Datasets:

azorematter
/

fanuc_dice_eval_20260904_215632

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+{"i": 3, "t": 5.204, "state": [66.66383, 0.86057, 3.65246, 0.25814, -70.35572, -58.07291, 1.0], "obs_ms": 32.6, "frame_age_ms": 105.5, "policy_ms": 62.3, "action": [66.604576, 0.674547, 3.074116, 0.15764, -69.756966, -58.027763, 1.002062], "chunk_rows": 15, "action_last": [66.799751, 3.482527, -18.096598, 0.348076, -48.606636, -58.337536, 1.002517], "cmd_travel": 21.1707, "tcp": {"X": 335.15, "Y": 447.36, "Z": 295.87}, "move": {"rows": 15, "segments": 1, "cycles": 66, "grips": [], "grips_in_stream": 0, "dropped_rows": 6, "queued": 25, "wait_ms": 416.7, "due_ms": 624.0, "handovers": 1, "underruns": 0, "rearms": 0, "z_clipped": 0, "z_clip_failed": 0, "refused": false, "refused_chunks": 0, "lag_over_guard": 0, "lag_worst_deg": 0.0, "send_gap_max_ms": 14.4, "send_gaps_over_72": 0, "stretch": 1.75, "follow_max": 3.4156, "position": {"X": 333.24, "Y": 444.12, "Z": 91.09}}, "act_ms": 424.7, "gripper": 0.0}
+{"i": 4, "t": 5.725, "state": [66.76757, 1.35117, -9.81141, 0.26358, -56.87278, -58.17334, 1.0], "obs_ms": 68.2, "frame_age_ms": 98.3, "policy_ms": 86.0, "action": [66.579086, 1.468692, -10.392016, 0.112346, -56.262615, -58.002724, 1.003081], "chunk_rows": 15, "action_last": [66.549324, 8.388444, -29.238697, 0.19576, -37.453918, -58.007492, 1.00019], "cmd_travel": 18.8467, "tcp": {"X": 335.15, "Y": 447.36, "Z": 295.87}, "move": {"rows": 15, "segments": 1, "cycles": 57, "grips": [], "grips_in_stream": 0, "dropped_rows": 6, "queued": 25, "wait_ms": 287.0, "due_ms": 496.0, "handovers": 1, "underruns": 0, "rearms": 0, "z_clipped": 0, "z_clip_failed": 0, "refused": false, "refused_chunks": 0, "lag_over_guard": 0, "lag_worst_deg": 0.0, "send_gap_max_ms": 14.4, "send_gaps_over_72": 0, "stretch": 1.5, "follow_max": 3.3697, "position": {"X": 333.84, "Y": 443.94, "Z": 4.87}}, "act_ms": 290.6, "gripper": 0.0}
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+{"i": 7, "t": 7.269, "state": [66.56895, 9.34339, -29.63291, 0.01612, -37.02635, -58.04918, 1.0], "obs_ms": 29.5, "frame_age_ms": 104.0, "policy_ms": 67.5, "action": [66.445641, 9.824171, -30.57408, -0.266704, -36.077042, -57.687927, 0.998974], "chunk_rows": 15, "action_last": [66.442871, 11.377316, -32.917747, -0.310497, -33.705265, -57.6194, 1.000436], "cmd_travel": 2.3718, "tcp": {"X": 335.15, "Y": 447.36, "Z": 295.87}, "move": {"rows": 15, "segments": 1, "cycles": 66, "grips": [], "grips_in_stream": 0, "dropped_rows": 6, "queued": 25, "wait_ms": 414.0, "due_ms": 624.0, "handovers": 1, "underruns": 0, "rearms": 0, "z_clipped": 0, "z_clip_failed": 0, "refused": false, "refused_chunks": 0, "lag_over_guard": 0, "lag_worst_deg": 0.0, "send_gap_max_ms": 14.4, "send_gaps_over_72": 0, "stretch": 1.75, "follow_max": 1.6973, "position": {"X": 337.02, "Y": 449.41, "Z": -39.1}}, "act_ms": 419.1, "gripper": 0.0}
+{"i": 8, "t": 7.787, "state": [66.45799, 8.27946, -27.48428, -0.18149, -39.14754, -57.77054, 1.0], "obs_ms": 46.4, "frame_age_ms": 98.3, "policy_ms": 82.0, "action": [66.411308, 7.949912, -26.078167, -0.331614, -40.558304, -57.551159, 0.998844], "chunk_rows": 15, "action_last": [66.385323, 7.627385, -24.903921, -0.391486, -41.743832, -57.387482, 1.000162], "cmd_travel": 1.1855, "tcp": {"X": 335.15, "Y": 447.36, "Z": 295.87}, "move": {"rows": 15, "segments": 0, "cycles": 0, "grips": [], "grips_in_stream": 0, "dropped_rows": 6, "refused": true, "refuse_reason": "refusing to stream: the resampled path still exceeds the controller's limits at x5 time-stretch (velocity J3 30.2 > 30.0, velocity J5 30.3 > 30.0). An alarm mid-stream is a category-0 power-off stop, so this is checked b", "queued": 9, "wait_ms": 414.0, "due_ms": 624.0, "handovers": 1, "underruns": 0, "rearms": 0, "z_clipped": 0, "z_clip_failed": 0, "refused_chunks": 1, "lag_over_guard": 0, "lag_worst_deg": 0.0, "send_gap_max_ms": 14.4, "send_gaps_over_72": 0, "stretch": 5.0, "follow_max": 0.0, "position": {"X": 337.05, "Y": 450.39, "Z": -47.16}}, "act_ms": 11.2, "gripper": 0.0}
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logs/20260904_215632_run.log ADDED Viewed

