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azorematter
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fanuc_dice_eval_20260904_194409

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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_194409_episode_000_steps.jsonl +0 -0
  3. logs/20260904_194409_run.log +97 -0
  4. logs/20260904_194409_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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+ eval run 20260904_194409 -> eval_runs/20260904_194409
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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/080000/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
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+ 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
24
+ === episode 1/1 ===
25
+ 1 of 2 blocks bare -> dice is on a block
26
+ dice trim h0 (z -91.5): off 2.20 mm
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+ dice trim h1 (z -91.5): off 0.54 mm
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+ 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)
29
+ 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 (256,179) area 6423 yaw +3.5 deg -> off 13.70 mm
32
+ block align 1: block at (267,235) area 7642 yaw +1.3 deg -> off 1.09 mm
33
+ block align 2: block at (271,237) area 7514 yaw +1.8 deg -> off 0.24 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 (341.8, 435.2) bare block (235.8, 528.2) [+/-0.24 mm]
37
+ oracle: dice [np.float64(341.85), np.float64(435.2)] -> bare block [np.float64(235.84), np.float64(528.21)]
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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 23.06 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 639 frames per feed (0 dropped)
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+ lifting to z -20 before touching the wrist (rotating at z -96 spins the part against its neighbours)
45
+ policy: budget after 1000 steps / 33.8 s
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+ controller alarms during episode: none
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+ 1 of 2 blocks bare -> dice is on a block
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+ dice trim h0 (z -91.5): off 3.12 mm
49
+ dice trim h1 (z -91.5): off 0.43 mm
50
+ 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)
51
+ lifting to z -20 before touching the wrist (rotating at z -127 spins the part against its neighbours)
52
+ lifting 55 mm clear of the approach zone first
53
+ block align 0: block at (256,170) area 6574 yaw +3.4 deg -> off 15.61 mm
54
+ block align 1: block at (267,235) area 7632 yaw +2.4 deg -> off 1.04 mm
55
+ block align 2: block at (271,236) area 7538 yaw +1.6 deg -> off 0.30 mm
56
+ lifting to z -20 before touching the wrist (rotating at z -100 spins the part against its neighbours)
57
+ lifting 55 mm clear of the approach zone first
58
+ dice (340.8, 435.2) bare block (235.6, 528.3) [+/-0.30 mm]
59
+ result: on_block=True, 140.3 mm from the target block -> failure
60
+ APPROACH_NO_GRASP | stage 3/6 | progress 0.39 | cos_align +0.61 | path 41981 mm | grip max 0.00
61
+ (resampling: 447, 365 is outside the caller's placement hull)
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+ spot (239, 370), 121 mm clear of everything (1 blacklisted zone honoured)
63
+ re-randomising the bare block -> (238.9, 370.3)
64
+ block pre-grasp: square (-1.5 deg off)
65
+ block align 0: block at (272,236) area 7490 yaw +1.7 deg -> off 0.06 mm
66
+ far-reach descent: crawling at 25 mm/s
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+ block depth check: off 0.21 mm
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+ block grasped at (235.5, 528.3)
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+ block squaring: square (-1.3 deg off)
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+ parked at home
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+
72
+ === 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 0.390 (95% bootstrap 0.390-0.390; 1.0 = reached the dice)
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+ cos_align +0.610 (+1 straight at the dice, 0 uncorrelated, -1 away)
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+ toward 86% of steps
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+ path 41981 mm/episode
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+ d_min 8 mm clamp rate nan gripper max 0.00
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+ timing median reach 13 s, grasp -- s (among episodes that got there)
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+ jitter follow_max median 3.14 deg, reversals median 0, stretch max 2.5
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+ === 0/1 succeeded (0%) ===
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+ uploading eval_runs/20260904_194409 to the Hub ...
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