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fanuc_dice_eval_eval_act_061000

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crx-5ia
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dice
evaluation
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  1. data/chunk-000/file-000.parquet +3 -0
  2. logs/eval_act_061000_episode_000_steps.jsonl +27 -0
  3. logs/eval_act_061000_run.log +91 -0
  4. logs/eval_act_061000_summary.json +184 -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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logs/eval_act_061000_run.log ADDED
@@ -0,0 +1,91 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ eval run 20260902_023645 -> /opt/policy/eval_act_061000
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
+ policy: connected at /opt/policy/ckpt/act_nodip_dice/checkpoints/061000/pretrained_model
5
+ action contract: joint_abs (absolute joint degrees), 7 wide: J1, J2, J3, J4, J5, J6, grip
6
+ running in-process on cuda, views cam0, gripper
7
+ 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
8
+ state layout: j7, 7 wide (joint degrees, gripper 1.0 = OPEN)
9
+ observation frames: RAW shared memory ['fanuc_01', 'fanuc_02'] - the channel the corpus was recorded on
10
+ [WARNING] camera_map keys ['cam1', 'cam2'] are NOT policy inputs (this policy takes ['gripper', 'cam0']) - they are recorded but never sent
11
+ observation ok: sent {'cam0': (480, 640, 3), 'gripper': (480, 640, 3)}
12
+ cameras delivered: {'cam0': (480, 640, 3), 'gripper': (480, 640, 3)}
13
+ jpeg quality: 80 (the corpus is lossless renders; raise it with the service's --quality if you are chasing a domain gap)
14
+ 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
15
+ state-range gate: ARMED, 6 channels; the arm is currently INSIDE the corpus range
16
+ memory latch: n/a - this policy has no server-side first-frame view
17
+ parked at home before starting
18
+ === episode 1/1 ===
19
+ ignoring a white blob at the dice itself (100,287)
20
+ 1 of 2 blocks bare -> dice is on a block
21
+ dice trim h0 (z -91.5): off 7.73 mm
22
+ dice trim h1 (z -91.5): off 1.31 mm
23
+ dice trim h2 (z -91.5): off 0.26 mm
24
+ dice view check: 1.28 mm off at grasp depth
25
+ lifting to z -20 before touching the wrist (rotating at z -127 spins the part against its neighbours)
26
+ lifting 55 mm clear of the approach zone first
27
+ block align 0: block at (282,186) area 7162 yaw -2.7 deg -> off 7.97 mm
28
+ block align 1: block at (276,218) area 7469 yaw -3.7 deg -> off 0.34 mm
29
+ lifting to z -20 before touching the wrist (rotating at z -100 spins the part against its neighbours)
30
+ lifting 55 mm clear of the approach zone first
31
+ dice (317.5, 549.2) bare block (363.4, 311.3) [+/-0.34 mm]
32
+ oracle: dice [np.float64(317.47), np.float64(549.21)] -> bare block [np.float64(363.43), np.float64(311.32)]
33
+ running the policy (timeout 600 s)
34
+ recording 4 feeds at 15 fps
35
+ start pose: tool 23.37 deg off vertical
36
+ transport: Stream Motion, whole chunks at 125 Hz
37
+ recorded 980 frames per feed (0 dropped)
38
+ lifting to z -20 before touching the wrist (rotating at z -93 spins the part against its neighbours)
39
+ wrist back to taught (+6.49 deg of roll to undo)
40
+ policy: budget after 810 steps / 57.0 s
41
+ ignoring a white blob at the dice itself (100,296)
42
+ 1 of 2 blocks bare -> dice is on a block
43
+ dice trim h0 (z -91.5): off 14.45 mm
44
+ dice trim h1 (z -91.5): off 2.59 mm
45
+ dice trim h2 (z -91.5): off 0.30 mm
46
+ dice view check: 1.34 mm off at grasp depth
47
+ lifting to z -20 before touching the wrist (rotating at z -127 spins the part against its neighbours)
48
+ lifting 55 mm clear of the approach zone first
49
+ block align 0: block at (287,161) area 6314 yaw -1.4 deg -> off 13.82 mm
50
+ block align 1: block at (277,215) area 7326 yaw -3.5 deg -> off 1.13 mm
51
+ block align 2: block at (276,219) area 7404 yaw -4.5 deg -> off 0.19 mm
52
+ lifting to z -20 before touching the wrist (rotating at z -100 spins the part against its neighbours)
53
+ lifting 55 mm clear of the approach zone first
54
+ dice (316.2, 549.9) bare block (362.1, 312.1) [+/-0.19 mm]
55
+ result: on_block=True, 243.2 mm from the target block -> failure
56
+ OTHER | stage 2/6 | progress 0.60 | cos_align +0.47 | path 471 mm | grip max 0.00
57
+ spot (342, 431), 121 mm clear of everything (1 blacklisted zone honoured)
58
+ re-randomising the bare block -> (342.2, 430.9)
59
+ block pre-grasp: square (+4.5 deg off)
60
+ block align 0: block at (276,219) area 7410 yaw -4.6 deg -> off 0.22 mm
61
+ block depth check 0: off 1.35 mm
62
+ block depth check 1: off 0.04 mm
63
+ block grasped at (363.4, 311.5)
64
+ block squaring: cannot see the held block - setting it down as it came
65
+ parked at home
66
+
67
+ === 0/1 succeeded ===
68
+ success 0% (95% Wilson 0-79%, width 79 pts)
69
+ posterior median 29% (95% Beta 1-84%)
70
+ scoring success_at_end (the dice must still be on the block)
71
+
72
+ reached at least stage k:
73
+ stage 0 1/1 #
74
+ stage 1 1/1 #
75
+ stage 2 1/1 #
76
+ stage 3 0/1
77
+ stage 4 0/1
78
+ stage 5 0/1
79
+ stage 6 0/1
80
+
81
+ failure classes:
82
+ OTHER 1
83
+
84
+ progress 0.602 (95% bootstrap 0.602-0.602; 1.0 = reached the dice)
85
+ cos_align +0.468 (+1 straight at the dice, 0 uncorrelated, -1 away)
86
+ toward 89% of steps
87
+ path 471 mm/episode
88
+ d_min 41 mm clamp rate nan gripper max 0.00
89
+ jitter follow_max median 1.27 deg, reversals median 0, stretch max 1.0
90
+ === 0/1 succeeded (0%) ===
91
+ uploading /opt/policy/eval_act_061000 to the Hub ...
logs/eval_act_061000_summary.json ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:71c7fc8dec98666f37608322adc3d51c77d1c9603a86a4cd261ab4d5d711446e
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+ size 171712