ankile commited on
Commit
93dff2d
·
verified ·
1 Parent(s): 7881d55

Upload folder using huggingface_hub

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. data/chunk-000/file-000.parquet +3 -0
  2. data/chunk-000/file-001.parquet +3 -0
  3. halt_metadata_ep0.json +44 -0
  4. halt_metadata_ep1.json +44 -0
  5. halt_metadata_ep10.json +44 -0
  6. halt_metadata_ep100.json +44 -0
  7. halt_metadata_ep101.json +44 -0
  8. halt_metadata_ep102.json +44 -0
  9. halt_metadata_ep103.json +44 -0
  10. halt_metadata_ep104.json +44 -0
  11. halt_metadata_ep105.json +44 -0
  12. halt_metadata_ep106.json +44 -0
  13. halt_metadata_ep107.json +44 -0
  14. halt_metadata_ep108.json +44 -0
  15. halt_metadata_ep109.json +44 -0
  16. halt_metadata_ep11.json +44 -0
  17. halt_metadata_ep110.json +44 -0
  18. halt_metadata_ep111.json +44 -0
  19. halt_metadata_ep112.json +44 -0
  20. halt_metadata_ep113.json +44 -0
  21. halt_metadata_ep114.json +44 -0
  22. halt_metadata_ep115.json +44 -0
  23. halt_metadata_ep116.json +44 -0
  24. halt_metadata_ep117.json +44 -0
  25. halt_metadata_ep118.json +44 -0
  26. halt_metadata_ep119.json +44 -0
  27. halt_metadata_ep12.json +44 -0
  28. halt_metadata_ep120.json +44 -0
  29. halt_metadata_ep121.json +44 -0
  30. halt_metadata_ep122.json +44 -0
  31. halt_metadata_ep123.json +44 -0
  32. halt_metadata_ep124.json +44 -0
  33. halt_metadata_ep125.json +44 -0
  34. halt_metadata_ep126.json +44 -0
  35. halt_metadata_ep127.json +44 -0
  36. halt_metadata_ep128.json +44 -0
  37. halt_metadata_ep129.json +44 -0
  38. halt_metadata_ep13.json +44 -0
  39. halt_metadata_ep130.json +44 -0
  40. halt_metadata_ep131.json +44 -0
  41. halt_metadata_ep132.json +44 -0
  42. halt_metadata_ep133.json +44 -0
  43. halt_metadata_ep134.json +44 -0
  44. halt_metadata_ep135.json +44 -0
  45. halt_metadata_ep136.json +44 -0
  46. halt_metadata_ep137.json +44 -0
  47. halt_metadata_ep138.json +44 -0
  48. halt_metadata_ep139.json +44 -0
  49. halt_metadata_ep14.json +44 -0
  50. halt_metadata_ep140.json +44 -0
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:af03b892558dda7cc972ba4beac34276c967de4992598a0fb90e96b9cc3a61b3
3
+ size 6064860
data/chunk-000/file-001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b426f9468544f9b706980b9a8fed38e63cb7d367fe62390ec715bc49dba1920a
3
+ size 3905261
halt_metadata_ep0.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 0,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 307,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.008534371852874756,
9
+ "final_v_value": 0.28099530935287476,
10
+ "final_q_value": 0.2724609375,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ -0.024932331002943908,
14
+ 0.23577668216071854,
15
+ 0.8664439264154731
16
+ ],
17
+ "eef_quat": [
18
+ 0.6950652931772854,
19
+ 0.7119750884687001,
20
+ -0.01333101453687988,
21
+ 0.0989848254621747
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.039825278612293805,
25
+ -0.04000505671865469
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.06518313181097629,
30
+ -0.016944740709827877,
31
+ 0.04576112577792735,
32
+ -0.9948315620422363,
33
+ -0.018293647095561028,
34
+ 0.0790301039814949,
35
+ 0.061071041971445084,
36
+ -0.03522213435976614,
37
+ 0.1637027901829703,
38
+ 0.829982150870282,
39
+ -9.082630791014355e-07,
40
+ 9.199074320956562e-07,
41
+ 0.7025886821926192,
42
+ 0.7115961942374116
43
+ ]
44
+ }
halt_metadata_ep1.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 1,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 184,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": 0.0010710954666137695,
9
+ "final_v_value": 0.9973385334014893,
10
+ "final_q_value": 0.998409628868103,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.20143080744019295,
14
+ 0.03785987237445398,
15
+ 0.9341180490375698
16
+ ],
17
+ "eef_quat": [
18
+ 0.6416235151976268,
19
+ -0.7615405059152396,
20
+ 0.08830451301823154,
21
+ -0.02403405035389956
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.029487455762793425,
25
+ -0.029552406474544077
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.0702306976002558,
30
+ -0.008412859043071208,
31
+ 0.05510697721998725,
32
+ 0.9947893619537354,
33
+ 0.04929620027542114,
34
+ 0.02542802318930626,
35
+ 0.08554228395223618,
36
+ 0.22932348914508183,
37
+ 0.10125373732134518,
38
+ 0.8225314767615971,
39
+ 0.009067776181127593,
40
+ 0.0008716217309282274,
41
+ 0.7927839831302558,
42
+ -0.609434632920393
43
+ ]
44
+ }
halt_metadata_ep10.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 10,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 138,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.06389182806015015,
9
+ "final_v_value": 0.45536214113235474,
10
+ "final_q_value": 0.3914703130722046,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ -0.19934657975713954,
14
+ 0.11777398628531364,
15
+ 0.8292897827908615
16
+ ],
17
+ "eef_quat": [
18
+ 0.9886330615923999,
19
+ 0.14976067947384814,
20
+ 0.012877927064602092,
21
+ 0.003250754448813991
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.03997438536348914,
25
+ -0.03667803930165308
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.08772011018181125,
30
+ 0.010692164557873918,
31
+ 0.0015695862844554709,
32
+ 0.010999134741723537,
33
+ 0.9998512268066406,
34
+ 0.00527728907763958,
35
+ 0.012187357991933823,
36
+ -0.11238366669489411,
37
+ 0.13354036517309242,
38
+ 0.8299789458594851,
39
+ -1.0966556408101536e-06,
40
+ -1.7848570113382104e-07,
41
+ 0.9870129266196915,
42
+ -0.16064084998653183
43
+ ]
44
+ }
halt_metadata_ep100.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 100,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 199,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": 0.002287924289703369,
9
+ "final_v_value": 0.9966704249382019,
10
+ "final_q_value": 0.9989583492279053,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.2239722799387334,
14
+ 0.1567595124898589,
15
+ 0.9468189797501215
16
+ ],
17
+ "eef_quat": [
18
+ 0.7226382821264495,
19
+ -0.6874885853952393,
20
+ 0.06175630300898114,
21
+ -0.03659941523096291
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.02593850818078409,
25
+ -0.025588437059430348
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.05404805429422255,
30
+ 0.0057585073340389314,
31
+ 0.06889132995770697,
32
+ -0.027739737182855606,
33
+ 0.9988665580749512,
34
+ 0.01948130689561367,
35
+ 0.03342176601290703,
36
+ 0.23160053734130678,
37
+ 0.10334945548145222,
38
+ 0.8251080231856689,
39
+ -0.011390548190920951,
40
+ -0.021388555805619068,
41
+ 0.7053699798101937,
42
+ 0.7084249972121445
43
+ ]
44
+ }
halt_metadata_ep101.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 101,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 214,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.007101953029632568,
