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| "notes": "LongCube slipped during transport (frame 122, t=4.07s)" | |
| }, | |
| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 125, | |
| 126 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "correct", | |
| "notes": "Object re-overlapped table zone after release", | |
| "release_height": "low" | |
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| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 126, | |
| 148 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
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| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 148, | |
| 205 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 205, | |
| 213 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "correction", | |
| "frame_range": [ | |
| 125, | |
| 213 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct", | |
| "correction_type": "slip_recovery", | |
| "notes": "Recovery after slip during transport (frame 122, t=4.07s)" | |
| }, | |
| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 213, | |
| 327 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "correction", | |
| "frame_range": [ | |
| 126, | |
| 326 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct", | |
| "correction_type": "placement_retry", | |
| "notes": "Retry after failed placement attempt" | |
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| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 326, | |
| 327 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct", | |
| "notes": "LongCube placed in Container", | |
| "release_height": "low" | |
| }, | |
| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 327, | |
| 394 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
| } | |
| ], | |
| "scores": { | |
| "D1_path_efficiency": 3, | |
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| "D4_temporal_efficiency": 4, | |
| "D5_motion_smoothness": 3, | |
| "D6_corrective_movements": 1, | |
| "D7_kinematic_headroom": 2 | |
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| "derived": { | |
| "efficiency": 4, | |
| "precision": 4, | |
| "confidence": 0.4, | |
| "composite_score": 3.0, | |
| "episode_grade": "C" | |
| }, | |
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| "path_ratio": 1.7165, | |
| "grasp_angular_offset_deg": 10.35, | |
| "grasp_positional_offset_pct": 11.16, | |
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| "placement_rotation_error_deg": 23.06, | |
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| "correction_duration_pct": 72.91, | |
| "peak_kinematic_ratio": 0.9115, | |
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| "scorer_id": "auto_v1.1.0" | |
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| { | |
| "episode_id": "episode_000020", | |
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| "frame_range": [ | |
| 0, | |
| 87 | |
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| 87, | |
| 96 | |
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| 96, | |
| 106 | |
| ], | |
| "execution_quality": "slip", | |
| "task_alignment": "correct", | |
| "notes": "LongCube slipped during transport (frame 103, t=3.43s)" | |
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| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 106, | |
| 107 | |
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| "execution_quality": "fail", | |
| "task_alignment": "correct", | |
| "notes": "Object re-overlapped table zone after release", | |
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| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 107, | |
| 130 | |
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| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
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| 182 | |
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| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 182, | |
| 190 | |
| ], | |
| "execution_quality": "success", | |
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| { | |
| "phase": "correction", | |
| "frame_range": [ | |
| 106, | |
| 190 | |
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| "execution_quality": "success", | |
| "task_alignment": "correct", | |
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| "notes": "Recovery after slip during transport (frame 103, t=3.43s)" | |
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| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 190, | |
| 301 | |
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| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "correction", | |
| "frame_range": [ | |
| 107, | |
| 300 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct", | |
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| "notes": "Retry after failed placement attempt" | |
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| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 300, | |