	@@ -0,0 +1,101 @@

+eval run 20260904_215632 -> eval_runs/20260904_215632
+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/act_stream/checkpoints/040000/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: AV1 round trip (libsvtav1 crf 30 -> decode), the codec the corpus was stored in
+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 ===
+    ignoring a 86 px white sliver at (114,270) - a covered block, not a bare one
+  1 of 2 blocks bare -> dice is on a block
+    dice trim h0 (z -91.5): off 5.80 mm
+    dice trim h1 (z -91.5): off 1.24 mm
+    dice trim h2 (z -91.5): off 0.30 mm
+    dice view check: 2.13 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 (282,213) area 6136 yaw +3.4 deg -> off 5.62 mm
+    block align 1: block at (273,235) area 6706 yaw +3.1 deg -> off 0.36 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 (330.0, 527.9)  bare block (392.1, 370.4) [+/-0.36 mm]
+  oracle: dice [np.float64(329.97), np.float64(527.94)] -> bare block [np.float64(392.11), np.float64(370.4)]
+  running the policy (timeout 600 s)
+  recording 4 feeds at 15 fps
+  start pose: tool 23.43 deg off vertical
+  transport: Stream Motion, whole chunks at 125 Hz
+  recorded 481 frames per feed (0 dropped)
+     lifting to z -20 before touching the wrist (rotating at z -90 spins the part against its neighbours)
+     wrist back to taught (-0.73 deg of roll to undo)
+  policy: budget after 1005 steps / 26.1 s
+  controller alarms during episode: MOTN-056
+    ignoring a 77 px white sliver at (113,251) - a covered block, not a bare one
+  1 of 2 blocks bare -> dice is on a block
+    dice trim h0 (z -91.5): off 17.24 mm
+    dice trim h1 (z -91.5): off 3.32 mm
+    dice trim h2 (z -91.5): off 0.69 mm
+    dice view check: 2.73 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 (274,292) area 6820 yaw +4.8 deg -> off 12.70 mm
+    block align 1: block at (275,238) area 7264 yaw +5.2 deg -> off 0.77 mm
+    block align 2: block at (272,236) area 7304 yaw +4.9 deg -> off 0.10 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 (333.1, 527.6)  bare block (395.6, 369.4) [+/-0.10 mm]
+  result: on_block=True, 167.9 mm from the target block -> failure
+    OTHER | stage 2/6 | progress 0.45 | cos_align +0.73 | path 24472 mm | grip max 0.00
+    spot (200, 395), 185 mm clear of everything (1 blacklisted zone honoured)
+  re-randomising the bare block -> (200.5, 395.3)
+    block pre-grasp: -5.8 deg off (turning +2.1)
+    block pre-grasp: -4.2 deg off (turning +1.5)
+    block pre-grasp: square (-1.7 deg off)
+    block align 0: block at (273,240) area 7456 yaw +1.9 deg -> off 0.95 mm
+    block align 1: block at (273,237) area 6866 yaw +2.5 deg -> off 0.21 mm
+    block depth check: 1.69 mm off at the grasp view, past the 0.8 mm gate - refusing
+  block depth check refused - leaving the block alone
+     wrist back to taught (+3.29 deg of roll to undo)
+     wrist back to taught (-3.29 deg of roll to undo)
+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   0/1
+    stage 4   0/1
+    stage 5   0/1
+    stage 6   0/1
+  failure classes:
+    OTHER               1
+  progress   0.455   (95% bootstrap 0.455-0.455; 1.0 = reached the dice)
+  cos_align  +0.729  (+1 straight at the dice, 0 uncorrelated, -1 away)
+  toward     91% of steps
+  path       24472 mm/episode
+  d_min      44 mm   clamp rate nan   gripper max 0.00
+  jitter     follow_max median 3.42 deg, reversals median 0, stretch max 5.0
+=== 0/1 succeeded (0%) ===
+uploading eval_runs/20260904_215632 to the Hub ...

logs/20260904_215632_summary.json ADDED Viewed

	@@ -0,0 +1,204 @@

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+  "stamp": "20260904_215632",
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+  "policy_profile": "act_prec",
+  "action_space": "joint_abs",
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+  "codec_inter": 0,
+  "codec_pair_misses": 0,
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+    null
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+      "video_feeds": [
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+      "rotation_suppressed": 0,
+      "wall_s": 26.11,
+      "state_out_of_range": 0,
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+      "controller_alarms": [
+        {
+          "time": "2026-09-04 14:57:02",
+          "code": "MOTN-056",
+          "text": "Speed limits used (G:1)",
+          "severity": "NONE                          10000000"
+        }
+      ],
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+        527.6
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+      0.4549
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+  }
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