9
+ "final_v_value": 0.9995490908622742,
10
+ "final_q_value": 0.9924471378326416,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.22986518550863355,
14
+ 0.17132467835894483,
15
+ 0.9414302822207817
16
+ ],
17
+ "eef_quat": [
18
+ 0.6702640841473377,
19
+ 0.7296583386640786,
20
+ 0.13511724938586256,
21
+ 0.009385906376305049
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.02193459257092069,
25
+ -0.022672009735839847
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.0800287462640592,
30
+ -0.009002342306497768,
31
+ 0.019637917347398615,
32
+ -0.9958962202072144,
33
+ -0.029255975037813187,
34
+ -0.08113253861665726,
35
+ 0.027429677546024323,
36
+ 0.23223164444313468,
37
+ 0.09562351926954071,
38
+ 0.8608676646951857,
39
+ -0.045527673574695615,
40
+ -0.0600400243838651,
41
+ 0.7081917516485722,
42
+ 0.7019877985462353
43
+ ]
44
+ }
halt_metadata_ep102.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 102,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 190,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.005110621452331543,
9
+ "final_v_value": 1.005128264427185,
10
+ "final_q_value": 1.0000176429748535,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.17108286535005043,
14
+ 0.10287293578945032,
15
+ 0.9266054784116304
16
+ ],
17
+ "eef_quat": [
18
+ 0.9879850382014825,
19
+ -0.043136325488853086,
20
+ 0.1483515980571408,
21
+ 0.004077384851369574
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.029487990996077733,
25
+ -0.02943015300067078
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.046899580211679726,
30
+ -0.002223412999528551,
31
+ 0.05943102626139862,
32
+ -0.0096701355651021,
33
+ 0.9949359893798828,
34
+ 0.01178339496254921,
35
+ 0.09934628009796143,
36
+ 0.23207446715816232,
37
+ 0.10041908050202847,
38
+ 0.8265023985906406,
39
+ -0.01563139462882992,
40
+ -0.009179436743770385,
41
+ 0.9983927189313159,
42
+ 0.05369707839315136
43
+ ]
44
+ }
halt_metadata_ep103.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 103,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 194,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.0011012554168701172,
9
+ "final_v_value": 1.007354974746704,
10
+ "final_q_value": 1.006253719329834,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.2307538141469342,
14
+ 0.0399056899694168,
15
+ 0.9430505673261982
16
+ ],
17
+ "eef_quat": [
18
+ 0.5919677507896827,
19
+ -0.7991037676496485,
20
+ 0.10459337331732298,
21
+ 0.008220511616847488
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.03766075279119383,
25
+ -0.036963342634710517
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.06878492754914411,
30
+ 0.027444459535142407,
31
+ 0.05210165230887909,
32
+ 0.9938095211982727,
33
+ -0.07566088438034058,
34
+ 0.0790245458483696,
35
+ 0.019315574318170547,
36
+ 0.23119577104264533,
37
+ 0.10050244721877753,
38
+ 0.8234630384295022,
39
+ 0.003712233730716348,
40
+ 0.015730291760662804,
41
+ 0.7458978424429685,
42
+ -0.6658642398272921
43
+ ]
44
+ }
halt_metadata_ep104.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 104,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 193,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.007904052734375,
9
+ "final_v_value": 0.9966902732849121,
10
+ "final_q_value": 0.9887862205505371,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.14964965719902826,
14
+ 0.09465941182373842,
15
+ 0.9258335452927687
16
+ ],
17
+ "eef_quat": [
18
+ 0.9865606236995622,
19
+ -0.02165483816777817,
20
+ 0.1580507086699413,
21
+ 0.03534370153769655
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.025679791692424764,
25
+ -0.02582130153256219
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.0630531485286514,
30
+ -0.007619938844713792,
31
+ 0.06341302941541316,
32
+ -0.05369507893919945,
33
+ -0.9985078573226929,
34
+ -0.009529509581625462,
35
+ 0.0027892449870705605,
36
+ 0.23392628068182666,
37
+ 0.09713468866896129,
38
+ 0.835948848549245,
39
+ -0.08463865035717143,
40
+ 0.006412316941880647,
41
+ 0.9956915787930368,
42
+ -0.037329090235146765
43
+ ]
44
+ }
halt_metadata_ep105.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 105,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 206,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": 0.0019475221633911133,
9
+ "final_v_value": 1.0077412128448486,
10
+ "final_q_value": 1.0096887350082397,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.22994335977138045,
14
+ 0.15875456183498526,
15
+ 0.9271989060986431
16
+ ],
17
+ "eef_quat": [
18
+ 0.7324280582767062,
19
+ 0.6654639063195753,
20
+ 0.06050611509220142,
21
+ 0.1305600967805758
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.02202389920416105,
25
+ -0.022602135450297916
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.05361502750381675,
30
+ -0.008361384028378938,
31
+ 0.04346748735543238,
32
+ -0.9976662993431091,
33
+ -0.013122927397489548,
34
+ 0.04158836230635643,
35
+ 0.052536625415086746,
36
+ 0.22736810637293975,
37
+ 0.10123828753265962,
38
+ 0.837286743430184,
39
+ -0.06266828225992484,
40
+ -0.05732336599097247,
41
+ 0.6605300927403251,
42
+ 0.7459803715209347
43
+ ]
44
+ }
halt_metadata_ep106.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 106,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 250,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.01784336566925049,
9
+ "final_v_value": 1.0019621849060059,
10
+ "final_q_value": 0.9841188192367554,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.1539091580527242,
14
+ 0.0978685650573458,
15
+ 0.9176101439392856
16
+ ],
17
+ "eef_quat": [
18
+ 0.9842522028873449,
19
+ -0.011115831818994639,
20
+ 0.17536145128447025,
21
+ 0.019297688923382256
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.02570633782925103,
25
+ -0.0257721050522255
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.05837132406269796,
30
+ -0.004976567391914655,
31
+ 0.05583954158096083,
32
+ 0.03568387031555176,
33
+ 0.9990999102592468,
34
+ 0.011366612277925014,
35
+ 0.01991710439324379,
36
+ 0.23341358053632258,
37
+ 0.10023079237940521,
38
+ 0.8419234948425994,
39
+ -0.10248179669489972,
40
+ 0.013373223579133488,
41
+ 0.9945075015965669,
42
+ -0.016536852948542496
43
+ ]
44
+ }
halt_metadata_ep107.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 107,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 200,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.003473222255706787,
9
+ "final_v_value": 0.9986140131950378,
10
+ "final_q_value": 0.995140790939331,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.2319977373406984,
14
+ 0.16514017408597875,
15
+ 0.9452083629444263
16
+ ],
17
+ "eef_quat": [
18
