{ "episode_idx": 124, "halt_reason": "advantage_threshold", "halt_step": 70, "advantage_threshold": -0.1, "v_drop_consecutive_steps": 100, "max_episode_steps": 800, "final_advantage": -0.10152125358581543, "final_v_value": 0.4397478699684143, "final_q_value": 0.3382266163825989, "halt_robot_state": { "eef_pos": [ -0.044633194535478975, 0.13720972236086038, 0.8513382782405113 ], "eef_quat": [ 0.9933984145984064, 0.10010375089256347, 0.05525314714191613, -0.009269231981455 ], "gripper_qpos": [ 0.01424514992556507, -0.014170167779469263 ] }, "halt_environment_state": [ -0.06856729285954355, -0.007215664838703173, 0.009291729081986166, 0.9969547390937805, 0.04701267182826996, 0.0536477267742157, 0.03151308745145798, -0.11040862834178473, 0.12968215156021784, 0.8369927994190404, -0.03055843122268026, -0.005780554486185335, 0.059994370229259755, 0.9977141088567582 ] }