| 301 | |
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| "execution_quality": "success", | |
| "task_alignment": "correct", | |
| "notes": "LongCube placed in Container", | |
| "release_height": "low" | |
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| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 301, | |
| 369 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
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| "scores": { | |
| "D1_path_efficiency": 3, | |
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| "efficiency": 4, | |
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| "path_ratio": 1.5105, | |
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| { | |
| "episode_id": "episode_000021", | |
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| "phase": "approach", | |
| "frame_range": [ | |
| 0, | |
| 54 | |
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| 54, | |
| 61 | |
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| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 61, | |
| 86 | |
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| "execution_quality": "slip", | |
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| "notes": "LongCube slipped during transport (frame 82, t=2.73s)" | |
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| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 86, | |
| 87 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "correct", | |
| "notes": "Object released without reaching container or table zone", | |
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| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 87, | |
| 113 | |
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| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
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| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 113, | |
| 196 | |
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| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 196, | |
| 204 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "correction", | |
| "frame_range": [ | |
| 86, | |
| 204 | |
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| "execution_quality": "success", | |
| "task_alignment": "correct", | |
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| "notes": "Recovery after slip during transport (frame 82, t=2.73s)" | |
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| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 204, | |
| 311 | |
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| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "correction", | |
| "frame_range": [ | |
| 87, | |
| 310 | |
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| "execution_quality": "success", | |
| "task_alignment": "correct", | |
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| "notes": "Retry after failed placement attempt" | |
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| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 310, | |
| 311 | |
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| "execution_quality": "success", | |
| "task_alignment": "correct", | |
| "notes": "LongCube placed in Container", | |
| "release_height": "low" | |
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| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 311, | |
| 378 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
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| "scores": { | |
| "D1_path_efficiency": 2, | |
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| "D5_motion_smoothness": 4, | |
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| "efficiency": 3, | |
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| "path_ratio": 2.2582, | |
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| "correction_duration_pct": 89.97, | |
| "peak_kinematic_ratio": 0.9811, | |
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| "peak_kinematic_type": "acceleration" | |
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| { | |
| "episode_id": "episode_000022", | |
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| "frame_range": [ | |
| 0, | |
| 120 | |
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| "task_alignment": "wrong_object" | |
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| "frame_range": [ | |
| 120, | |
| 123 | |
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| { | |
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| 123, | |
| 187 | |
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| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 187, | |
| 188 | |
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| "execution_quality": "fail", | |
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| "notes": "Object released without reaching container or table zone", | |
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| { | |
