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fanuc_dice_eval_eval_act_066000

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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_066000_episode_000_steps.jsonl +27 -0
  3. logs/eval_act_066000_run.log +96 -0
  4. logs/eval_act_066000_summary.json +186 -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_066000_run.log ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ eval run 20260902_022541 -> /opt/policy/eval_act_066000
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/066000/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
+ lifting to z -20 before touching the wrist (rotating at z -100 spins the part against its neighbours)
18
+ lifting 55 mm clear of the approach zone first
19
+ parked at home before starting
20
+ === episode 1/1 ===
21
+ ignoring a 114 px white sliver at (99,280) - a covered block, not a bare one
22
+ 1 of 2 blocks bare -> dice is on a block
23
+ dice trim h0 (z -91.5): off 6.27 mm
24
+ dice trim h1 (z -91.5): off 1.52 mm
25
+ dice trim h2 (z -91.5): off 0.31 mm
26
+ dice view check: 1.45 mm off at grasp depth
27
+ lifting to z -20 before touching the wrist (rotating at z -127 spins the part against its neighbours)
28
+ lifting 55 mm clear of the approach zone first
29
+ block align 0: block at (277,250) area 7382 yaw +0.0 deg -> off 7.27 mm
30
+ block align 1: block at (279,220) area 7358 yaw +1.5 deg -> off 0.56 mm
31
+ lifting to z -20 before touching the wrist (rotating at z -100 spins the part against its neighbours)
32
+ lifting 55 mm clear of the approach zone first
33
+ dice (318.5, 548.9) bare block (431.0, 366.3) [+/-0.56 mm]
34
+ oracle: dice [np.float64(318.53), np.float64(548.87)] -> bare block [np.float64(431.01), np.float64(366.34)]
35
+ running the policy (timeout 600 s)
36
+ recording 4 feeds at 15 fps
37
+ start pose: tool 23.37 deg off vertical
38
+ transport: Stream Motion, whole chunks at 125 Hz
39
+ recorded 1089 frames per feed (136 dropped)
40
+ lifting to z -20 before touching the wrist (rotating at z -110 spins the part against its neighbours)
41
+ could not restore the taught pose: target (X 335.2, Y 447.4, Z 385.9) outside_box: Z 385.9 > max 378.0
42
+ policy: budget after 810 steps / 63.5 s
43
+ wrist back to taught (+8.63 deg of roll to undo)
44
+ ignoring a white blob at the dice itself (100,300)
45
+ 1 of 2 blocks bare -> dice is on a block
46
+ dice trim h0 (z -91.5): off 16.01 mm
47
+ dice trim h1 (z -91.5): off 6.37 mm
48
+ dice trim h2 (z -91.5): off 1.18 mm
49
+ dice trim h3 (z -91.5): off 0.12 mm
50
+ dice view check: 1.47 mm off at grasp depth
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 (296,179) area 6551 yaw +0.0 deg -> off 10.27 mm
54
+ block align 1: block at (280,217) area 7222 yaw +0.0 deg -> off 0.87 mm
55
+ lifting to z -20 before touching the wrist (rotating at z -100 spins the part against its neighbours)
56
+ lifting 55 mm clear of the approach zone first
57
+ dice (315.6, 549.9) bare block (426.9, 368.3) [+/-0.87 mm]
58
+ result: on_block=True, 216.9 mm from the target block -> failure
59
+ GRASP_DROP | stage 4/6 | progress 0.66 | cos_align +0.31 | path 546 mm | grip max 1.00
60
+ spot (302, 368), 129 mm clear of everything (1 blacklisted zone honoured)
61
+ re-randomising the bare block -> (301.6, 368.4)
62
+ block pre-grasp: square (+0.0 deg off)
63
+ block align 0: block at (280,216) area 7214 yaw +0.0 deg -> off 0.95 mm
64
+ far-reach descent: crawling at 25 mm/s
65
+ block depth check 0: off 2.27 mm
66
+ block depth check 1: off 0.18 mm
67
+ block grasped at (428.8, 366.9)
68
+ block squaring: square (-1.4 deg off)
69
+ parked at home
70
+
71
+ === 0/1 succeeded ===
72
+ success 0% (95% Wilson 0-79%, width 79 pts)
73
+ posterior median 29% (95% Beta 1-84%)
74
+ scoring success_at_end (the dice must still be on the block)
75
+
76
+ reached at least stage k:
77
+ stage 0 1/1 #
78
+ stage 1 1/1 #
79
+ stage 2 1/1 #
80
+ stage 3 1/1 #
81
+ stage 4 1/1 #
82
+ stage 5 0/1
83
+ stage 6 0/1
84
+
85
+ failure classes:
86
+ GRASP_DROP 1 (early_release x1)
87
+
88
+ progress 0.665 (95% bootstrap 0.665-0.665; 1.0 = reached the dice)
89
+ cos_align +0.310 (+1 straight at the dice, 0 uncorrelated, -1 away)
90
+ toward 74% of steps
91
+ path 546 mm/episode
92
+ d_min 34 mm clamp rate nan gripper max 1.00
93
+ timing median reach -- s, grasp 37 s (among episodes that got there)
94
+ jitter follow_max median 1.21 deg, reversals median 0, stretch max 1.5
95
+ === 0/1 succeeded (0%) ===
96
+ uploading /opt/policy/eval_act_066000 to the Hub ...
logs/eval_act_066000_summary.json ADDED
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