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- data/chunk-000/file-000.parquet +3 -0
- data/chunk-000/file-001.parquet +3 -0
- halt_metadata_ep0.json +44 -0
- halt_metadata_ep1.json +44 -0
- halt_metadata_ep10.json +44 -0
- halt_metadata_ep100.json +44 -0
- halt_metadata_ep101.json +44 -0
- halt_metadata_ep102.json +44 -0
- halt_metadata_ep103.json +44 -0
- halt_metadata_ep104.json +44 -0
- halt_metadata_ep105.json +44 -0
- halt_metadata_ep106.json +44 -0
- halt_metadata_ep107.json +44 -0
- halt_metadata_ep108.json +44 -0
- halt_metadata_ep109.json +44 -0
- halt_metadata_ep11.json +44 -0
- halt_metadata_ep110.json +44 -0
- halt_metadata_ep111.json +44 -0
- halt_metadata_ep112.json +44 -0
- halt_metadata_ep113.json +44 -0
- halt_metadata_ep114.json +44 -0
- halt_metadata_ep115.json +44 -0
- halt_metadata_ep116.json +44 -0
- halt_metadata_ep117.json +44 -0
- halt_metadata_ep118.json +44 -0
- halt_metadata_ep119.json +44 -0
- halt_metadata_ep12.json +44 -0
- halt_metadata_ep120.json +44 -0
- halt_metadata_ep121.json +44 -0
- halt_metadata_ep122.json +44 -0
- halt_metadata_ep123.json +44 -0
- halt_metadata_ep124.json +44 -0
- halt_metadata_ep125.json +44 -0
- halt_metadata_ep126.json +44 -0
- halt_metadata_ep127.json +44 -0
- halt_metadata_ep128.json +44 -0
- halt_metadata_ep129.json +44 -0
- halt_metadata_ep13.json +44 -0
- halt_metadata_ep130.json +44 -0
- halt_metadata_ep131.json +44 -0
- halt_metadata_ep132.json +44 -0
- halt_metadata_ep133.json +44 -0
- halt_metadata_ep134.json +44 -0
- halt_metadata_ep135.json +44 -0
- halt_metadata_ep136.json +44 -0
- halt_metadata_ep137.json +44 -0
- halt_metadata_ep138.json +44 -0
- halt_metadata_ep139.json +44 -0
- halt_metadata_ep14.json +44 -0
- halt_metadata_ep140.json +44 -0
data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:af03b892558dda7cc972ba4beac34276c967de4992598a0fb90e96b9cc3a61b3
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size 6064860
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data/chunk-000/file-001.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:b426f9468544f9b706980b9a8fed38e63cb7d367fe62390ec715bc49dba1920a
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size 3905261
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halt_metadata_ep0.json
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{
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"episode_idx": 0,
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"halt_reason": "v_drop_consecutive",
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"halt_step": 307,
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"advantage_threshold": -0.1,
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"v_drop_consecutive_steps": 100,
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"max_episode_steps": 800,
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"final_advantage": -0.008534371852874756,
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"final_v_value": 0.28099530935287476,
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"final_q_value": 0.2724609375,
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"halt_robot_state": {
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"eef_pos": [
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"eef_quat": [
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"gripper_qpos": [
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]
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},
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"halt_environment_state": [
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]
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}
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halt_metadata_ep1.json
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{
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"episode_idx": 1,
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"halt_reason": "task_success",
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"halt_step": 184,
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"advantage_threshold": -0.1,
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"v_drop_consecutive_steps": 100,
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"max_episode_steps": 800,
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"final_advantage": 0.0010710954666137695,
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"final_v_value": 0.9973385334014893,
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"final_q_value": 0.998409628868103,
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"halt_robot_state": {
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"eef_pos": [
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"eef_quat": [
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"halt_environment_state": [
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}
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halt_metadata_ep10.json
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{
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"episode_idx": 10,
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"halt_reason": "v_drop_consecutive",
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| 4 |
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"halt_step": 138,
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| 5 |
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"advantage_threshold": -0.1,
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| 6 |
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"v_drop_consecutive_steps": 100,
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| 7 |
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"max_episode_steps": 800,
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| 8 |
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"final_advantage": -0.06389182806015015,
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| 9 |
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"final_v_value": 0.45536214113235474,
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| 10 |
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"final_q_value": 0.3914703130722046,
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| 11 |
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"halt_robot_state": {
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| 12 |
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"eef_pos": [
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"eef_quat": [
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"gripper_qpos": [
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| 28 |
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"halt_environment_state": [
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}
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halt_metadata_ep100.json
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{
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"episode_idx": 100,
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"halt_reason": "task_success",
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| 4 |
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"halt_step": 199,
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| 5 |
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"advantage_threshold": -0.1,
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| 6 |
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"v_drop_consecutive_steps": 100,
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| 7 |
+
"max_episode_steps": 800,
|
| 8 |
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"final_advantage": 0.002287924289703369,
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| 9 |
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"final_v_value": 0.9966704249382019,
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| 10 |
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"final_q_value": 0.9989583492279053,
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| 11 |
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"halt_robot_state": {
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| 12 |
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"eef_pos": [
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| 13 |
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| 14 |
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],
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"eef_quat": [
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"gripper_qpos": [
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]
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},
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| 28 |
