halt_metadata_ep129.json

{
  "episode_idx": 129,
  "halt_reason": "advantage_threshold",
  "halt_step": 234,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": -0.10633426904678345,
  "final_v_value": 0.9127206206321716,
  "final_q_value": 0.8063863515853882,
  "halt_robot_state": {
    "eef_pos": [
      0.2010539576775522,
      0.02697053330226566,
      0.9285918399635362
    ],
    "eef_quat": [
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      0.11693807511311168,
      -0.12351007871353069
    ],
    "gripper_qpos": [
      0.03754046498137695,
      -0.03682907101799382
    ]
  },
  "halt_environment_state": [
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    -0.012110696295045686,
    0.012775561349970821,
    -0.9991483092308044,
    0.008046233095228672,
    -0.022643696516752243,
    0.0335426963865757,
    0.2304567161554882,
    0.10332993021988764,
    0.923747153137432,
    -0.16070252977878144,
    0.12836506052080626,
    0.7437256873248633,
    -0.6360575525637204
  ]
}