+ 0.7028672305695068,
19
+ -0.7059832375056475,
20
+ 0.08430767244116427,
21
+ -0.02139020617357687
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.0226388308161597,
25
+ -0.02206376275850827
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.06652553193894939,
30
+ 0.0028165348869806373,
31
+ 0.04065177659529384,
32
+ -0.007059791591018438,
33
+ 0.9988144040107727,
34
+ -0.013159009627997875,
35
+ 0.04632885009050369,
36
+ 0.2342260618944715,
37
+ 0.09622123115558728,
38
+ 0.864175626733284,
39
+ -0.0381854309633399,
40
+ -0.04290605588975377,
41
+ 0.6997707445448624,
42
+ 0.7120546666578765
43
+ ]
44
+ }
halt_metadata_ep108.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 108,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 221,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.005366325378417969,
9
+ "final_v_value": 1.0042022466659546,
10
+ "final_q_value": 0.9988359212875366,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.214253677512417,
14
+ 0.033174672185816684,
15
+ 0.9345081978315886
16
+ ],
17
+ "eef_quat": [
18
+ 0.6586547057140437,
19
+ -0.7493996521591796,
20
+ 0.06175412732931361,
21
+ 0.0275783926696476
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.022326882668777744,
25
+ -0.022297303313695047
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.06985207349431732,
30
+ -0.003868413639400714,
31
+ 0.023040504644423088,
32
+ -0.9991174936294556,
33
+ -0.00711548887193203,
34
+ -0.0374622568488121,
35
+ 0.01761227287352085,
36
+ 0.22977955865912283,
37
+ 0.09815687287561722,
38
+ 0.8549712411813164,
39
+ -0.013057451084356868,
40
+ 0.05077409461765018,
41
+ 0.7536186879356724,
42
+ -0.6552178015599498
43
+ ]
44
+ }
halt_metadata_ep109.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 109,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 127,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": 0.03520914912223816,
9
+ "final_v_value": 0.4081544876098633,
10
+ "final_q_value": 0.44336363673210144,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ -0.19095766282190726,
14
+ 0.25408911536368456,
15
+ 0.829654688205816
16
+ ],
17
+ "eef_quat": [
18
+ 0.967810898047975,
19
+ -0.24683590384452886,
20
+ 0.0475237897129965,
21
+ 0.012473636363934126
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.03928177578956087,
25
+ -0.040051454070276896
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.08365026079940208,
30
+ -0.010503710207443895,
31
+ 0.00791673472615062,
32
+ -0.025951344519853592,
33
+ 0.9984551072120667,
34
+ -0.0009348099119961262,
35
+ 0.04912351444363594,
36
+ -0.11216811956908755,
37
+ 0.22306540291800328,
38
+ 0.8299789458594852,
39
+ -1.0691228555532058e-06,
40
+ 3.0246827894649604e-07,
41
+ 0.9622328462292736,
42
+ 0.2722277532440028
43
+ ]
44
+ }
halt_metadata_ep11.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 11,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 276,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.0045073628425598145,
9
+ "final_v_value": 0.9945432543754578,
10
+ "final_q_value": 0.990035891532898,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.21629991454502168,
14
+ 0.15566470504289073,
15
+ 0.938481998961005
16
+ ],
17
+ "eef_quat": [
18
+ 0.701043915830816,
19
+ 0.7066450237679908,
20
+ 0.022734202043749412,
21
+ 0.09313106097304
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.025706227379903038,
25
+ -0.025811594736827346
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.05258647864021532,
30
+ 0.007609368134446348,
31
+ 0.04875516654530809,
32
+ 0.9930666089057922,
33
+ -0.00839914008975029,
34
+ -0.09608393162488937,
35
+ 0.06720200181007385,
36
+ 0.23059266030527514,
37
+ 0.0981456095753936,
38
+ 0.852140360497736,
39
+ -0.05102640738651378,
40
+ -0.11160742629080299,
41
+ 0.7081751281550801,
42
+ 0.6952899222687641
43
+ ]
44
+ }
halt_metadata_ep110.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 110,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 199,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": 0.0010094642639160156,
9
+ "final_v_value": 0.9943134784698486,
10
+ "final_q_value": 0.9953229427337646,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.19902823661860375,
14
+ 0.04106105714582988,
15
+ 0.9345781350367564
16
+ ],
17
+ "eef_quat": [
18
+ 0.6543891766800832,
19
+ -0.7509839219669111,
20
+ 0.08604207080772235,
21
+ -0.01986747196491239
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.03331593913541639,
25
+ -0.03359813102965303
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.06360730495968658,
30
+ -0.020409106479104766,
31
+ 0.026908844896179174,
32
+ 0.9962929487228394,
33
+ 0.06878631561994553,
34
+ 0.027347322553396225,
35
+ 0.043828416615724564,
36
+ 0.23113272071508897,
37
+ 0.09960367415055525,
38
+ 0.8618371104861634,
39
+ 0.005993295545688728,
40
+ 0.0013709899686666835,
41
+ 0.7886160888687572,
42
+ -0.6148551578805792
43
+ ]
44
+ }
halt_metadata_ep111.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 111,
3
+ "halt_reason": "advantage_threshold",
4
+ "halt_step": 222,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.10936591029167175,
9
+ "final_v_value": 0.5652957558631897,
10
+ "final_q_value": 0.45592984557151794,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.11697557534852639,
14
+ 0.11606853891326727,
15
+ 0.95294974488602
16
+ ],
17
+ "eef_quat": [
18
+ 0.9888604934735009,
19
+ -0.058366885767963304,
20
+ 0.13678010966334067,
21
+ 0.0062795456505703815
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.030110201954799055,
25
+ -0.03009865142393823
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.13814792716523128,
30
+ 0.008734769971875833,
31
+ 0.03475380858908661,
32
+ 0.026515083387494087,
33
+ 0.9771302938461304,
34
+ 0.025468887761235237,
35
+ 0.20943963527679443,
36
+ 0.257367406519041,
37
+ 0.09069720848203192,
38
+ 0.9569360318761431,
39
+ 0.07223035586176836,
40
+ -0.02768222404583712,
41
+ 0.9965921459137519,
42
+ 0.028645503433897802
43
+ ]
44
+ }
halt_metadata_ep112.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 112,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 373,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": 0.011638760566711426,
9
+ "final_v_value": 0.6625312566757202,
10
+ "final_q_value": 0.6741700172424316,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.22312190666803222,
14
+ 0.007928080008388091,
15
+ 0.9632366738520239
16
+ ],
17
+ "eef_quat": [
18
+ 0.7500277007324923,
19
+ -0.6556062698776076,
20
+ 0.08738356721501812,
21
+ -0.0017260393615709528
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.017625778022141398,
25
+ -0.01710544413929991
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.06330953899990893,
30
+ -0.021462213817199816,
31
