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data/chunk-000/file-000.parquet

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logs/20260904_225423_episode_000_steps.jsonl

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+{"i": 49, "t": 46.924, "state": [56.32969, 6.05563, -24.65745, -9.2363, -43.15591, -40.97083, 1.0], "obs_ms": 27.6, "frame_age_ms": 107.2, "policy_ms": 109.1, "action": [56.719547, 5.581817, -23.874557, -8.830706, -43.946144, -41.728722, 0.998715], "chunk_rows": 30, "action_last": [55.108925, 10.089064, -31.712523, -11.234101, -36.504395, -37.407749, 1.001091], "cmd_travel": 7.838, "tcp": {"X": 368.94, "Y": 387.3, "Z": -125.89}, "move": {"rows": 30, "segments": 1, "cycles": 98, "grips": [], "grips_in_stream": 0, "dropped_rows": 12, "queued": 50, "wait_ms": 624.1, "due_ms": 1032.0, "handovers": 5, "underruns": 4, "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": 23.2, "send_gaps_over_72": 0, "stretch": 1.3, "follow_max": 2.2993, "position": {"X": 380.41, "Y": 377.44, "Z": -86.94}}, "act_ms": 637.2, "gripper": 0.0}
+{"i": 50, "t": 47.7, "state": [55.19285, 10.01175, -31.27184, -10.99943, -36.91492, -37.79061, 1.0], "obs_ms": 42.4, "frame_age_ms": 96.1, "policy_ms": 107.6, "action": [55.344555, 10.294493, -31.716381, -10.961133, -36.406792, -37.594749, 0.999612], "chunk_rows": 30, "action_last": [55.783039, 10.558125, -32.136017, -10.950539, -35.919476, -37.972824, 0.99969], "cmd_travel": 0.4873, "tcp": {"X": 368.94, "Y": 387.3, "Z": -125.89}, "move": {"rows": 30, "segments": 1, "cycles": 75, "grips": [], "grips_in_stream": 0, "dropped_rows": 12, "queued": 50, "wait_ms": 436.5, "due_ms": 840.0, "handovers": 5, "underruns": 4, "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": 23.2, "send_gaps_over_72": 0, "stretch": 1.0, "follow_max": 0.419, "position": {"X": 379.48, "Y": 375.58, "Z": -91.78}}, "act_ms": 440.0, "gripper": 0.0}
+{"i": 51, "t": 48.291, "state": [55.13099, 10.19457, -31.94899, -11.23359, -36.26471, -37.37506, 1.0], "obs_ms": 26.5, "frame_age_ms": 104.2, "policy_ms": 121.1, "action": [55.379726, 10.29774, -31.900402, -11.110663, -36.240639, -37.208717, 1.000418], "chunk_rows": 30, "action_last": [56.036346, 10.336552, -32.223545, -10.726018, -35.757538, -38.478825, 0.999396], "cmd_travel": 1.2701, "tcp": {"X": 368.94, "Y": 387.3, "Z": -125.89}, "move": {"rows": 30, "segments": 1, "cycles": 75, "grips": [], "grips_in_stream": 0, "dropped_rows": 12, "queued": 50, "wait_ms": 438.1, "due_ms": 848.0, "handovers": 5, "underruns": 4, "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": 23.2, "send_gaps_over_72": 0, "stretch": 1.0, "follow_max": 0.2891, "position": {"X": 377.24, "Y": 381.76, "Z": -93.03}}, "act_ms": 445.0, "gripper": 0.0}
+{"i": 52, "t": 48.885, "state": [55.84519, 10.57091, -32.18457, -10.93866, -35.86157, -38.02689, 1.0], "obs_ms": 53.4, "frame_age_ms": 90.8, "policy_ms": 131.9, "action": [56.030544, 10.586562, -32.068539, -10.899171, -35.985462, -37.761272, 1.000103], "chunk_rows": 30, "action_last": [55.722923, 12.456198, -34.475189, -11.748244, -33.698944, -36.277687, 1.002709], "cmd_travel": 2.4067, "tcp": {"X": 368.94, "Y": 387.3, "Z": -125.89}, "move": {"rows": 30, "segments": 1, "cycles": 75, "grips": [], "grips_in_stream": 0, "dropped_rows": 12, "queued": 50, "wait_ms": 395.6, "due_ms": 808.0, "handovers": 5, "underruns": 4, "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": 23.2, "send_gaps_over_72": 0, "stretch": 1.0, "follow_max": 0.6879, "position": {"X": 375.76, "Y": 381.74, "Z": -92.69}}, "act_ms": 402.5, "gripper": 0.0}