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"halt_environment_state": [
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]
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| 44 |
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}
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halt_metadata_ep101.json
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{
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"episode_idx": 101,
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"halt_reason": "task_success",
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"halt_step": 214,
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| 5 |
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"advantage_threshold": -0.1,
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| 6 |
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"v_drop_consecutive_steps": 100,
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| 7 |
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"max_episode_steps": 800,
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| 8 |
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"final_advantage": -0.007101953029632568,
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| 9 |
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"final_v_value": 0.9995490908622742,
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| 10 |
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"final_q_value": 0.9924471378326416,
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| 11 |
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"halt_robot_state": {
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| 12 |
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"eef_pos": [
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"eef_quat": [
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],
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"gripper_qpos": [
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| 24 |
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| 25 |
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| 26 |
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]
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| 27 |
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},
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| 28 |
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"halt_environment_state": [
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| 29 |
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| 30 |
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|
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| 43 |
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]
|
| 44 |
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}
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halt_metadata_ep102.json
ADDED
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@@ -0,0 +1,44 @@
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| 1 |
+
{
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| 2 |
+
"episode_idx": 102,
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| 3 |
+
"halt_reason": "task_success",
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| 4 |
+
"halt_step": 190,
|
| 5 |
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"advantage_threshold": -0.1,
|
| 6 |
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"v_drop_consecutive_steps": 100,
|
| 7 |
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"max_episode_steps": 800,
|
| 8 |
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"final_advantage": -0.005110621452331543,
|
| 9 |
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|
| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 20 |
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| 22 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 42 |
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| 43 |
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]
|
| 44 |
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}
|
halt_metadata_ep103.json
ADDED
|
@@ -0,0 +1,44 @@
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| 1 |
+
{
|
| 2 |
+
"episode_idx": 103,
|
| 3 |
+
"halt_reason": "task_success",
|
| 4 |
+
"halt_step": 194,
|
| 5 |
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"advantage_threshold": -0.1,
|
| 6 |
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"v_drop_consecutive_steps": 100,
|
| 7 |
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"max_episode_steps": 800,
|
| 8 |
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|
| 9 |
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|
| 10 |
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| 11 |
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| 12 |
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| 14 |
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| 22 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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|
| 42 |
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| 43 |
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|
| 44 |
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}
|
halt_metadata_ep104.json
ADDED
|
@@ -0,0 +1,44 @@
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| 1 |
+
{
|
| 2 |
+
"episode_idx": 104,
|
| 3 |
+
"halt_reason": "task_success",
|
| 4 |
+
"halt_step": 193,
|
| 5 |
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"advantage_threshold": -0.1,
|
| 6 |
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"v_drop_consecutive_steps": 100,
|
| 7 |
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"max_episode_steps": 800,
|
| 8 |
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"final_advantage": -0.007904052734375,
|
| 9 |
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|
| 10 |
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|
| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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|
| 42 |
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|
| 43 |
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]
|
| 44 |
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}
|
halt_metadata_ep105.json
ADDED
|
@@ -0,0 +1,44 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode_idx": 105,
|
| 3 |
+
"halt_reason": "task_success",
|
| 4 |
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"halt_step": 206,
|
| 5 |
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"advantage_threshold": -0.1,
|
| 6 |
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"v_drop_consecutive_steps": 100,
|
| 7 |
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"max_episode_steps": 800,
|
| 8 |
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"final_advantage": 0.0019475221633911133,
|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 18 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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|
| 42 |
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| 43 |
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|
| 44 |
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}
|
halt_metadata_ep106.json
ADDED
|
@@ -0,0 +1,44 @@
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| 1 |
+
{
|
| 2 |
+
"episode_idx": 106,
|
| 3 |
+
"halt_reason": "task_success",
|
| 4 |
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"halt_step": 250,
|
| 5 |
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"advantage_threshold": -0.1,
|
| 6 |
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"v_drop_consecutive_steps": 100,
|
| 7 |
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"max_episode_steps": 800,
|
| 8 |
+
"final_advantage": -0.01784336566925049,
|
| 9 |
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"final_v_value": 1.0019621849060059,
|
| 10 |
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"final_q_value": 0.9841188192367554,
|
| 11 |
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|
| 12 |
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| 13 |
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|
| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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|
| 24 |
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|
| 25 |
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| 26 |
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|
| 27 |
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| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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| 31 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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}
|
halt_metadata_ep107.json
ADDED
|
@@ -0,0 +1,44 @@
