Upload folder using huggingface_hub

.gitattributes

@@ -180,3 +180,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
 2026-08-31_17-49-55_pi05/YogurtInBowlTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
 2026-09-02_06-17-10_vlanext/BananaInBowlTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
+2026-09-02_07-51-27_vlanext/BananaInBowlTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env0.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f679e342c438c85d5cc570b5dc3264cb1a9d915e7291e81dce554f2344b5bb9d
+size 16941179

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env0_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaeabf6a61965f8f7abe1830835ccb0dc7d50b5afb4a9242da4e709d02a78adc
+size 5006369

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env1.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f84d1ce56e0fc04c27945258588ee69242186d9ca251beed2620bdcd9c84a2d2
+size 17776575

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env1_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39b7feedd4d27eaecccd8f4fd7ae595b468f37f802e8dee90270e80a05d8dcd5
+size 4461359

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env2.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d77f387a501d3c058fe549beb3f89848846b45b8b0f09f68b24e4e247d40bcd5
+size 15185202

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env2_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36fa31b74c7c366c1821f250084329c79804ec87560a39d77bf5fa9c5b80edf6
+size 4196140

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env3.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ef1166717a74db2376557f8c0f41d7cc8cc6c2f56cc0d7e0162411407c42483
+size 15299280

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env3_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d5be4d116ccbc3783d8a65d3801f7ca7ba28c1a8199659dd0375294996aec90
+size 3735894

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env4.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:382003c1e85b773a7ebd3788ce3ca9851c119a9d2bf25fc9f0239260e5f72162
+size 17726461

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env4_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dec8aa93084870b0720af5038fd426377e210947f8fc95d6c4ee63ef17c54cb
+size 4730754

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env5.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b08c9474004c2bccb3306e9e710acf37c68dbc73a55efb0220fd3d9d40aab19a
+size 15351680

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env5_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cde04a815a975958527875af81fcb45b1508f68d533fb0be02053f889300cf91
+size 4727950

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env6.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7918cf070b5aefa21850b166665d3fee188d767ebcb4e776b7001019aa255d18
+size 16711136

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env6_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7a4c7326e0c5ad5b18bcbb69258c54aeecd8755d8790232dc793823e10c74e6
+size 3679009

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env7.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f330da81c62ea3c87c8c593141e729bbf9e9a87a26692a269bbddf8131860f14
+size 17498496

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env7_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f76c2ba857162098cbcc10ccdbe18e9bccd1b57ffbbbdeccf28b83d5fa767c9b
+size 5351413

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env8.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f50315f773cdbfbecccc1daa01835e2fd74754059b43d5cd2bf1ae2e9fefe7f2
+size 16584710

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env8_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6882f9c7b441a4ade1fd247c1a7de403c4ed36cba84ccf9a994c787e3203955
+size 5609886

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env9.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3129f210817801009233711b579bbb261fa7e4e217c30299ad368c54afa2ccfb
+size 16110860

2026-09-02_07-51-27_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env9_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e63c7bb866f8d887cc7e1cf5b61684319dc8b5ca10280068d8f29d53938fe9c
+size 4979649

2026-09-02_07-51-27_vlanext/BananaInBowlTask/env_cfg.json

@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 10, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/RoboLab/assets/scenes/banana_bowl.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471946001052856, -5.8164543588645756e-05, -0.3470015227794647], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.5611012578010559, 0.15261490643024445, 0.030349360778927803], "rot": [0.9999998211860657, -0.00038860940411786313, -0.00045113630375182354, 5.555720606926124e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana", "spawn": null, "init_state": {"pos": [0.5097271203994751, -0.115806944668293, 0.02117740921676159], "rot": [0.9999991655349731, -0.0006239555700669702, -0.0011311464245367135, -1.079676892718864e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana", "/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/RoboLab/output/2026-09-02_07-51-27_vlanext/BananaInBowlTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 50, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "banana", "container": "bowl", "gripper_name": "gripper", "tolerance": 0.0, "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7fe1b3f52ac0>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7fe1b3f51ee0>, object='banana', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "BananaInBowlTask", "num_envs": 10, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pick up the banana and place it in the bowl", "contact_object_list": ["banana", "bowl", "table"], "_instruction_variants": {"default": "Pick up the banana and place it in the bowl", "vague": "Put the fruit in the bowl", "specific": "Grasp the yellow banana and place it inside the red bowl on the table"}, "policy": "vlanext", "renderer": "realtime"}