+ -0.0057515464385380355,
32
+ 0.9866822957992554,
33
+ 0.158065065741539,
34
+ 0.02887323684990406,
35
+ 0.025297587737441063,
36
+ 0.23527116836403908,
37
+ 0.07378897959607598,
38
+ 0.963274224578153,
39
+ -0.015181084872128988,
40
+ 0.04794240847045884,
41
+ 0.7673838600865792,
42
+ -0.6392128529768304
43
+ ]
44
+ }
halt_metadata_ep113.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 113,
3
+ "halt_reason": "advantage_threshold",
4
+ "halt_step": 288,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.10257512331008911,
9
+ "final_v_value": 0.5379617214202881,
10
+ "final_q_value": 0.435386598110199,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.08560695569558083,
14
+ 0.0745027182808366,
15
+ 0.9902437566767517
16
+ ],
17
+ "eef_quat": [
18
+ 0.6730898066297734,
19
+ -0.7366902592736465,
20
+ 0.04541602396854079,
21
+ -0.04663645429607044
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.015645267513816275,
25
+ -0.015471006725321909
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.07429507973980709,
30
+ 0.017133927291723472,
31
+ 0.007986745472648327,
32
+ 0.9957894682884216,
33
+ -0.08848435431718826,
34
+ 0.022814294323325157,
35
+ 0.007302445359528065,
36
+ 0.08235478133650014,
37
+ 0.14861848497896116,
38
+ 0.9821429094451686,
39
+ -0.057095192992333024,
40
+ 0.03386515913135854,
41
+ 0.6800880492368082,
42
+ -0.7301188500644593
43
+ ]
44
+ }
halt_metadata_ep114.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 114,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 464,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": 0.10248485207557678,
9
+ "final_v_value": 0.34986209869384766,
10
+ "final_q_value": 0.45234695076942444,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.05757353814122623,
14
+ 0.610781622082193,
15
+ 0.8828496656115646
16
+ ],
17
+ "eef_quat": [
18
+ 0.4043933338549606,
19
+ 0.8124033665949679,
20
+ 0.4200590012461368,
21
+ 0.0041517407107075684
22
+ ],
23
+ "gripper_qpos": [
24
+ 3.2042840620206625e-05,
25
+ -0.0009675936286693791
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.21096028272734668,
30
+ -0.2972183427413475,
31
+ -0.3418989341138028,
32
+ -0.8364678621292114,
33
+ -0.3519288897514343,
34
+ -0.31566283106803894,
35
+ 0.2771725654602051,
36
+ -0.11318819743677094,
37
+ 0.14410937220037945,
38
+ 0.8299789458594852,
39
+ -7.248164562564293e-07,
40
+ 8.421115390055288e-07,
41
+ 0.6523499129310281,
42
+ 0.7579179316374866
43
+ ]
44
+ }
halt_metadata_ep115.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 115,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 415,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.03343302011489868,
9
+ "final_v_value": 0.8215880990028381,
10
+ "final_q_value": 0.7881550788879395,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.1858857700926784,
14
+ 0.09019179372684213,
15
+ 0.9271625923033981
16
+ ],
17
+ "eef_quat": [
18
+ 0.9936838616780833,
19
+ -0.02588340813060167,
20
+ 0.10875528712333446,
21
+ 0.009732407040278005
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.039982856502556105,
25
+ -0.04005758794219163
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.045408436903605076,
30
+ -0.006799410939265893,
31
+ 0.0036424773746631667,
32
+ 0.03198524937033653,
33
+ -0.9865447878837585,
34
+ -0.03355279564857483,
35
+ 0.15678268671035767,
36
+ 0.23180517976073936,
37
+ 0.09462972897915856,
38
+ 0.933281843681577,
39
+ -0.2643636456863269,
40
+ -0.023269572037930404,
41
+ 0.9627653137795282,
42
+ 0.051510585704421886
43
+ ]
44
+ }
halt_metadata_ep116.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 116,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 202,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": 0.0534193217754364,
9
+ "final_v_value": 0.42844581604003906,
10
+ "final_q_value": 0.48186513781547546,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ -0.09579987405295583,
14
+ 0.15253683327587192,
15
+ 0.8305019475255325
16
+ ],
17
+ "eef_quat": [
18
+ 0.9810270280894994,
19
+ -0.17633315063432664,
20
+ 0.08036425987669074,
21
+ 0.005846014003279111
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.040141829422163176,
25
+ -0.03982549380870575
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.05277945739912093,
30
+ 0.004636854729661466,
31
+ -0.008077406354870198,
32
+ 0.9965704083442688,
33
+ 0.01838148757815361,
34
+ 0.08012751489877701,
35
+ 0.009441765956580639,
36
+ -0.14748567420470923,
37
+ 0.1667211556336747,
38
+ 0.829979765010416,
39
+ -0.0005677717304728225,
40
+ 6.674566977324957e-05,
41
+ 0.19497467132224153,
42
+ -0.9808081110610075
43
+ ]
44
+ }
halt_metadata_ep117.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 117,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 174,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.02116924524307251,
9
+ "final_v_value": 0.39191973209381104,
10
+ "final_q_value": 0.3707504868507385,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ -0.2048835800289235,
14
+ 0.1431723498755267,
15
+ 0.8298193172409292
16
+ ],
17
+ "eef_quat": [
18
+ 0.9929478101851312,
19
+ -0.04570861549272884,
20
+ 0.10928308427967547,
21
+ 0.004751442792494541
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.04003872839983793,
25
+ -0.03793294230312243
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.09048018792998658,
30
+ 0.008515215251200359,
31
+ 0.01998977149374992,
32
+ -0.011916360817849636,
33
+ 0.9939279556274414,
34
+ -0.0015902615850791335,
35
+ 0.10937365144491196,
36
+ -0.1133948344478841,
37
+ 0.1261856319196598,
38
+ 0.8299789458594851,
39
+ -1.1092177514074462e-06,
40
+ 6.43950308143823e-08,
41
+ 0.9983190879096254,
42
+ 0.057956869429409565
43
+ ]
44
+ }
halt_metadata_ep118.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 118,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 170,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.02283671498298645,
9
+ "final_v_value": 0.41039299964904785,
10
+ "final_q_value": 0.3875562846660614,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ -0.18862298655586285,
14
+ 0.22713760718557915,
15
+ 0.8297731799986862
16
+ ],
17
+ "eef_quat": [
18
+ 0.996568280380658,
19
+ -0.007902318685626374,
20
+ 0.08237438873399087,
21
+ 0.0019172843370409338
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.03986422724347722,
25
+ -0.040237697398283645
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.08867224525064432,
30
+ 0.04694342784889327,
31
+ 0.01388422326108063,
32
+ -0.11460093408823013,
33
+ 0.9903507828712463,
34
+ -0.0016085265669971704,
35
+ 0.07790645211935043,
36
+ -0.09955834957085856,
37
+ 0.17874488341860675,
38
+ 0.8307173749412649,
39
+ -0.004139864447496432,
40
+ -0.007075385975359287,
41
+ 0.992455261266622,
42
+ 0.12233296701975682
43
+ ]