| "phase": "correction", | |
| "frame_range": [ | |
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| 188 | |
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| "execution_quality": "success", | |
| "task_alignment": "wrong_object", | |
| "correction_type": "wrong_object_recovery", | |
| "notes": "Operator realized wrong-object pickup and re-approached the correct target" | |
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| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 188, | |
| 291 | |
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| "task_alignment": "correct" | |
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| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 291, | |
| 299 | |
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| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "transport", | |
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| 425 | |
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| "execution_quality": "success", | |
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| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 424, | |
| 425 | |
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| "execution_quality": "success", | |
| "task_alignment": "correct", | |
| "notes": "LongCube placed in Container", | |
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| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 425, | |
| 492 | |
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| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
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| "scores": { | |
| "D1_path_efficiency": 3, | |
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| "efficiency": 3, | |
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| "path_ratio": 1.986, | |
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| "grasp_positional_offset_pct": 8.94, | |
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| "placement_rotation_error_deg": 36.58, | |
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| "scorer_id": "auto_v1.1.0" | |
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| { | |
| "episode_id": "episode_000023", | |
| "success": true, | |
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| "duration_sec": 17.5, | |
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| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 0, | |
| 102 | |
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| "task_alignment": "wrong_object" | |
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| "frame_range": [ | |
| 102, | |
| 113 | |
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| "execution_quality": "fail", | |
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| { | |
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| "frame_range": [ | |
| 113, | |
| 185 | |
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| "execution_quality": "fail", | |
| "task_alignment": "wrong_object" | |
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| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 185, | |
| 186 | |
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| "execution_quality": "fail", | |
| "task_alignment": "wrong_object", | |
| "notes": "Object re-overlapped table zone after release", | |
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| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 186, | |
| 187 | |
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| "execution_quality": "fail", | |
| "task_alignment": "not_applicable" | |
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| { | |
| "phase": "correction", | |
| "frame_range": [ | |
| 186, | |
| 187 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "wrong_object", | |
| "correction_type": "wrong_object_recovery", | |
| "notes": "Operator realized wrong-object pickup and re-approached the correct target" | |
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| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 187, | |
| 320 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 320, | |
| 328 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 328, | |
| 458 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 457, | |
| 458 | |
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| "execution_quality": "success", | |
| "task_alignment": "correct", | |
| "notes": "LongCube placed in Container", | |
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| { | |
| "phase": "correction", | |
| "frame_range": [ | |
| 187, | |
| 458 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "not_applicable", | |
| "correction_type": "grasp_retry", | |
| "notes": "Retry after failed grasp attempt" | |
| }, | |
| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 458, | |
| 525 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
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| "scores": { | |
| "D1_path_efficiency": 3, | |