2026-09-02_07-51-27_vlanext/BananaInBowlTask/log_0_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 0, "success": false, "final_step": 750, "events": [{"step": 103, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 208, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 232, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 237, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 246, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 251, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 256, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 258, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 262, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 264, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 266, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 271, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 278, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 280, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 283, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 285, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 292, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 294, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 301, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 309, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 316, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 329, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 333, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 346, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 349, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 355, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 357, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 362, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 367, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 372, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 378, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 384, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 386, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 390, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 393, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 395, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 398, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 404, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 410, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 412, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 418, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 428, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 443, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 446, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 450, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 463, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 471, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 475, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 477, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 482, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 484, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 488, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 491, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 494, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 499, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 506, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 513, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 516, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 518, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 520, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 526, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 528, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 531, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 536, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 541, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 556, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 563, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 567, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 569, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 576, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 578, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 582, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 584, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 590, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 595, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 601, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 604, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 609, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 611, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 624, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 694, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 707, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 715, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 725, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 730, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 734, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 737, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 740, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 747, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}

2026-09-02_07-51-27_vlanext/BananaInBowlTask/log_0_env1.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 1, "run": 0, "success": false, "final_step": 750, "events": [{"step": 80, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 513, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}

2026-09-02_07-51-27_vlanext/BananaInBowlTask/log_0_env2.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 2, "run": 0, "success": false, "final_step": 750, "events": [{"step": 101, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 258, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 306, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 442, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 451, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 453, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 458, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 460, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 465, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 474, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 477, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 488, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 492, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 500, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 503, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 508, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 511, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 516, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 522, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 527, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 531, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 535, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 538, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 542, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 550, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 558, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 562, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 567, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}

2026-09-02_07-51-27_vlanext/BananaInBowlTask/log_0_env3.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 3, "run": 0, "success": false, "final_step": 750, "events": [{"step": 54, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 478, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}

2026-09-02_07-51-27_vlanext/BananaInBowlTask/log_0_env4.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 4, "run": 0, "success": false, "final_step": 750, "events": [{"step": 53, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 236, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 332, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 334, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 341, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 352, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 359, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}

2026-09-02_07-51-27_vlanext/BananaInBowlTask/log_0_env5.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 5, "run": 0, "success": false, "final_step": 750, "events": [{"step": 163, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 245, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 248, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 258, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 261, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 267, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 269, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 274, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 328, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 679, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}

2026-09-02_07-51-27_vlanext/BananaInBowlTask/log_0_env6.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 6, "run": 0, "success": false, "final_step": 750, "events": [{"step": 126, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}

2026-09-02_07-51-27_vlanext/BananaInBowlTask/log_0_env7.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 7, "run": 0, "success": false, "final_step": 750, "events": [{"step": 318, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 428, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 433, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 451, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 459, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 475, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 492, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 495, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 515, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.470m", "score": 0.0}]}

2026-09-02_07-51-27_vlanext/BananaInBowlTask/log_0_env8.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 8, "run": 0, "success": false, "final_step": 750, "events": [{"step": 86, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 213, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 223, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 298, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 510, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 514, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 516, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 528, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 544, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 552, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 559, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 583, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 654, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}

2026-09-02_07-51-27_vlanext/BananaInBowlTask/log_0_env9.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 9, "run": 0, "success": false, "final_step": 750, "events": [{"step": 141, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 689, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}

2026-09-02_07-51-27_vlanext/BananaInBowlTask/run_0.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5321e8bd76041e9d3cb68c17bf0698b2a449118227c52358cc0920610ea3065a
+size 3645207

