{ "episode_idx": 133, "halt_reason": "task_success", "halt_step": 275, "advantage_threshold": -0.1, "v_drop_consecutive_steps": 100, "max_episode_steps": 800, "final_advantage": -0.005296826362609863, "final_v_value": 1.0037226676940918, "final_q_value": 0.9984258413314819, "halt_robot_state": { "eef_pos": [ 0.1528343738707586, 0.09244924536633145, 0.9201816083229345 ], "eef_quat": [ 0.9852037711321698, 0.02761248115949365, 0.1675228216127332, 0.02339197448003188 ], "gripper_qpos": [ 0.022194777997634568, -0.02244364959069074 ] }, "halt_environment_state": [ 0.07166407745123826, -0.0031788338648163217, 0.03651901695081827, -0.005075768101960421, 0.9985243678092957, 0.0036778238136321306, 0.0539410300552845, 0.23175467851519796, 0.09834897683643815, 0.8681821949751735, -0.08623036514859571, 0.021444835612232066, 0.9960286827369249, -0.005595204844292617 ] }