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| "efficiency": 3, | |
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| "grasp_positional_offset_pct": 4.99, | |
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| "placement_rotation_error_deg": 89.29, | |
| "placement_release_height_m": 0.0321, | |
| "duration_ratio_to_median": 1.2889, | |
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| "mean_autocorrelation": 0.9962, | |
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| "peak_kinematic_ratio": 0.8387, | |
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| "peak_kinematic_type": "position" | |
| }, | |
| "scorer_id": "auto_v1.1.0" | |
| }, | |
| { | |
| "episode_id": "episode_000024", | |
| "success": true, | |
| "task_success": true, | |
| "failure_reason": "none", | |
| "duration_sec": 16.73, | |
| "frozen_frames": 3, | |
| "phase_annotations": [ | |
| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 0, | |
| 130 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "wrong_object" | |
| }, | |
| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 130, | |
| 133 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "wrong_object" | |
| }, | |
| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 133, | |
| 216 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "wrong_object" | |
| }, | |
| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 216, | |
| 217 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "wrong_object", | |
| "notes": "Object released without reaching container or table zone", | |
| "release_height": "low" | |
| }, | |
| { | |
| "phase": "correction", | |
| "frame_range": [ | |
| 217, | |
| 217 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "wrong_object", | |
| "correction_type": "wrong_object_recovery", | |
| "notes": "Operator realized wrong-object pickup and re-approached the correct target" | |
| }, | |
| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 217, | |
| 308 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 308, | |
| 316 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 316, | |
| 437 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 437, | |
| 441 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct", | |
| "release_height": "low" | |
| }, | |
| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 441, | |
| 502 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
| } | |
| ], | |
| "scores": { | |
| "D1_path_efficiency": 3, | |
| "D2_grasp_precision": 3, | |
| "D3_placement_accuracy": 5, | |
| "D4_temporal_efficiency": 3, | |
| "D5_motion_smoothness": 3, | |
| "D6_corrective_movements": 3, | |
| "D7_kinematic_headroom": 2 | |
| }, | |
| "derived": { | |
| "efficiency": 3, | |
| "precision": 4, | |
| "confidence": 0.53, | |
| "composite_score": 3.14, | |
| "episode_grade": "C" | |
| }, | |
| "raw_measurements": { | |
| "path_ratio": 1.8405, | |
| "grasp_angular_offset_deg": 9.32, | |
| "grasp_positional_offset_pct": 15.13, | |
| "placement_positional_offset_pct": 9.53, | |
| "placement_rotation_error_deg": 78.99, | |
| "placement_release_height_m": 0.0204, | |
| "duration_ratio_to_median": 1.2321, | |
| "discontinuity_count": 6, | |
| "mean_autocorrelation": 0.9967, | |
| "power_below_2hz_pct": 97.55999755859375, | |
| "correction_count": 1, | |
| "correction_duration_pct": 0.0, | |
| "peak_kinematic_ratio": 0.9134, | |
| "peak_kinematic_joint": "panda_joint4", | |
| "peak_kinematic_type": "position" | |
| }, | |
| "scorer_id": "auto_v1.1.0" | |
| }, | |
| { | |
| "episode_id": "episode_000025", | |
| "success": false, | |
| "task_success": false, | |
| "failure_reason": "slip_drop", | |
| "duration_sec": 13.53, | |
| "frozen_frames": 3, | |
| "phase_annotations": [ | |
| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 0, | |
| 118 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 118, | |
| 126 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 126, | |
| 334 | |
| ], | |
| "execution_quality": "collision", | |
| "task_alignment": "correct", | |
| "notes": "Arm collided with photo frame during transport" | |
| }, | |
| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 334, | |
| 335 | |
| ], | |
| "execution_quality": "drop_from_height", | |
| "task_alignment": "correct", | |
| "notes": "Object released ~5.8cm above Container, fell into Container", | |
| "release_height": "high" | |
| }, | |
| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 335, | |
| 406 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
| } | |
| ], | |
| "scores": { | |
| "D1_path_efficiency": 3, | |
| "D2_grasp_precision": 2, | |
| "D3_placement_accuracy": 2, | |
| "D4_temporal_efficiency": 4, | |
| "D5_motion_smoothness": 4, | |
| "D6_corrective_movements": 5, | |
| "D7_kinematic_headroom": 3 | |
| }, | |
| "derived": { | |
| "efficiency": 4, | |
| "precision": 2, | |
| "confidence": 0.8, | |
| "composite_score": 3.29, | |
| "episode_grade": "C" | |
| }, | |
| "raw_measurements": { | |