44
+ }
halt_metadata_ep119.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 119,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 182,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.005688786506652832,
9
+ "final_v_value": 1.0058367252349854,
10
+ "final_q_value": 1.0001479387283325,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.16532304807173456,
14
+ 0.10314590894820996,
15
+ 0.9328483440272823
16
+ ],
17
+ "eef_quat": [
18
+ 0.9928533932081363,
19
+ -0.0361754811597488,
20
+ 0.11372325078249385,
21
+ 0.0007045490838537559
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.025802531581549815,
25
+ -0.02576534843537718
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.04943067470988127,
30
+ -0.003004159702508391,
31
+ 0.05463353169815677,
32
+ 0.021286334842443466,
33
+ 0.9990518689155579,
34
+ 0.005582477431744337,
35
+ 0.03756978362798691,
36
+ 0.23023215942731312,
37
+ 0.101670869812528,
38
+ 0.8380628965867503,
39
+ -0.09347727910301322,
40
+ -0.0037556446381145562,
41
+ 0.9955880436744567,
42
+ -0.007234688474083748
43
+ ]
44
+ }
halt_metadata_ep12.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 12,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 140,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": 0.0013093948364257812,
9
+ "final_v_value": 1.005697250366211,
10
+ "final_q_value": 1.0070066452026367,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.16692824269249165,
14
+ 0.10493082129317653,
15
+ 0.9486132979152869
16
+ ],
17
+ "eef_quat": [
18
+ 0.9942861310926046,
19
+ -0.048053988671549135,
20
+ 0.09137076794557594,
21
+ -0.02715301925549222
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.02680077512886683,
25
+ -0.0265697914936634
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.04670877126004297,
30
+ 0.0019960470109061657,
31
+ 0.08718993357760174,
32
+ 0.03444313257932663,
33
+ 0.9960651993751526,
34
+ -0.00229467311874032,
35
+ 0.08162514865398407,
36
+ 0.2264681837613356,
37
+ 0.10314776231274388,
38
+ 0.8208337799185679,
39
+ -0.0025461585798552838,
40
+ -0.004493570553223782,
41
+ 0.9999328309699338,
42
+ 0.010375858934234403
43
+ ]
44
+ }
halt_metadata_ep120.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 120,
3
+ "halt_reason": "advantage_threshold",
4
+ "halt_step": 192,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.10067707300186157,
9
+ "final_v_value": 0.6589275002479553,
10
+ "final_q_value": 0.5582504272460938,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.04316296673496871,
14
+ 0.1950722198220825,
15
+ 0.9706269522502474
16
+ ],
17
+ "eef_quat": [
18
+ 0.8286125745223665,
19
+ -0.5533167109788876,
20
+ 0.07315015373607488,
21
+ 0.043484177620244376
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.014956303643858434,
25
+ -0.01481440549392406
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.07299854251127313,
30
+ -0.0016408827267853088,
31
+ 0.008537044503157398,
32
+ 0.036708373576402664,
33
+ 0.9981978535652161,
34
+ 0.0028803031891584396,
35
+ 0.0473855659365654,
36
+ 0.07703866908949907,
37
+ 0.12614360272231442,
38
+ 0.9758504246952011,
39
+ -0.03434673568175542,
40
+ 0.017687848760128556,
41
+ 0.8491410205720586,
42
+ 0.5267513350112066
43
+ ]
44
+ }
halt_metadata_ep121.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 121,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 224,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.02408018708229065,
9
+ "final_v_value": 0.5107234120368958,
10
+ "final_q_value": 0.4866432249546051,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ -0.10474735261683507,
14
+ 0.10310076081579,
15
+ 0.8293676737090251
16
+ ],
17
+ "eef_quat": [
18
+ 0.6193624351627245,
19
+ -0.7849069752134243,
20
+ -0.010433582984132186,
21
+ -0.014225136791086383
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.015916262266298095,
25
+ -0.014295892326135932
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.05953558584004026,
30
+ 0.0009519686070538214,
31
+ 0.0010586695131842294,
32
+ -0.9998916983604431,
33
+ 0.0011100758565589786,
34
+ 0.014677174389362335,
35
+ 8.291783160530031e-05,
36
+ -0.09183015286451089,
37
+ 0.16122797733944905,
38
+ 0.8303786151944649,
39
+ -0.0027190472552888097,
40
+ -0.0013102228684238365,
41
+ 0.7843090057123431,
42
+ -0.620363017640941
43
+ ]
44
+ }
halt_metadata_ep122.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 122,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 356,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.0025108754634857178,
9
+ "final_v_value": 0.3407849669456482,
10
+ "final_q_value": 0.3382740914821625,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ -0.07456062860323552,
14
+ 0.16270071134843445,
15
+ 0.8447088464221817
16
+ ],
17
+ "eef_quat": [
18
+ 0.7170560174021352,
19
+ -0.6942358076079701,
20
+ -0.04259692047888067,
21
+ 0.04530798724301837
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.016985857361672994,
25
+ -0.014239017719396039
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.04275432115571193,
30
+ 0.029409111758306405,
31
+ 0.018853237181922333,
32
+ -0.987677812576294,
33
+ -0.14544662833213806,
34
+ -0.012343638576567173,
35
+ 0.05644052475690842,
36
+ -0.1073674704723891,
37
+ 0.20436578255606624,
38
+ 0.8296103725208439,
39
+ 0.0032905613071870427,
40
+ -0.007615932251375469,
41
+ 0.7929430520465659,
42
+ -0.6092392682627265
43
+ ]
44
+ }
halt_metadata_ep123.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 123,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 133,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": 0.0035952627658843994,
9
+ "final_v_value": 0.4519011378288269,
10
+ "final_q_value": 0.4554964005947113,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ -0.19364877485146798,
14
+ 0.13518775157560547,
15
+ 0.834197225347015
16
+ ],
17
+ "eef_quat": [
18
+ 0.9847352184798286,
19
+ 0.16266379827218405,
20
+ 0.05201205328971325,
21
+ 0.03364200543572635
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.037978238491420235,
25
+ -0.039111539603440014
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.07761946417949517,
30
+ 0.0064893072410274755,
31
+ 0.011951286107484083,
32
+ 0.0035180216655135155,
33
+ 0.9980734586715698,
34
+ 0.041830260306596756,
35
+ 0.04568549990653992,
36
+ -0.11714555153481056,
37
+ 0.15360483774415354,
38
+ 0.8299789458594815,
39
+ -1.095584981030726e-06,
40
+ -1.8494401685288012e-07,
41
+ 0.9860493105102587,
42
+ -0.16645346869623778
43
+ ]
44
+ }
halt_metadata_ep124.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 124,
3
+ "halt_reason": "advantage_threshold",
4
+ "halt_step": 70,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.10152125358581543,
9
+ "final_v_value": 0.4397478699684143,
10
