you are chasing a domain gap) |
| 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 |
| state-range gate: ARMED, 6 channels; the arm is currently INSIDE the corpus range |
| memory latch: n/a - this policy has no server-side first-frame view |
| parked at home before starting |
| controller alarm log: md:/errall.ls on 192.168.1.100, diffed per episode by controller time |
| === episode 1/1 === |
| 1 of 2 blocks bare -> dice is on a block |
| dice trim h0 (z -91.5): off 2.20 mm |
| dice trim h1 (z -91.5): off 0.54 mm |
| dice view check: 2.57 mm off at grasp depth (over the 1.8 gate - the taught references disagree by a position-dependent amount; grasping on the height convergence) |
| lifting to z -20 before touching the wrist (rotating at z -127 spins the part against its neighbours) |
| lifting 55 mm clear of the approach zone first |
| block align 0: block at (256,179) area 6423 yaw +3.5 deg -> off 13.70 mm |
| block align 1: block at (267,235) area 7642 yaw +1.3 deg -> off 1.09 mm |
| block align 2: block at (271,237) area 7514 yaw +1.8 deg -> off 0.24 mm |
| lifting to z -20 before touching the wrist (rotating at z -100 spins the part against its neighbours) |
| lifting 55 mm clear of the approach zone first |
| dice (341.8, 435.2) bare block (235.8, 528.2) [+/-0.24 mm] |
| oracle: dice [np.float64(341.85), np.float64(435.2)] -> bare block [np.float64(235.84), np.float64(528.21)] |
| running the policy (timeout 600 s) |
| recording 4 feeds at 15 fps |
| start pose: tool 23.06 deg off vertical |
| transport: Stream Motion, whole chunks at 125 Hz |
| observations: pairs 33 ms apart (this checkpoint takes 2 steps) |
| recorded 639 frames per feed (0 dropped) |
| lifting to z -20 before touching the wrist (rotating at z -96 spins the part against its neighbours) |
| policy: budget after 1000 steps / 33.8 s |
| controller alarms during episode: none |
| 1 of 2 blocks bare -> dice is on a block |
| dice trim h0 (z -91.5): off 3.12 mm |
| dice trim h1 (z -91.5): off 0.43 mm |
| dice view check: 2.69 mm off at grasp depth (over the 1.8 gate - the taught references disagree by a position-dependent amount; grasping on the height convergence) |
| lifting to z -20 before touching the wrist (rotating at z -127 spins the part against its neighbours) |
| lifting 55 mm clear of the approach zone first |
| block align 0: block at (256,170) area 6574 yaw +3.4 deg -> off 15.61 mm |
| block align 1: block at (267,235) area 7632 yaw +2.4 deg -> off 1.04 mm |
| block align 2: block at (271,236) area 7538 yaw +1.6 deg -> off 0.30 mm |
| lifting to z -20 before touching the wrist (rotating at z -100 spins the part against its neighbours) |
| lifting 55 mm clear of the approach zone first |
| dice (340.8, 435.2) bare block (235.6, 528.3) [+/-0.30 mm] |
| result: on_block=True, 140.3 mm from the target block -> failure |
| APPROACH_NO_GRASP | stage 3/6 | progress 0.39 | cos_align +0.61 | path 41981 mm | grip max 0.00 |
| (resampling: 447, 365 is outside the caller's placement hull) |
| spot (239, 370), 121 mm clear of everything (1 blacklisted zone honoured) |
| re-randomising the bare block -> (238.9, 370.3) |
| block pre-grasp: square (-1.5 deg off) |
| block align 0: block at (272,236) area 7490 yaw +1.7 deg -> off 0.06 mm |
| far-reach descent: crawling at 25 mm/s |
| block depth check: off 0.21 mm |
| block grasped at (235.5, 528.3) |
| block squaring: square (-1.3 deg off) |
| parked at home |
|
|
| === 0/1 succeeded === |
| success 0% (95% Wilson 0-79%, width 79 pts) |
| posterior median 29% (95% Beta 1-84%) |
| scoring success_at_end (the dice must still be on the block) |
|
|
| reached at least stage k: |
| stage 0 1/1 # |
| stage 1 1/1 # |
| stage 2 1/1 # |
| stage 3 1/1 # |
| stage 4 0/1 |
| stage 5 0/1 |
| stage 6 0/1 |
|
|
| failure classes: |
| APPROACH_NO_GRASP 1 (air_grasp x1) |
|
|
| progress 0.390 (95% bootstrap 0.390-0.390; 1.0 = reached the dice) |
| cos_align +0.610 (+1 straight at the dice, 0 uncorrelated, -1 away) |
| toward 86% of steps |
| path 41981 mm/episode |
| d_min 8 mm clamp rate nan gripper max 0.00 |
| timing median reach 13 s, grasp |
| jitter follow_max median 3.14 deg, reversals median 0, stretch max 2.5 |
| === 0/1 succeeded (0%) === |
| uploading eval_runs/20260904_194409 to the Hub ... |
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