halt_metadata_ep138.json

{
  "episode_idx": 138,
  "halt_reason": "v_drop_consecutive",
  "halt_step": 306,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": 0.13307470083236694,
  "final_v_value": 0.7394190430641174,
  "final_q_value": 0.8724937438964844,
  "halt_robot_state": {
    "eef_pos": [
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      0.15910847355544652,
      0.9593741275025869
    ],
    "eef_quat": [
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      0.037387101998095015,
      -0.06043310160338742
    ],
    "gripper_qpos": [
      0.01203393480463281,
      -0.019936237693241727
    ]
  },
  "halt_environment_state": [
    0.07028926561900128,
    -0.013294178783663124,
    0.002288600861862111,
    -0.06527797877788544,
    -0.9971049427986145,
    0.038801148533821106,
    0.0038787901867181063,
    0.23420335308174942,
    0.09055902006826573,
    0.9572759077343986,
    -0.01817545229753901,
    -0.026584015435521136,
    0.783122263195676,
    0.6210333839210156
  ]
}