+ "final_q_value": 0.3382266163825989,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ -0.044633194535478975,
14
+ 0.13720972236086038,
15
+ 0.8513382782405113
16
+ ],
17
+ "eef_quat": [
18
+ 0.9933984145984064,
19
+ 0.10010375089256347,
20
+ 0.05525314714191613,
21
+ -0.009269231981455
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.01424514992556507,
25
+ -0.014170167779469263
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.06856729285954355,
30
+ -0.007215664838703173,
31
+ 0.009291729081986166,
32
+ 0.9969547390937805,
33
+ 0.04701267182826996,
34
+ 0.0536477267742157,
35
+ 0.03151308745145798,
36
+ -0.11040862834178473,
37
+ 0.12968215156021784,
38
+ 0.8369927994190404,
39
+ -0.03055843122268026,
40
+ -0.005780554486185335,
41
+ 0.059994370229259755,
42
+ 0.9977141088567582
43
+ ]
44
+ }
halt_metadata_ep125.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 125,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 171,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.00532078742980957,
9
+ "final_v_value": 1.0002245903015137,
10
+ "final_q_value": 0.9949038028717041,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.15098589899988413,
14
+ 0.10099640716412006,
15
+ 0.927722742961457
16
+ ],
17
+ "eef_quat": [
18
+ 0.9888316512986922,
19
+ 0.0188951097679971,
20
+ 0.14767321811683978,
21
+ -0.006896438774595101
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.02228464439435225,
25
+ -0.022295983814691313
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.06789788846524891,
30
+ -1.559325216726748e-05,
31
+ 0.03886581710610615,
32
+ 8.147030166583136e-05,
33
+ 0.9981414079666138,
34
+ 0.003402097150683403,
35
+ 0.060844141989946365,
36
+ 0.2270487211613642,
37
+ 0.10407242027547617,
38
+ 0.8619031385855306,
39
+ -0.0871534703117705,
40
+ -0.009339727544811858,
41
+ 0.9958955758675018,
42
+ -0.02256200499828226
43
+ ]
44
+ }
halt_metadata_ep126.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 126,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 155,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.0045664310455322266,
9
+ "final_v_value": 1.0007469654083252,
10
+ "final_q_value": 0.996180534362793,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.22188448904912908,
14
+ 0.034693635291865005,
15
+ 0.9435579867837518
16
+ ],
17
+ "eef_quat": [
18
+ 0.7187739227197778,
19
+ -0.6889124429003881,
20
+ 0.09173572410697155,
21
+ -0.018661483263941656
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.022311601401010933,
25
+ -0.022365726138506778
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.0650327779392218,
30
+ -0.004788731832160442,
31
+ 0.029015912812542233,
32
+ -0.9988946914672852,
33
+ -0.03099766932427883,
34
+ -0.034416716545820236,
35
+ 0.007997662760317326,
36
+ 0.23125378576009545,
37
+ 0.09708393369328516,
38
+ 0.8615917322176959,
39
+ -0.05117348365164161,
40
+ 0.07173384961245848,
41
+ 0.7118298483445197,
42
+ -0.6968025519446309
43
+ ]
44
+ }
halt_metadata_ep127.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 127,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 186,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.005196094512939453,
9
+ "final_v_value": 1.0053119659423828,
10
+ "final_q_value": 1.0001158714294434,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.23200719556285954,
14
+ 0.16551548555417986,
15
+ 0.9429245190765532
16
+ ],
17
+ "eef_quat": [
18
+ 0.7187428547738784,
19
+ 0.6846730595691903,
20
+ 0.018815521096524426,
21
+ 0.1194884361665357
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.02551028736778355,
25
+ -0.025962895147834994
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.05702211983177852,
30
+ -0.007104856926261616,
31
+ 0.06223350785602566,
32
+ -0.9999499320983887,
33
+ 0.008479075506329536,
34
+ -0.00026336961309425533,
35
+ 0.005297953262925148,
36
+ 0.23445213743737237,
37
+ 0.09710735387992855,
38
+ 0.8324754522973852,
39
+ -0.07408913745155007,
40
+ -0.0073150096917567724,
41
+ 0.6946300648142649,
42
+ 0.7155042721053633
43
+ ]
44
+ }
halt_metadata_ep128.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 128,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 325,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.007165789604187012,
9
+ "final_v_value": 0.995189905166626,
10
+ "final_q_value": 0.988024115562439,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.15721580022842077,
14
+ 0.10225029566743699,
15
+ 0.9122748285591825
16
+ ],
17
+ "eef_quat": [
18
+ 0.9844398607912992,
19
+ -0.012755140244080964,
20
+ 0.16992902444005695,
21
+ 0.0428904830400738
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.02563290972629237,
25
+ -0.02582962770528783
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.05824149684028984,
30
+ -0.004460759844410189,
31
+ 0.050525076147415304,
32
+ 0.03435173258185387,
33
+ 0.9993196725845337,
34
+ 0.0007602829718962312,
35
+ 0.013406679965555668,
36
+ 0.23293563255768943,
37
+ 0.10036475654754237,
38
+ 0.834252739722777,
39
+ -0.06988652383623666,
40
+ 0.020789129401582673,
41
+ 0.9970092389120824,
42
+ -0.025617638625796028
43
+ ]
44
+ }
halt_metadata_ep129.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 129,
3
+ "halt_reason": "advantage_threshold",
4
+ "halt_step": 234,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.10633426904678345,
9
+ "final_v_value": 0.9127206206321716,
10
+ "final_q_value": 0.8063863515853882,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.2010539576775522,
14
+ 0.02697053330226566,
15
+ 0.9285918399635362
16
+ ],
17
+ "eef_quat": [
18
+ 0.6307292239376363,
19
+ -0.7571336692526915,
20
+ 0.11693807511311168,
21
+ -0.12351007871353069
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.03754046498137695,
25
+ -0.03682907101799382
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.08005998962349326,
30
+ -0.012110696295045686,
31
+ 0.012775561349970821,
32
+ -0.9991483092308044,
33
+ 0.008046233095228672,
34
+ -0.022643696516752243,
35
+ 0.0335426963865757,
36
+ 0.2304567161554882,
37
+ 0.10332993021988764,
38
+ 0.923747153137432,
39
+ -0.16070252977878144,
40
+ 0.12836506052080626,
41
+ 0.7437256873248633,
42
+ -0.6360575525637204
43
+ ]
44
+ }
halt_metadata_ep13.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 13,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 241,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.0007939934730529785,
9
+ "final_v_value": 0.9999296069145203,
10
+ "final_q_value": 0.9991356134414673,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.23321088734126444,
14
+ 0.1631469118466046,
15
+ 0.9442362985246782
16
+ ],
17
+ "eef_quat": [
18
+ 0.7039909506250766,
19
+ 0.7042705093143404,
20
+ 0.0659280972739311,
21
+ 0.06366535272782761
