halt_metadata_ep111.json

{
  "episode_idx": 111,
  "halt_reason": "advantage_threshold",
  "halt_step": 222,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": -0.10936591029167175,
  "final_v_value": 0.5652957558631897,
  "final_q_value": 0.45592984557151794,
  "halt_robot_state": {
    "eef_pos": [
      0.11697557534852639,
      0.11606853891326727,
      0.95294974488602
    ],
    "eef_quat": [
      0.9888604934735009,
      -0.058366885767963304,
      0.13678010966334067,
      0.0062795456505703815
    ],
    "gripper_qpos": [
      0.030110201954799055,
      -0.03009865142393823
    ]
  },
  "halt_environment_state": [
    0.13814792716523128,
    0.008734769971875833,
    0.03475380858908661,
    0.026515083387494087,
    0.9771302938461304,
    0.025468887761235237,
    0.20943963527679443,
    0.257367406519041,
    0.09069720848203192,
    0.9569360318761431,
    0.07223035586176836,
    -0.02768222404583712,
    0.9965921459137519,
    0.028645503433897802
  ]
}