+{"i": 53, "t": 49.474, "state": [56.05938, 10.36357, -32.24174, -10.72435, -35.73597, -38.49779, 1.0], "obs_ms": 28.0, "frame_age_ms": 120.4, "policy_ms": 134.1, "action": [56.312641, 10.365425, -32.211674, -10.666685, -35.763794, -38.365952, 0.999502], "chunk_rows": 30, "action_last": [56.232353, 13.452197, -36.656303, -11.86329, -31.40612, -36.917984, 1.001298], "cmd_travel": 4.4446, "tcp": {"X": 368.94, "Y": 387.3, "Z": -125.89}, "move": {"rows": 30, "segments": 1, "cycles": 75, "grips": [], "grips_in_stream": 0, "dropped_rows": 12, "queued": 50, "wait_ms": 428.7, "due_ms": 832.0, "handovers": 5, "underruns": 4, "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": 23.2, "send_gaps_over_72": 0, "stretch": 1.0, "follow_max": 1.8255, "position": {"X": 378.53, "Y": 381.78, "Z": -118.84}}, "act_ms": 432.4, "gripper": 0.0}
+{"i": 54, "t": 50.07, "state": [55.65345, 13.13046, -35.53291, -11.98616, -32.65616, -35.96172, 1.0], "obs_ms": 42.3, "frame_age_ms": 96.0, "policy_ms": 152.8, "action": [55.974739, 12.901081, -35.230774, -11.868823, -32.875237, -35.793537, 1.002837], "chunk_rows": 30, "action_last": [55.692551, 5.178266, -22.395041, -9.072927, -45.481163, -39.189594, 1.00385], "cmd_travel": 12.8357, "tcp": {"X": 368.94, "Y": 387.3, "Z": -125.89}, "abort": "the arm STOPPED following: 8.12 deg behind the command (guard 8.0, runaway ceiling 25.0, controller 'moving' bit False). Check the controller error log for MOTN-610/611/722; if there is none, the arm was tracking and this was lag. Sender: worst gap between our own sends 23 ms, 0 gaps over the 72 ms controller buffer, 0 status re-arms.", "follow_trace": [[5180, 0.6186, 1, 7], [5182, 0.5522, 1, 7], [5183, 0.5156, 1, 7], [5185, 0.4372, 1, 7], [5187, 0.3473, 1, 7], [5188, 0.2997, 1, 7], [5190, 0.2041, 1, 7], [5192, 0.206, 1, 7], [5193, 0.2777, 1, 7], [5195, 0.4088, 1, 7], [5197, 0.5213, 1, 7], [5198, 0.5727, 1, 7], [5200, 0.6543, 1, 7], [5202, 0.7135, 1, 7], [5203, 0.738, 1, 7], [5205, 0.7757, 1, 7], [5207, 0.7953, 1, 7], [5208, 0.8014, 1, 7], [5210, 0.8033, 1, 7], [5212, 0.7994, 1, 7], [5213, 0.7949, 1, 7], [5215, 0.7793, 1, 7], [5217, 0.7584, 1, 7], [5218, 0.745, 1, 7], [5220, 0.7097, 1, 7], [5222, 0.6561, 1, 7], [5223, 0.6227, 1, 7], [5225, 0.5479, 1, 7], [5227, 0.4624, 1, 7], [5228, 0.4148, 1, 7], [5230, 0.3148, 1, 7], [5232, 0.2031, 1, 7], [5233, 0.153, 1, 7], [5235, 0.1212, 1, 7], [5237, 0.1507, 1, 7], [5238, 0.2246, 1, 7], [5240, 0.3717, 1, 7], [5242, 0.5175, 1, 7], [5243, 0.5973, 1, 7], [5245, 0.7625, 1, 7], [5247, 0.9338, 1, 7], [5248, 1.0211, 1, 7], [5250, 1.1981, 1, 7], [5252, 1.3905, 1, 7], [5253, 1.5076, 1, 7], [5255, 1.758, 1, 7], [5257, 2.0273, 1, 7], [5258, 2.1705, 1, 7], [5260, 2.4749, 1, 7], [5262, 2.7998, 1, 7], [5263, 2.9712, 1, 7], [5265, 3.3369, 0, 7], [5267, 3.7381, 0, 7], [5268, 3.948, 0, 7], [5270, 4.3789, 0, 7], [5272, 4.8236, 0, 7], [5273, 5.0504, 0, 7], [5275, 5.5117, 0, 7], [5277, 5.9812, 0, 7], [5278, 6.2181, 0, 7], [5280, 6.6941, 0, 7], [5282, 7.171, 0, 7], [5283, 7.4089, 0, 7], [5285, 7.8835, 0, 7]]}