| "path_ratio": 1.541, | |
| "grasp_angular_offset_deg": 15.58, | |
| "grasp_positional_offset_pct": 44.68, | |
| "placement_positional_offset_pct": 36.79, | |
| "placement_rotation_error_deg": 15.38, | |
| "placement_release_height_m": 0.2078, | |
| "duration_ratio_to_median": 0.9951, | |
| "discontinuity_count": 3, | |
| "mean_autocorrelation": 0.9966, | |
| "power_below_2hz_pct": 97.91000366210938, | |
| "correction_count": 0, | |
| "correction_duration_pct": 0.0, | |
| "peak_kinematic_ratio": 0.8365, | |
| "peak_kinematic_joint": "panda_joint2", | |
| "peak_kinematic_type": "position" | |
| }, | |
| "scorer_id": "auto_v1.1.0" | |
| }, | |
| { | |
| "episode_id": "episode_000026", | |
| "success": true, | |
| "task_success": true, | |
| "failure_reason": "none", | |
| "duration_sec": 19.93, | |
| "frozen_frames": 3, | |
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| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 0, | |
| 127 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 127, | |
| 135 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 135, | |
| 263 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 263, | |
| 264 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "correct", | |
| "notes": "Object released without reaching container or table zone", | |
| "release_height": "low" | |
| }, | |
| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 264, | |
| 265 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
| }, | |
| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 265, | |
| 373 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "correction", | |
| "frame_range": [ | |
| 373, | |
| 403 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct", | |
| "correction_type": "grasp_retry", | |
| "notes": "Retry after failed grasp attempt" | |
| }, | |
| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 403, | |
| 428 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 428, | |
| 436 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 436, | |
| 531 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "correction", | |
| "frame_range": [ | |
| 264, | |
| 530 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct", | |
| "correction_type": "placement_retry", | |
| "notes": "Retry after failed placement attempt" | |
| }, | |
| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 530, | |
| 531 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct", | |
| "notes": "LongCube placed in Container", | |
| "release_height": "low" | |
| }, | |
| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 531, | |
| 598 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
| } | |
| ], | |
| "scores": { | |
| "D1_path_efficiency": 2, | |
| "D2_grasp_precision": 3, | |
| "D3_placement_accuracy": 5, | |
| "D4_temporal_efficiency": 3, | |
| "D5_motion_smoothness": 1, | |
| "D6_corrective_movements": 1, | |
| "D7_kinematic_headroom": 2 | |
| }, | |
| "derived": { | |
| "efficiency": 2, | |
| "precision": 4, | |
| "confidence": 0.27, | |
| "composite_score": 2.43, | |
| "episode_grade": "D" | |
| }, | |
| "raw_measurements": { | |
| "path_ratio": 2.4019, | |
| "grasp_angular_offset_deg": 7.37, | |
| "grasp_positional_offset_pct": 12.26, | |
| "placement_positional_offset_pct": 2.21, | |
| "placement_rotation_error_deg": 16.47, | |
| "placement_release_height_m": 0.0477, | |
| "duration_ratio_to_median": 1.4691, | |
| "discontinuity_count": 22, | |
| "mean_autocorrelation": 0.9941, | |
| "power_below_2hz_pct": 96.16999816894531, | |
| "correction_count": 2, | |
| "correction_duration_pct": 49.42, | |
| "peak_kinematic_ratio": 0.8595, | |
| "peak_kinematic_joint": "panda_joint4", | |
| "peak_kinematic_type": "position" | |
| }, | |
| "scorer_id": "auto_v1.1.0" | |
| }, | |
| { | |
| "episode_id": "episode_000027", | |
| "success": true, | |
| "task_success": true, | |
| "failure_reason": "none", | |
| "duration_sec": 9.93, | |
| "frozen_frames": 0, | |
| "phase_annotations": [ | |
| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 0, | |
| 97 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 97, | |
| 105 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 105, | |
| 231 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 230, | |
| 231 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct", | |
| "notes": "LongCube placed in Container", | |
| "release_height": "low" | |
| }, | |
| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 231, | |
| 298 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
| } | |
| ], | |
| "scores": { | |
| "D1_path_efficiency": 4, | |
| "D2_grasp_precision": 3, | |
| "D3_placement_accuracy": 5, | |
| "D4_temporal_efficiency": 5, | |
| "D5_motion_smoothness": 5, | |
| "D6_corrective_movements": 5, | |
| "D7_kinematic_headroom": 2 | |
| }, | |
| "derived": { | |
| "efficiency": 4, | |
| "precision": 4, | |
| "confidence": 0.8, | |
| "composite_score": 4.14, | |
| "episode_grade": "B" | |