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|
| 1 |
+
{
|
| 2 |
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"episode_idx": 107,
|
| 3 |
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"halt_reason": "task_success",
|
| 4 |
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"halt_step": 200,
|
| 5 |
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"advantage_threshold": -0.1,
|
| 6 |
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"v_drop_consecutive_steps": 100,
|
| 7 |
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"max_episode_steps": 800,
|
| 8 |
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"final_advantage": -0.003473222255706787,
|
| 9 |
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"final_v_value": 0.9986140131950378,
|
| 10 |
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"final_q_value": 0.995140790939331,
|
| 11 |
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"halt_robot_state": {
|
| 12 |
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| 13 |
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|
| 14 |
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|
| 15 |
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| 16 |
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| 17 |
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"eef_quat": [
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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|
| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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},
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| 28 |
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|
| 29 |
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|
| 30 |
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| 31 |
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|
| 34 |
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-0.013159009627997875,
|
| 35 |
+
0.04632885009050369,
|
| 36 |
+
0.2342260618944715,
|
| 37 |
+
0.09622123115558728,
|
| 38 |
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0.864175626733284,
|
| 39 |
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|
| 40 |
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|
| 41 |
+
0.6997707445448624,
|
| 42 |
+
0.7120546666578765
|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep108.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
| 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 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"eef_quat": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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},
|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
+
-0.6552178015599498
|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep109.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
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"final_v_value": 0.4081544876098633,
|
| 10 |
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"final_q_value": 0.44336363673210144,
|
| 11 |
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"halt_robot_state": {
|
| 12 |
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"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"eef_quat": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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},
|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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0.9622328462292736,
|
| 42 |
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0.2722277532440028
|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep11.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_idx": 11,
|
| 3 |
+
"halt_reason": "task_success",
|
| 4 |
+
"halt_step": 276,
|
| 5 |
+
"advantage_threshold": -0.1,
|
| 6 |
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"v_drop_consecutive_steps": 100,
|
| 7 |
+
"max_episode_steps": 800,
|
| 8 |
+
"final_advantage": -0.0045073628425598145,
|
| 9 |
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"final_v_value": 0.9945432543754578,
|
| 10 |
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|
| 11 |
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|
| 12 |
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"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep110.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
| 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 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
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|
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
+
}
|
halt_metadata_ep111.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
| 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 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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]
|
| 27 |
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},
|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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0.028645503433897802
|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep112.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"episode_idx": 112,
|
| 3 |
+
"halt_reason": "v_drop_consecutive",
|
| 4 |
+
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|
| 5 |
+
"advantage_threshold": -0.1,
|
| 6 |
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"v_drop_consecutive_steps": 100,
|
| 7 |
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|
| 8 |
+
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
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|
| 20 |
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|
| 21 |
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|
| 22 |
+
],
|
| 23 |
+
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|
| 24 |
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|
| 25 |
+
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|
| 26 |
+
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|
| 27 |
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|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
+
}
|
halt_metadata_ep113.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
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"halt_robot_state": {
|
| 12 |
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"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"eef_quat": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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"gripper_qpos": [
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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},
|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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0.022814294323325157,
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
+
-0.7301188500644593
|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep114.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
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"final_v_value": 0.34986209869384766,
|
| 10 |
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"final_q_value": 0.45234695076942444,
|
| 11 |
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"halt_robot_state": {
|
| 12 |
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"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"eef_quat": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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},
|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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0.6523499129310281,
|
| 42 |
+
0.7579179316374866
|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep115.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
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"final_v_value": 0.8215880990028381,
|
| 10 |
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|
| 11 |
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|
| 12 |
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"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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0.051510585704421886
|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep116.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_idx": 116,
|
| 3 |
+
"halt_reason": "v_drop_consecutive",
|
| 4 |
+
"halt_step": 202,
|
| 5 |
+
"advantage_threshold": -0.1,
|
| 6 |
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"v_drop_consecutive_steps": 100,
|
| 7 |
+
"max_episode_steps": 800,
|
| 8 |
+
"final_advantage": 0.0534193217754364,
|
| 9 |
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"final_v_value": 0.42844581604003906,
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep117.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