logs/20260904_225423_run.log

@@ -0,0 +1,85 @@
+eval run 20260904_225423 -> eval_runs/20260904_225423
+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/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: 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 white blob at the dice itself (186,294)
+  1 of 2 blocks bare -> dice is on a block
+    dice trim h0 (z -91.5): off 11.20 mm
+    dice trim h1 (z -91.5): off 3.06 mm
+    dice trim h2 (z -91.5): off 0.74 mm
+    dice view check: 2.99 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 (283,228) area 7080 yaw +4.8 deg -> off 2.91 mm
+    block align 1: block at (274,235) area 7326 yaw +4.2 deg -> off 0.45 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 (265.7, 453.7)  bare block (392.8, 370.2) [+/-0.45 mm]
+  oracle: dice [np.float64(265.7), np.float64(453.7)] -> bare block [np.float64(392.77), np.float64(370.2)]
+  running the policy (timeout 600 s)
+  recording 4 feeds at 15 fps
+  start pose: tool 23.34 deg off vertical
+  transport: Stream Motion, whole chunks at 125 Hz
+  GRASP at step 300 - budget 1000 -> 3000 rows (x3) to finish the place
+  recorded 1058 frames per feed (0 dropped)
+     lifting to z -20 before touching the wrist (rotating at z -128 spins the part against its neighbours)
+  could not restore the taught pose: target (X 335.2, Y 447.4, Z 404.0) outside_box: Z 404.0 > max 378.0
+  policy: guard_abort after 1650 steps / 51.1 s
+    reason: the arm STOPPED following: 8.12 deg behind the command (guard 8.0, runaway ceiling 25.0, controller 'moving' bit False). Check the controller error log for MOTN-610/611/722; if there is none, the arm was tracking and this was lag. Sender: worst gap between our own sends 23 ms, 0 gaps over the 72 ms 
+  controller alarms during episode: SYST-320, R E S E T
+     wrist back to taught (-1.44 deg of roll to undo)
+    ignoring a white blob at the dice itself (223,183)
+  2 of 2 blocks bare -> dice is on the board
+    dice trim h0 (z -100.7): off 6.59 mm
+    dice trim h1 (z -100.7): off 3.39 mm
+    dice trim h2 (z -100.7): off 1.74 mm
+    dice trim h3 (z -100.7): off 0.90 mm
+  reset after the episode failed (RemoteError: FRC_LinearMotion failed, ErrorID=-1: {'Communication': 'FRC_SystemFault', 'SequenceID': 9}) - recovering and going on to the next episode
+     lifting to z -20 before touching the wrist (rotating at z -124 spins the part against its neighbours)
+     lifting 55 mm clear of the approach zone first
+parked at home
+
+=== no success bit: 1 scored episode(s), NONE surveyed ===
+  NOTE 1 scored episode(s) have no success bit (survey failed) - the success rate is over 0, the stages over 1
+  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   1/1  #
+    stage 5   1/1  #
+    stage 6   0/1  
+
+  failure classes:
+    UNKNOWN             1  (early_release x1)
+
+  progress   0.942   (95% bootstrap 0.942-0.942; 1.0 = reached the dice)
+  cos_align  -0.122  (+1 straight at the dice, 0 uncorrelated, -1 away)
+  toward     43% of steps
+  path       7611 mm/episode
+  d_min      4 mm   clamp rate nan   gripper max 1.00
+  timing     median reach 5 s, grasp 11 s (among episodes that got there)
+  jitter     follow_max median 3.69 deg, reversals median 0, stretch max 2.0
+uploading eval_runs/20260904_225423 to the Hub ...