2026-09-02_07-51-27_vlanext/episode_results.jsonl

@@ -0,0 +1,10 @@
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -14.625406719096674, "joint_sparc_mean": -18.250724027952256, "ee_isj": 7367.416590652585, "joint_isj": 1053047.6917142794, "ee_path_length": 2.30443650395282, "joint_rmse_mean": 1.2069546368081219, "ee_speed_max": 0.6779509782791138, "ee_speed_mean": 0.04953500255942345}, "events": {"GRIPPER_FULLY_CLOSED": 1, "GRIPPER_HIT_TABLE": 88}, "instruction_type": "default", "timing": {"policy_inference_s": 409.55, "policy_inference_avg_ms": 546.1, "env_step_s": 153.247, "env_step_avg_ms": 204.3, "video_write_s": 48.171, "video_write_avg_ms": 64.2, "wall_total_s": 610.968, "it_per_sec": 1.23}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.851976191338998, "joint_sparc_mean": -16.927244729048176, "ee_isj": 16493.907148802024, "joint_isj": 677242.1081880856, "ee_path_length": 3.8821599439145382, "joint_rmse_mean": 1.0965836941891138, "ee_speed_max": 2.4102237224578857, "ee_speed_mean": 0.080485038459301}, "events": {"GRIPPER_FULLY_CLOSED": 2}, "instruction_type": "default", "timing": {"policy_inference_s": 409.55, "policy_inference_avg_ms": 546.1, "env_step_s": 153.247, "env_step_avg_ms": 204.3, "video_write_s": 48.171, "video_write_avg_ms": 64.2, "wall_total_s": 610.968, "it_per_sec": 1.23}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -11.484975125515177, "joint_sparc_mean": -16.0538003764747, "ee_isj": 10184.312181319712, "joint_isj": 1823717.9137469167, "ee_path_length": 2.2268200033518544, "joint_rmse_mean": 1.2791873695003184, "ee_speed_max": 1.2633280754089355, "ee_speed_mean": 0.04508226364850998}, "events": {"GRIPPER_FULLY_CLOSED": 1, "GRIPPER_HIT_TABLE": 27}, "instruction_type": "default", "timing": {"policy_inference_s": 409.55, "policy_inference_avg_ms": 546.1, "env_step_s": 153.247, "env_step_avg_ms": 204.3, "video_write_s": 48.171, "video_write_avg_ms": 64.2, "wall_total_s": 610.968, "it_per_sec": 1.23}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 3, "env_id": 3, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -14.002124335657411, "joint_sparc_mean": -29.268558042084074, "ee_isj": 49149.52114434667, "joint_isj": 4597764.976441067, "ee_path_length": 6.279108851919527, "joint_rmse_mean": 1.4036807536075149, "ee_speed_max": 2.0738351345062256, "ee_speed_mean": 0.13182353973388672}, "events": {"GRIPPER_FULLY_CLOSED": 2}, "instruction_type": "default", "timing": {"policy_inference_s": 409.55, "policy_inference_avg_ms": 546.1, "env_step_s": 153.247, "env_step_avg_ms": 204.3, "video_write_s": 48.171, "video_write_avg_ms": 64.2, "wall_total_s": 610.968, "it_per_sec": 1.23}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 4, "env_id": 4, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -15.258624021271059, "joint_sparc_mean": -22.466365894100374, "ee_isj": 13426.921676780992, "joint_isj": 4048296.834910483, "ee_path_length": 2.688234964547375, "joint_rmse_mean": 1.3108187426638518, "ee_speed_max": 1.3424936532974243, "ee_speed_mean": 0.055857859551906586}, "events": {"GRIPPER_FULLY_CLOSED": 2, "GRIPPER_HIT_TABLE": 5}, "instruction_type": "default", "timing": {"policy_inference_s": 409.55, "policy_inference_avg_ms": 546.1, "env_step_s": 153.247, "env_step_avg_ms": 204.3, "video_write_s": 48.171, "video_write_avg_ms": 64.2, "wall_total_s": 610.968, "it_per_sec": 