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.022067572971482815,
25
+ -0.022573305583718405
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.06360761158197831,
30
+ -0.004951885601597761,
31
+ 0.029994973768495026,
32
+ -0.9997773766517639,
33
+ -0.014411638490855694,
34
+ -0.001038630260154605,
35
+ 0.015380491502583027,
36
+ 0.2337414499561724,
37
+ 0.09938669987358362,
38
+ 0.8661814684608841,
39
+ -0.05242506114943084,
40
+ -0.05510281791148557,
41
+ 0.694085830983315,
42
+ 0.7158632213278552
43
+ ]
44
+ }
halt_metadata_ep130.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 130,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 176,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.006907939910888672,
9
+ "final_v_value": 1.0031180381774902,
10
+ "final_q_value": 0.9962100982666016,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.16205844595856553,
14
+ 0.10009168278614113,
15
+ 0.9136335105306612
16
+ ],
17
+ "eef_quat": [
18
+ 0.9740864431766891,
19
+ 0.00448261963641062,
20
+ 0.22592987578533602,
21
+ -0.009549794144577461
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.02229390515420208,
25
+ -0.02236285729547764
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.06006382187577097,
30
+ -0.0028863628519375517,
31
+ 0.036058642846309774,
32
+ -0.005287581123411655,
33
+ 0.997514545917511,
34
+ -0.004715864546597004,
35
+ 0.07010342925786972,
36
+ 0.22847273060297543,
37
+ 0.10411116287568584,
38
+ 0.8689205676865812,
39
+ -0.1284547404133803,
40
+ -0.00592707214896753,
41
+ 0.991694822573188,
42
+ 0.0023724170387637044
43
+ ]
44
+ }
halt_metadata_ep131.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 131,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 163,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.007846355438232422,
9
+ "final_v_value": 1.0009279251098633,
10
+ "final_q_value": 0.9930815696716309,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.14647161778966777,
14
+ 0.10377512212676446,
15
+ 0.9451485996081942
16
+ ],
17
+ "eef_quat": [
18
+ 0.9870165675379251,
19
+ 0.03318805053816739,
20
+ 0.1571475226363526,
21
+ 0.0012267177282156755
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.025822925424838234,
25
+ -0.02569485180297197
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.06990375723333514,
30
+ 0.002896143174136112,
31
+ 0.058212489668175715,
32
+ -0.035421762615442276,
33
+ 0.9990823864936829,
34
+ -0.011124718002974987,
35
+ 0.021354271098971367,
36
+ 0.23171473518844718,
37
+ 0.10340154140279027,
38
+ 0.8672542963244231,
39
+ -0.11402097670021594,
40
+ 0.014133559963911503,
41
+ 0.9933495975579225,
42
+ -0.007485745559942705
43
+ ]
44
+ }
halt_metadata_ep132.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 132,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 193,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": 0.05909338593482971,
9
+ "final_v_value": 0.2834489047527313,
10
+ "final_q_value": 0.34254229068756104,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ -0.1439387326716619,
14
+ 0.096724814346281,
15
+ 0.8397224874835009
16
+ ],
17
+ "eef_quat": [
18
+ 0.5250678165652072,
19
+ -0.8508669391413898,
20
+ -0.007327965898203681,
21
+ 0.016599421658663575
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.03547198811304271,
25
+ -0.03374195417901641
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.05679685537519019,
30
+ 0.01617375456979875,
31
+ -0.02272977911831575,
32
+ -0.9149866104125977,
33
+ 0.15967850387096405,
34
+ -0.16672034561634064,
35
+ 0.3309178352355957,
36
+ -0.13196664738420397,
37
+ 0.15485056244200265,
38
+ 0.8615700016354992,
39
+ -0.30081784427082364,
40
+ 0.18437019493789228,
41
+ 0.7000689873311123,
42
+ -0.6208217689192356
43
+ ]
44
+ }
halt_metadata_ep133.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 133,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 275,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.005296826362609863,
9
+ "final_v_value": 1.0037226676940918,
10
+ "final_q_value": 0.9984258413314819,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.1528343738707586,
14
+ 0.09244924536633145,
15
+ 0.9201816083229345
16
+ ],
17
+ "eef_quat": [
18
+ 0.9852037711321698,
19
+ 0.02761248115949365,
20
+ 0.1675228216127332,
21
+ 0.02339197448003188
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.022194777997634568,
25
+ -0.02244364959069074
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.07166407745123826,
30
+ -0.0031788338648163217,
31
+ 0.03651901695081827,
32
+ -0.005075768101960421,
33
+ 0.9985243678092957,
34
+ 0.0036778238136321306,
35
+ 0.0539410300552845,
36
+ 0.23175467851519796,
37
+ 0.09834897683643815,
38
+ 0.8681821949751735,
39
+ -0.08623036514859571,
40
+ 0.021444835612232066,
41
+ 0.9960286827369249,
42
+ -0.005595204844292617
43
+ ]
44
+ }
halt_metadata_ep134.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 134,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 216,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.01293906569480896,
9
+ "final_v_value": 0.46144425868988037,
10
+ "final_q_value": 0.4485051929950714,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ -0.09163460450485467,
14
+ 0.1896561608666265,
15
+ 0.8316732723517093
16
+ ],
17
+ "eef_quat": [
18
+ 0.9975749446520618,
19
+ 0.03778535143774474,
20
+ 0.057900119689428646,
21
+ 0.008004571138465588
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.03988795547968654,
25
+ -0.03999622235760209
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.05623082938177415,
30
+ 0.01387112663628065,
31
+ 0.008269660025264192,
32
+ -0.08203335851430893,
33
+ 0.9949805736541748,
34
+ 0.008454461582005024,
35
+ 0.05667929723858833,
36
+ -0.03175841594893667,
37
+ 0.1797092800805727,
38
+ 0.8302282694324913,
39
+ -0.0002931982258210914,
40
+ -0.002510607535498742,
41
+ 0.9990805019273635,
42
+ 0.04279908355527511
43
+ ]
44
+ }
halt_metadata_ep135.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 135,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 149,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": 0.05220797657966614,
9
+ "final_v_value": 0.3733225464820862,
10
+ "final_q_value": 0.4255305230617523,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ -0.06494558937063498,
14
+ 0.10289358634139902,
15
+ 0.8341673932535176
16
+ ],
17
+ "eef_quat": [
18
+ 0.9816417480026383,
19
+ -0.18496893433812436,
20
+ 0.04594499461231127,
21
+ -0.007418178901636996
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.029870782584276712,
25
+ -0.028297280612222798
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.05113577308185291,
30
+ -0.009859377340696751,
31
+ -0.000427472343713986,
32
+ 0.9985727071762085,
33
+ -0.030742617323994637,
34
+ 0.04302675649523735,
35
+ 0.007489711046218872,