| 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 |
+
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|
| 11 |
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|
| 12 |
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"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"eef_quat": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
+
],
|
| 23 |
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"gripper_qpos": [
|
| 24 |
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|
| 25 |
+
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|
| 26 |
+
]
|
| 27 |
+
},
|
| 28 |
+
"halt_environment_state": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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0.9939279556274414,
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
+
0.057956869429409565
|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep118.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_idx": 118,
|
| 3 |
+
"halt_reason": "v_drop_consecutive",
|
| 4 |
+
"halt_step": 170,
|
| 5 |
+
"advantage_threshold": -0.1,
|
| 6 |
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"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 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
+
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|
| 17 |
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"eef_quat": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
+
}
|
halt_metadata_ep119.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 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 |
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"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"eef_quat": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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"gripper_qpos": [
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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},
|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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-0.007234688474083748
|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep12.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
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"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"eef_quat": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
+
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|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep120.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
| 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 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep121.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
| 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 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"eef_quat": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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},
|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep122.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
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|
|
|
|
|
|
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|
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|
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|
|
|
| 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 |
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"halt_robot_state": {
|
| 12 |
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"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"eef_quat": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
+
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|
| 23 |
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"gripper_qpos": [
|
| 24 |
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|
| 25 |
+
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|
| 26 |
+
]
|
| 27 |
+
},
|
| 28 |
+
"halt_environment_state": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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0.8296103725208439,
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
+
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|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep123.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
+
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|
| 5 |
+
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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|
| 17 |
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|
| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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|
| 25 |
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| 26 |
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|
| 27 |
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| 28 |
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|
| 29 |
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| 30 |
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| 42 |
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| 43 |
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|
| 44 |
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|
halt_metadata_ep124.json
ADDED
|
@@ -0,0 +1,44 @@
|
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|
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|
|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_idx": 124,
|
| 3 |
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|
| 4 |
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|
| 5 |
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"advantage_threshold": -0.1,
|
| 6 |
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"v_drop_consecutive_steps": 100,
|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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| 13 |
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|
| 14 |
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| 15 |
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| 16 |
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| 17 |
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|
| 18 |
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| 19 |
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|
| 20 |
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| 22 |
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|
| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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| 30 |
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| 31 |
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| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
halt_metadata_ep125.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_idx": 125,
|
| 3 |
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|
| 4 |
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|
| 5 |
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"advantage_threshold": -0.1,
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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| 17 |
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|
| 18 |
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| 20 |
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| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
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|
| 35 |
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|
| 36 |
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| 37 |
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|
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|
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
halt_metadata_ep126.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 14 |
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| 22 |
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|
| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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| 28 |
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| 29 |
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|
| 30 |
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|
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|
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
halt_metadata_ep127.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_idx": 127,
|
| 3 |
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"halt_reason": "task_success",
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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| 20 |
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| 22 |
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| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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| 31 |
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|
| 36 |