| }, | |
| "raw_measurements": { | |
| "path_ratio": 1.3771, | |
| "grasp_angular_offset_deg": 2.15, | |
| "grasp_positional_offset_pct": 10.9, | |
| "placement_positional_offset_pct": 9.4, | |
| "placement_rotation_error_deg": 53.44, | |
| "placement_release_height_m": 0.0256, | |
| "duration_ratio_to_median": 0.7358, | |
| "discontinuity_count": 0, | |
| "mean_autocorrelation": 0.9956, | |
| "power_below_2hz_pct": 99.0, | |
| "correction_count": 0, | |
| "correction_duration_pct": 0.0, | |
| "peak_kinematic_ratio": 0.8862, | |
| "peak_kinematic_joint": "panda_joint4", | |
| "peak_kinematic_type": "position" | |
| }, | |
| "scorer_id": "auto_v1.1.0" | |
| }, | |
| { | |
| "episode_id": "episode_000028", | |
| "success": true, | |
| "task_success": true, | |
| "failure_reason": "none", | |
| "duration_sec": 11.73, | |
| "frozen_frames": 0, | |
| "phase_annotations": [ | |
| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 0, | |
| 114 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 114, | |
| 122 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 122, | |
| 282 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 281, | |
| 282 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct", | |
| "notes": "LongCube placed in Container", | |
| "release_height": "low" | |
| }, | |
| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 282, | |
| 352 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
| } | |
| ], | |
| "scores": { | |
| "D1_path_efficiency": 4, | |
| "D2_grasp_precision": 3, | |
| "D3_placement_accuracy": 4, | |
| "D4_temporal_efficiency": 4, | |
| "D5_motion_smoothness": 3, | |
| "D6_corrective_movements": 5, | |
| "D7_kinematic_headroom": 2 | |
| }, | |
| "derived": { | |
| "efficiency": 4, | |
| "precision": 4, | |
| "confidence": 0.67, | |
| "composite_score": 3.57, | |
| "episode_grade": "B" | |
| }, | |
| "raw_measurements": { | |
| "path_ratio": 1.3521, | |
| "grasp_angular_offset_deg": 4.63, | |
| "grasp_positional_offset_pct": 3.83, | |
| "placement_positional_offset_pct": 16.38, | |
| "placement_rotation_error_deg": 81.81, | |
| "placement_release_height_m": 0.0514, | |
| "duration_ratio_to_median": 0.8691, | |
| "discontinuity_count": 7, | |
| "mean_autocorrelation": 0.9954, | |
| "power_below_2hz_pct": 97.0, | |
| "correction_count": 0, | |
| "correction_duration_pct": 0.0, | |
| "peak_kinematic_ratio": 0.8782, | |
| "peak_kinematic_joint": "panda_joint4", | |
| "peak_kinematic_type": "position" | |
| }, | |
| "scorer_id": "auto_v1.1.0" | |
| }, | |
| { | |
| "episode_id": "episode_000029", | |
| "success": false, | |
| "task_success": false, | |
| "failure_reason": "operator_abort", | |
| "duration_sec": 12.23, | |
| "frozen_frames": 3, | |
| "phase_annotations": [ | |
| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 0, | |
| 113 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "wrong_object" | |
| }, | |
| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 113, | |
| 124 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "wrong_object" | |
| }, | |
| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 124, | |
| 276 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "wrong_object" | |
| }, | |
| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 276, | |
| 277 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "wrong_object", | |
| "notes": "Object released without reaching container or table zone", | |
| "release_height": "low" | |
| }, | |
| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 277, | |
| 367 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "not_applicable" | |
| } | |
| ], | |
| "scores": { | |
| "D1_path_efficiency": 4, | |
| "D2_grasp_precision": 1, | |
| "D3_placement_accuracy": 1, | |
| "D4_temporal_efficiency": 4, | |
| "D5_motion_smoothness": 3, | |
| "D6_corrective_movements": 5, | |
| "D7_kinematic_headroom": 2 | |
| }, | |
| "derived": { | |
| "efficiency": 4, | |
| "precision": 1, | |
| "confidence": 0.67, | |
| "composite_score": 2.86, | |
| "episode_grade": "C" | |
| }, | |
| "raw_measurements": { | |
| "path_ratio": 1.2988, | |
| "grasp_angular_offset_deg": 7.58, | |
| "grasp_positional_offset_pct": 450.16, | |
| "placement_positional_offset_pct": 174.0, | |
| "placement_rotation_error_deg": 48.12, | |
| "placement_release_height_m": 0.0, | |
| "duration_ratio_to_median": 0.8988, | |
| "discontinuity_count": 5, | |
| "mean_autocorrelation": 0.9934, | |
| "power_below_2hz_pct": 98.87000274658203, | |
| "correction_count": 0, | |
| "correction_duration_pct": 0.0, | |
| "peak_kinematic_ratio": 0.9802, | |
| "peak_kinematic_joint": "panda_joint4", | |
| "peak_kinematic_type": "position" | |
| }, | |
| "scorer_id": "auto_v1.1.0" | |
| }, | |
| { | |
| "episode_id": "episode_000030", | |
| "success": false, | |
| "task_success": false, | |
| "failure_reason": "operator_abort", | |
| "duration_sec": 13.67, | |
| "frozen_frames": 3, | |
| "phase_annotations": [ | |
| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 0, | |
| 155 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "wrong_object" | |
| }, | |
| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 155, | |
| 165 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "wrong_object" | |
| }, | |
| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 165, | |
| 305 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "wrong_object" | |
| }, | |
| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 305, | |
| 306 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "wrong_object", | |
| "notes": "Object released without reaching container or table zone", | |
| "release_height": "low" | |
| }, | |
| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 306, | |
| 410 | |
| ], | |
| "execution_quality": "collision", | |
| "task_alignment": "not_applicable" | |
| } | |
| ], | |
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| "D1_path_efficiency": 4, | |
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| "duration_sec": 14.6, | |
| "frozen_frames": 4, | |
| "phase_annotations": [ | |
| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 0, | |
| 151 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 151, | |
| 160 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 160, | |
| 212 | |
| ], | |
| "execution_quality": "slip", | |
| "task_alignment": "correct", | |
| "notes": "LongCube slipped during transport (frame 208, t=6.93s)" | |
| }, | |
| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 212, | |
| 213 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "correct", | |
| "notes": "Object released without reaching container or table zone", | |
| "release_height": "low" | |
| }, | |
| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 213, | |
| 438 | |
| ], | |
| "execution_quality": "slip", | |
| "task_alignment": "not_applicable" | |
| } | |
| ], | |
| "scores": { | |
| "D1_path_efficiency": 5, | |
| "D2_grasp_precision": 3, | |
| "D3_placement_accuracy": 1, | |
| "D4_temporal_efficiency": 4, | |
| "D5_motion_smoothness": 2, | |
| "D6_corrective_movements": 5, | |
| "D7_kinematic_headroom": 3 | |
| }, | |
| "derived": { | |
| "efficiency": 4, | |
| "precision": 2, | |
| "confidence": 0.67, | |
| "composite_score": 3.29, | |
| "episode_grade": "C" | |
| }, | |
| "raw_measurements": { | |
| "path_ratio": 1.1943, | |
| "grasp_angular_offset_deg": 3.22, | |
| "grasp_positional_offset_pct": 0.55, | |
| "placement_positional_offset_pct": 182.0, | |
| "placement_rotation_error_deg": 9.24, | |
| "placement_release_height_m": 0.18, | |
| "duration_ratio_to_median": 1.0716, | |
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| "mean_autocorrelation": 0.9922, | |
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| "scorer_id": "auto_v1.1.0" | |
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| { | |
| "episode_id": "episode_000040", | |
| "success": false, | |
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| "duration_sec": 11.43, | |
| "frozen_frames": 0, | |
| "phase_annotations": [ | |
| { | |
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| "frame_range": [ | |
| 0, | |
| 123 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 123, | |
| 131 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 131, | |
| 343 | |
| ], | |
| "execution_quality": "collision", | |
| "task_alignment": "correct", | |
| "notes": "LongCube collided with photo camera during transport" | |
| } | |
| ], | |
| "scores": { | |
| "D1_path_efficiency": 4, | |
| "D2_grasp_precision": 3, | |
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| "D4_temporal_efficiency": 4, | |
| "D5_motion_smoothness": 4, | |
| "D6_corrective_movements": 5, | |
| "D7_kinematic_headroom": 2 | |
| }, | |
| "derived": { | |
| "efficiency": 4, | |
| "precision": 2, | |
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| "composite_score": 3.29, | |
| "episode_grade": "C" | |
| }, | |
| "raw_measurements": { | |
| "path_ratio": 1.2668, | |
| "grasp_angular_offset_deg": 6.79, | |
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| "placement_release_height_m": 0.2166, | |
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| "mean_autocorrelation": 0.9938, | |
| "power_below_2hz_pct": 97.73999786376953, | |
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| "peak_kinematic_ratio": 0.8727, | |
| "peak_kinematic_joint": "panda_joint4", | |
| "peak_kinematic_type": "position" | |
| }, | |
| "scorer_id": "auto_v1.1.0" | |
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| { | |
| "episode_id": "episode_000041", | |
| "success": false, | |
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| "duration_sec": 14.37, | |
| "frozen_frames": 0, | |
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| { | |
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| "frame_range": [ | |
| 0, | |
| 152 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 152, | |