1.23}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 5, "env_id": 5, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.32218875112727, "joint_sparc_mean": -12.599378185952114, "ee_isj": 17202.667869322664, "joint_isj": 1383294.2308026743, "ee_path_length": 2.497704851114438, "joint_rmse_mean": 1.1084322501155077, "ee_speed_max": 2.2655744552612305, "ee_speed_mean": 0.05705605074763298}, "events": {"GRIPPER_HIT_TABLE": 9, "GRIPPER_FULLY_CLOSED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 409.55, "policy_inference_avg_ms": 546.1, "env_step_s": 153.247, "env_step_avg_ms": 204.3, "video_write_s": 48.171, "video_write_avg_ms": 64.2, "wall_total_s": 610.968, "it_per_sec": 1.23}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 6, "env_id": 6, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -12.500555813751962, "joint_sparc_mean": -25.962848222498252, "ee_isj": 4034.417028280001, "joint_isj": 1872876.8820487894, "ee_path_length": 2.351266289256728, "joint_rmse_mean": 0.9684661574720973, "ee_speed_max": 0.64638751745224, "ee_speed_mean": 0.04860171675682068}, "events": {"GRIPPER_FULLY_CLOSED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 409.55, "policy_inference_avg_ms": 546.1, "env_step_s": 153.247, "env_step_avg_ms": 204.3, "video_write_s": 48.171, "video_write_avg_ms": 64.2, "wall_total_s": 610.968, "it_per_sec": 1.23}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 7, "env_id": 7, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -12.20339266214737, "joint_sparc_mean": -21.103889537735487, "ee_isj": 175294.58547600594, "joint_isj": 10459927.692096092, "ee_path_length": 9.076417119836725, "joint_rmse_mean": 1.1506200468749395, "ee_speed_max": 3.780975580215454, "ee_speed_mean": 0.19374720752239227}, "events": {"GRIPPER_FULLY_CLOSED": 1, "GRIPPER_HIT_TABLE": 7, "OBJECT_BUMPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 409.55, "policy_inference_avg_ms": 546.1, "env_step_s": 153.247, "env_step_avg_ms": 204.3, "video_write_s": 48.171, "video_write_avg_ms": 64.2, "wall_total_s": 610.968, "it_per_sec": 1.23}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -11.290654731114083, "joint_sparc_mean": -31.136291166469714, "ee_isj": 83044.02201645853, "joint_isj": 5207363.0425646305, "ee_path_length": 6.087868846899982, "joint_rmse_mean": 1.3716240759794012, "ee_speed_max": 4.227075576782227, "ee_speed_mean": 0.13242486119270325}, "events": {"GRIPPER_FULLY_CLOSED": 2, "GRIPPER_HIT_TABLE": 11}, "instruction_type": "default", "timing": {"policy_inference_s": 409.55, "policy_inference_avg_ms": 546.1, "env_step_s": 153.247, "env_step_avg_ms": 204.3, "video_write_s": 48.171, "video_write_avg_ms": 64.2, "wall_total_s": 610.968, "it_per_sec": 1.23}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -26.670484777177993, "joint_sparc_mean": -27.72611420282247, "ee_isj": 9185.004830063712, "joint_isj": 2675000.686808216, "ee_path_length": 2.612820144465758, "joint_rmse_mean": 1.755029522061602, "ee_speed_max": 1.9956711530685425, "ee_speed_mean": 0.05447511747479439}, "events": {"GRIPPER_FULLY_CLOSED": 2}, "instruction_type": "default", "timing": {"policy_inference_s": 409.55, "policy_inference_avg_ms": 546.1, "env_step_s": 153.247, "env_step_avg_ms": 204.3, "video_write_s": 48.171, "video_write_avg_ms": 64.2, "wall_total_s": 610.968, "it_per_sec": 1.23}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}