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| 37 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
halt_metadata_ep128.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
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|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"episode_idx": 128,
|
| 3 |
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"halt_reason": "task_success",
|
| 4 |
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|
| 5 |
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"advantage_threshold": -0.1,
|
| 6 |
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|
| 7 |
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|
| 8 |
+
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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| 32 |
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|
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| 35 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
halt_metadata_ep129.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
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|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
+
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|
| 11 |
+
"halt_robot_state": {
|
| 12 |
+
"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
+
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|
| 17 |
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"eef_quat": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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| 31 |
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| 32 |
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| 33 |
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|
| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
+
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|
halt_metadata_ep13.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
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"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"eef_quat": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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]
|
| 27 |
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},
|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
+
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|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep130.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
+
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|
| 11 |
+
"halt_robot_state": {
|
| 12 |
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"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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0.0023724170387637044
|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep131.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 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 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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]
|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
+
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|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep132.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
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"halt_robot_state": {
|
| 12 |
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"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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],
|
| 17 |
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"eef_quat": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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],
|
| 23 |
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"gripper_qpos": [
|
| 24 |
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|
| 25 |
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|
| 26 |
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]
|
| 27 |
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},
|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
+
-0.6208217689192356
|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep133.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
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"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"eef_quat": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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],
|
| 23 |
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"gripper_qpos": [
|
| 24 |
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|
| 25 |
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|
| 26 |
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]
|
| 27 |
+
},
|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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0.8681821949751735,
|
| 39 |
+
-0.08623036514859571,
|
| 40 |
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0.021444835612232066,
|
| 41 |
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0.9960286827369249,
|
| 42 |
+
-0.005595204844292617
|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep134.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
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"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"eef_quat": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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],
|
| 23 |
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"gripper_qpos": [
|
| 24 |
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|
| 25 |
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|
| 26 |
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]
|
| 27 |
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},
|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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| 31 |
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|
| 32 |
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| 33 |
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| 34 |
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|
| 35 |
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0.05667929723858833,
|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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| 40 |
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|
| 41 |
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0.9990805019273635,
|
| 42 |
+
0.04279908355527511
|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep135.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
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"final_q_value": 0.4255305230617523,
|
| 11 |
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"halt_robot_state": {
|
| 12 |
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"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"eef_quat": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
+
-0.9879417755766727
|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep136.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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0.6965398842785836
|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep137.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
| 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 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
+
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|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep138.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
| 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 |
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"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"eef_quat": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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],
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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]
|
| 27 |
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},
|
| 28 |
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"halt_environment_state": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
+
]
|
| 44 |
+
}
|
halt_metadata_ep139.json
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
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|
| 11 |
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|
| 12 |
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"eef_pos": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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]
|
| 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 @@
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|
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|
|
|
|
| 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 @@
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
+
}
|