logs/20260904_225423_summary.json

@@ -0,0 +1,203 @@
+{
+  "n_planned": 1,
+  "code_version": null,
+  "stamp": "20260904_225423",
+  "task": "Pick up the dice and place it on the empty white block.",
+  "policy": "/opt/policy/ckpt/act_stream/checkpoints/080000/pretrained_model",
+  "policy_profile": "act_prec",
+  "action_space": "joint_abs",
+  "state_space": "j7",
+  "policy_cameras": [
+    "gripper",
+    "cam0"
+  ],
+  "checkpoint": null,
+  "timeout_s": 600.0,
+  "camera_map": {
+    "gripper": "fanuc_01",
+    "cam0": "fanuc_02",
+    "cam1": "fanuc_03",
+    "cam2": "fanuc_04"
+  },
+  "thresholds": {
+    "on_block_mm": 25.0,
+    "reach_mm": 10.0,
+    "idle_path_mm": 20.0,
+    "same_spot_mm": 25.0,
+    "fails_before_move": 2,
+    "trans_clamp_mm": 100.0,
+    "rot_clamp_deg": 45.0,
+    "grasp_misplace_mm": 40.0,
+    "success": "success_at_end"
+  },
+  "training_aspect": null,
+  "aspect_mode": "resize",
+  "start_orientation": null,
+  "start_tilt_max_deg": 30.0,
+  "state_gate": "refuse",
+  "max_steps": 1000,
+  "source_shapes": {
+    "gripper": [
+      480,
+      640,
+      3
+    ],
+    "cam0": [
+      480,
+      640,
+      3
+    ]
+  },
+  "frame_codec": "av1",
+  "codec_inter": 0,
+  "codec_pair_misses": 0,
+  "exposures": {
+    "gripper": {
+      "exposure_us": 12000,
+      "iso": 1060,
+      "serial": "1944301031E4607E00"
+    },
+    "cam0": {
+      "exposure_us": 15000,
+      "iso": 621,
+      "serial": "194430109128AE5A00"
+    }
+  },
+  "jpeg_quality": 80,
+  "start_z_max_mm": null,
+  "state_limits": [
+    [
+      42.679,
+      92.96
+    ],
+    [
+      -28.455,
+      20.508
+    ],
+    [
+      -51.749,
+      18.835
+    ],
+    [
+      -19.174,
+      36.858
+    ],
+    [
+      -85.651,
+      -20.616
+    ],
+    [
+      -122.033,
+      -15.999
+    ],
+    null
+  ],
+  "episodes": [
+    {
+      "episode": 0,
+      "seed": 0,
+      "ref_dice": [
+        265.7,
+        453.7
+      ],
+      "ref_block": [
+        392.77,
+        370.2
+      ],
+      "ref_block_resid": 0.4481126034885222,
+      "ref_block_angle": 4.205360412597656,
+      "ref_dice_angle": null,
+      "ref_on_block": true,
+      "ref_grasp_z": -126.53,
+      "ref_start_wrist": null,
+      "video_frames": 1058,
+      "video_feeds": [
+        "fanuc_01",
+        "fanuc_02",
+        "fanuc_03",
+        "fanuc_04"
+      ],
+      "steps": 1650,
+      "outcome": "guard_abort",
+      "error": "the arm STOPPED following: 8.12 deg behind the command (guard 8.0, runaway ceiling 25.0, controller 'moving' bit False). Check the controller error log for MOTN-610/611/722; if there is none, the arm was tracking and this was lag. Sender: worst gap between our own sends 23 ms, 0 gaps over the 72 ms controller buffer, 0 status re-arms.",
+      "rotation_suppressed": 0,
+      "wall_s": 51.12,
+      "state_out_of_range": 0,
+      "start_tilt_deg": 23.34349132907666,
+      "grasp_step": 300,
+      "budget": 3000,
+      "controller_alarms": [
+        {
+          "time": "2026-09-04 15:55:12",
+          "code": "SYST-320",
+          "text": "Contact force exceeds limit 1,1",
+          "severity": "WARN                          00000000"
+        },
+        {
+          "time": "2026-09-04 15:55:24",
+          "code": "",
+          "text": "R E S E T",
+          "severity": "00000000"
+        }
+      ],
+      "reset_error": "RemoteError: FRC_LinearMotion failed, ErrorID=-1: {'Communication': 'FRC_SystemFault', 'SequenceID': 9}",
+      "metrics": {
+        "steps_scored": 54,
+        "path_mm": 7610.52,
+        "net_mm": 422.1,
+        "d0_mm": 69.74,
+        "d_min_mm": 4.01,
+        "d_min_step": 7,
+        "progress": 0.9424,
+        "cos_align": -0.122,
+        "frac_toward": 0.4259,
+        "clamp_rate": null,
+        "grip_max": 1.0,
+        "stage": 5,
+        "failure_class": "UNKNOWN",
+        "failure_detail": "early_release",
+        "dice_moved_mm": null,
+        "grasp_verified": false,
+        "t_reach_s": 5.386,
+        "t_grasp_s": 10.812,
+        "t_release_s": 37.915,
+        "release_z_mm": -124.3,
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