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fanuc_dice_eval_20260904_225001

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LeRobot
fanuc
crx-5ia
pick-and-place
dice
evaluation
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  2. logs/20260904_225001_episode_000_steps.jsonl +34 -0
  3. logs/20260904_225001_run.log +94 -0
  4. logs/20260904_225001_summary.json +204 -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
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  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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19
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21
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22
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23
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24
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25
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26
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27
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28
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29
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30
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31
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32
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33
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34
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logs/20260904_225001_run.log ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ eval run 20260904_225001 -> eval_runs/20260904_225001
2
+ 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/act_stream/checkpoints/070000/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
9
+ 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)
13
+ undistort: 'none' matches training dataset dice_stream_j7
14
+ [WARNING] camera_map keys ['cam1', 'cam2'] are NOT policy inputs (this policy takes ['gripper', 'cam0']) - they are recorded but never sent
15
+ observation frames: AV1 round trip (libsvtav1 crf 30 -> decode), the codec the corpus was stored in
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
+ ignoring a white blob at the dice itself (186,309)
26
+ 1 of 2 blocks bare -> dice is on a block
27
+ dice trim h0 (z -91.5): off 23.41 mm
28
+ dice trim h1 (z -91.5): off 5.44 mm
29
+ dice trim h2 (z -91.5): off 1.25 mm
30
+ dice trim h3 (z -91.5): off 0.22 mm
31
+ 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)
32
+ lifting to z -20 before touching the wrist (rotating at z -127 spins the part against its neighbours)
33
+ lifting 55 mm clear of the approach zone first
34
+ block align 0: block at (291,168) area 6172 yaw +3.6 deg -> off 16.05 mm
35
+ block align 1: block at (274,229) area 7212 yaw +2.3 deg -> off 1.62 mm
36
+ block align 2: block at (272,235) area 7332 yaw +1.5 deg -> off 0.18 mm
37
+ lifting to z -20 before touching the wrist (rotating at z -100 spins the part against its neighbours)
38
+ lifting 55 mm clear of the approach zone first
39
+ dice (260.5, 457.9) bare block (390.3, 371.6) [+/-0.18 mm]
40
+ oracle: dice [np.float64(260.51), np.float64(457.86)] -> bare block [np.float64(390.26), np.float64(371.57)]
41
+ running the policy (timeout 600 s)
42
+ recording 4 feeds at 15 fps
43
+ start pose: tool 23.37 deg off vertical
44
+ transport: Stream Motion, whole chunks at 125 Hz
45
+ recorded 520 frames per feed (0 dropped)
46
+ lifting to z -20 before touching the wrist (rotating at z -95 spins the part against its neighbours)
47
+ wrist back to taught (+0.66 deg of roll to undo)
48
+ policy: budget after 1020 steps / 25.6 s
49
+ controller alarms during episode: MOTN-056
50
+ ignoring a white blob at the dice itself (186,301)
51
+ 1 of 2 blocks bare -> dice is on a block
52
+ dice trim h0 (z -91.5): off 17.89 mm
53
+ dice trim h1 (z -91.5): off 3.53 mm
54
+ dice trim h2 (z -91.5): off 0.88 mm
55
+ dice view check: 3.85 mm off at grasp depth (over the 1.8 gate - the taught references disagree by a position-dependent amount; grasping on the height convergence)
56
+ lifting to z -20 before touching the wrist (rotating at z -127 spins the part against its neighbours)
57
+ lifting 55 mm clear of the approach zone first
58
+ block align 0: block at (286,202) area 6882 yaw +3.8 deg -> off 8.43 mm
59
+ block align 1: block at (273,234) area 7311 yaw +2.5 deg -> off 0.65 mm
60
+ block align 2: block at (273,237) area 7352 yaw +4.1 deg -> off 0.28 mm
61
+ lifting to z -20 before touching the wrist (rotating at z -100 spins the part against its neighbours)
62
+ lifting 55 mm clear of the approach zone first
63
+ dice (261.3, 455.5) bare block (391.4, 370.8) [+/-0.28 mm]
64
+ result: on_block=True, 153.9 mm from the target block -> failure
65
+ OTHER | stage 2/6 | progress 0.73 | cos_align +0.92 | path 12850 mm | grip max 0.00
66
+ (resampling: 162, 360 is outside the caller's placement hull)
67
+ reset after the episode failed (ServoAbort: could not find a clear random spot on the plate) - recovering and going on to the next episode
68
+ parked at home
69
+
70
+ === 0/1 succeeded ===
71
+ success 0% (95% Wilson 0-79%, width 79 pts)
72
+ posterior median 29% (95% Beta 1-84%)
73
+ scoring success_at_end (the dice must still be on the block)
74
+
75
+ reached at least stage k:
76
+ stage 0 1/1 #
77
+ stage 1 1/1 #
78
+ stage 2 1/1 #
79
+ stage 3 0/1
80
+ stage 4 0/1
81
+ stage 5 0/1
82
+ stage 6 0/1
83
+
84
+ failure classes:
85
+ OTHER 1
86
+
87
+ progress 0.728 (95% bootstrap 0.728-0.728; 1.0 = reached the dice)
88
+ cos_align +0.923 (+1 straight at the dice, 0 uncorrelated, -1 away)
89
+ toward 100% of steps
90
+ path 12850 mm/episode
91
+ d_min 21 mm clamp rate nan gripper max 0.00
92
+ jitter follow_max median 4.41 deg, reversals median 0, stretch max 1.75
93
+ === 0/1 succeeded (0%) ===
94
+ uploading eval_runs/20260904_225001 to the Hub ...
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