halt_metadata_ep124.json

{
  "episode_idx": 124,
  "halt_reason": "advantage_threshold",
  "halt_step": 70,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": -0.10152125358581543,
  "final_v_value": 0.4397478699684143,
  "final_q_value": 0.3382266163825989,
  "halt_robot_state": {
    "eef_pos": [
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      0.13720972236086038,
      0.8513382782405113
    ],
    "eef_quat": [
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      0.10010375089256347,
      0.05525314714191613,
      -0.009269231981455
    ],
    "gripper_qpos": [
      0.01424514992556507,
      -0.014170167779469263
    ]
  },
  "halt_environment_state": [
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    -0.007215664838703173,
    0.009291729081986166,
    0.9969547390937805,
    0.04701267182826996,
    0.0536477267742157,
    0.03151308745145798,
    -0.11040862834178473,
    0.12968215156021784,
    0.8369927994190404,
    -0.03055843122268026,
    -0.005780554486185335,
    0.059994370229259755,
    0.9977141088567582
  ]
}