36
+ -0.10882410787197336,
37
+ 0.13064861630850802,
38
+ 0.8303927781626903,
39
+ -0.006567104178957053,
40
+ 0.0024834743425547977,
41
+ 0.15466658840326228,
42
+ -0.9879417755766727
43
+ ]
44
+ }
halt_metadata_ep136.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 136,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 218,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.003923177719116211,
9
+ "final_v_value": 1.0003621578216553,
10
+ "final_q_value": 0.9964389801025391,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.22165565602103995,
14
+ 0.1596031875086677,
15
+ 0.910374431128169
16
+ ],
17
+ "eef_quat": [
18
+ 0.7072174631934495,
19
+ 0.6983030591561229,
20
+ 0.04202095675962976,
21
+ 0.1022278656748092
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.022332866617468992,
25
+ -0.022412430224732872
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.05969622128657737,
30
+ 0.001681125036556097,
31
+ 0.02427783116553428,
32
+ 0.999001145362854,
33
+ -0.008010650053620338,
34
+ -0.039878200739622116,
35
+ 0.01849905401468277,
36
+ 0.2293004942905179,
37
+ 0.09829376275082156,
38
+ 0.8551725659850914,
39
+ -0.08924058053305954,
40
+ -0.08327259937849844,
41
+ 0.7070600982858877,
42
+ 0.6965398842785836
43
+ ]
44
+ }
halt_metadata_ep137.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 137,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 186,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.006957292556762695,
9
+ "final_v_value": 1.008196234703064,
10
+ "final_q_value": 1.0012389421463013,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.15028633334869418,
14
+ 0.10267022735935506,
15
+ 0.8952787585180588
16
+ ],
17
+ "eef_quat": [
18
+ 0.9849628585882513,
19
+ 0.0071382389160063965,
20
+ 0.1702063632488648,
21
+ 0.028757723422289796
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.022292017101059956,
25
+ -0.022354757955438242
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.0721914447575786,
30
+ -0.00305176435409657,
31
+ 0.034098122235396544,
32
+ -0.004348999820649624,
33
+ 0.9990079402923584,
34
+ 0.003316147020086646,
35
+ 0.044193800538778305,
36
+ 0.23306402436899357,
37
+ 0.10524084193778042,
38
+ 0.8456894444284639,
39
+ -0.12153307630222056,
40
+ 0.02371714928432828,
41
+ 0.9923018245012332,
42
+ -0.0020729895965020647
43
+ ]
44
+ }
halt_metadata_ep138.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 138,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 306,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": 0.13307470083236694,
9
+ "final_v_value": 0.7394190430641174,
10
+ "final_q_value": 0.8724937438964844,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.21385135837348931,
14
+ 0.15910847355544652,
15
+ 0.9593741275025869
16
+ ],
17
+ "eef_quat": [
18
+ 0.7393508968198029,
19
+ -0.669559777918694,
20
+ 0.037387101998095015,
21
+ -0.06043310160338742
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.01203393480463281,
25
+ -0.019936237693241727
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.07028926561900128,
30
+ -0.013294178783663124,
31
+ 0.002288600861862111,
32
+ -0.06527797877788544,
33
+ -0.9971049427986145,
34
+ 0.038801148533821106,
35
+ 0.0038787901867181063,
36
+ 0.23420335308174942,
37
+ 0.09055902006826573,
38
+ 0.9572759077343986,
39
+ -0.01817545229753901,
40
+ -0.026584015435521136,
41
+ 0.783122263195676,
42
+ 0.6210333839210156
43
+ ]
44
+ }
halt_metadata_ep139.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 139,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 102,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.06582330167293549,
9
+ "final_v_value": 0.21566364169120789,
10
+ "final_q_value": 0.1498403400182724,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ -0.0843134451697441,
14
+ 0.2652081928624937,
15
+ 0.9223539543657667
16
+ ],
17
+ "eef_quat": [
18
+ 0.7327760510629234,
19
+ 0.6799677579437565,
20
+ 0.02065775508391503,
21
+ 0.016011380342143625
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.039933532808778746,
25
+ -0.040002061317340215
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ -0.06572734541577097,
30
+ -0.02894925382964375,
31
+ 0.09044731069168976,
32
+ -0.9991205334663391,
33
+ 0.03278671205043793,
34
+ -0.003404764225706458,
35
+ 0.025913704186677933,
36
+ -0.11332767655141138,
37
+ 0.20224879717235317,
38
+ 0.8299789458594852,
39
+ -7.82066233791897e-07,
40
+ 7.892294634607786e-07,
41
+ 0.7038759055529704,
42
+ 0.7103229614624272
43
+ ]
44
+ }
halt_metadata_ep14.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 14,
3
+ "halt_reason": "v_drop_consecutive",
4
+ "halt_step": 238,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.05545854568481445,
9
+ "final_v_value": 0.4960850477218628,
10
+ "final_q_value": 0.44062650203704834,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ -0.20206012590401545,
14
+ 0.12129192549854192,
15
+ 0.8293288574182032
16
+ ],
17
+ "eef_quat": [
18
+ 0.9993368036056065,
19
+ 0.036090673215747916,
20
+ 0.0022418597789403607,
21
+ 0.004288394908859634
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.03811666645900668,
25
+ -0.034555867633259144
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.08939068832082903,
30
+ 0.007421517530734167,
31
+ -0.00021243960083483504,
32
+ 0.02825121395289898,
33
+ 0.9995891451835632,
34
+ 0.004423720762133598,
35
+ 0.0019603329710662365,
36
+ -0.11236902999114688,
37
+ 0.12034158517101967,
38
+ 0.8299789458594852,
39
+ -1.1087854193153858e-06,
40
+ -7.14537189024063e-08,
41
+ 0.9979299800143877,
42
+ -0.06430983585151859
43
+ ]
44
+ }
halt_metadata_ep140.json ADDED
@@ -0,0 +1,44 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_idx": 140,
3
+ "halt_reason": "task_success",
4
+ "halt_step": 219,
5
+ "advantage_threshold": -0.1,
6
+ "v_drop_consecutive_steps": 100,
7
+ "max_episode_steps": 800,
8
+ "final_advantage": -0.009995579719543457,
9
+ "final_v_value": 1.0098415613174438,
10
+ "final_q_value": 0.9998459815979004,
11
+ "halt_robot_state": {
12
+ "eef_pos": [
13
+ 0.17164592073855428,
14
+ 0.09519372723654623,
15
+ 0.939081592531894
16
+ ],
17
+ "eef_quat": [
18
+ 0.9931609636350948,
19
+ -0.00534317210714242,
20
+ 0.11609321424392768,
21
+ 0.01118554557254409
22
+ ],
23
+ "gripper_qpos": [
24
+ 0.025722885315362945,
25
+ -0.02574875702921556
26
+ ]
27
+ },
28
+ "halt_environment_state": [
29
+ 0.047166258646278825,
30
+ -0.004238337611609702,
31
+ 0.07169458609944346,
32
+ 0.008557600900530815,
33
+ 0.9937369227409363,
34
+ -0.00040853137033991516,
35
+ 0.11141615360975266,
36
+ 0.23117315011901013,
37
+ 0.09741320892990725,
38
+ 0.8236770093371688,
39
+ 0.009145673665199503,
40
+ 0.004725624763748496,
41
+ 0.9999422489498404,
42
+ 0.0030860798659066526
43
+ ]
44
+ }