halt_metadata_ep120.json

{
  "episode_idx": 120,
  "halt_reason": "advantage_threshold",
  "halt_step": 192,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": -0.10067707300186157,
  "final_v_value": 0.6589275002479553,
  "final_q_value": 0.5582504272460938,
  "halt_robot_state": {
    "eef_pos": [
      0.04316296673496871,
      0.1950722198220825,
      0.9706269522502474
    ],
    "eef_quat": [
      0.8286125745223665,
      -0.5533167109788876,
      0.07315015373607488,
      0.043484177620244376
    ],
    "gripper_qpos": [
      0.014956303643858434,
      -0.01481440549392406
    ]
  },
  "halt_environment_state": [
    0.07299854251127313,
    -0.0016408827267853088,
    0.008537044503157398,
    0.036708373576402664,
    0.9981978535652161,
    0.0028803031891584396,
    0.0473855659365654,
    0.07703866908949907,
    0.12614360272231442,
    0.9758504246952011,
    -0.03434673568175542,
    0.017687848760128556,
    0.8491410205720586,
    0.5267513350112066
  ]
}