| 160 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 160, | |
| 431 | |
| ], | |
| "execution_quality": "collision", | |
| "task_alignment": "correct", | |
| "notes": "LongCube collided with photo frame during transport" | |
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| ], | |
| "scores": { | |
| "D1_path_efficiency": 3, | |
| "D2_grasp_precision": 2, | |
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| "D4_temporal_efficiency": 4, | |
| "D5_motion_smoothness": 2, | |
| "D6_corrective_movements": 5, | |
| "D7_kinematic_headroom": 2 | |
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| "derived": { | |
| "efficiency": 4, | |
| "precision": 2, | |
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| "grasp_positional_offset_pct": 27.28, | |
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| "placement_rotation_error_deg": 51.57, | |
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| "mean_autocorrelation": 0.9905, | |
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| "peak_kinematic_ratio": 0.8664, | |
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| "peak_kinematic_type": "position" | |
| }, | |
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| { | |
| "episode_id": "episode_000042", | |
| "success": false, | |
| "task_success": false, | |
| "failure_reason": "slip_drop", | |
| "duration_sec": 11.43, | |
| "frozen_frames": 0, | |
| "phase_annotations": [ | |
| { | |
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| "frame_range": [ | |
| 0, | |
| 137 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 137, | |
| 144 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 144, | |
| 270 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 270, | |
| 271 | |
| ], | |
| "execution_quality": "drop_from_height", | |
| "task_alignment": "correct", | |
| "notes": "Object released ~18.2cm above Container, fell into Container", | |
| "release_height": "high" | |
| }, | |
| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 271, | |
| 343 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
| } | |
| ], | |
| "scores": { | |
| "D1_path_efficiency": 5, | |
| "D2_grasp_precision": 3, | |
| "D3_placement_accuracy": 2, | |
| "D4_temporal_efficiency": 4, | |
| "D5_motion_smoothness": 5, | |
| "D6_corrective_movements": 5, | |
| "D7_kinematic_headroom": 3 | |
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| "derived": { | |
| "efficiency": 4, | |
| "precision": 2, | |
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| "peak_kinematic_type": "position" | |
| }, | |
| "scorer_id": "auto_v1.1.0" | |
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| { | |
| "episode_id": "episode_000043", | |
| "success": false, | |
| "task_success": false, | |
| "failure_reason": "slip_drop", | |
| "duration_sec": 12.6, | |
| "frozen_frames": 4, | |
| "phase_annotations": [ | |
| { | |
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| "frame_range": [ | |
| 0, | |
| 155 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 155, | |
| 162 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 162, | |
| 304 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 304, | |
| 305 | |
| ], | |
| "execution_quality": "drop_from_height", | |
| "task_alignment": "correct", | |
| "notes": "Object released ~17.4cm above Container, fell into Container", | |
| "release_height": "high" | |
| }, | |
| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 305, | |
| 378 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
| } | |
| ], | |
| "scores": { | |
| "D1_path_efficiency": 4, | |
| "D2_grasp_precision": 3, | |
| "D3_placement_accuracy": 2, | |
| "D4_temporal_efficiency": 4, | |
| "D5_motion_smoothness": 2, | |
| "D6_corrective_movements": 5, | |
| "D7_kinematic_headroom": 2 | |
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| "derived": { | |
| "efficiency": 4, | |
| "precision": 2, | |
| "confidence": 0.6, | |
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| "grasp_angular_offset_deg": 6.68, | |
| "grasp_positional_offset_pct": 10.79, | |
| "placement_positional_offset_pct": 19.59, | |
| "placement_rotation_error_deg": 80.95, | |
| "placement_release_height_m": 0.3241, | |
| "duration_ratio_to_median": 0.9235, | |
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| "mean_autocorrelation": 0.9964, | |
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| "peak_kinematic_ratio": 0.8665, | |
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| "scorer_id": "auto_v1.1.0" | |
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| { | |
| "episode_id": "episode_000044", | |
| "success": true, | |
| "task_success": true, | |
| "failure_reason": "none", | |
| "duration_sec": 9.57, | |
| "frozen_frames": 2, | |
| "phase_annotations": [ | |
| { | |
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| "frame_range": [ | |
| 0, | |
| 108 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 108, | |
| 116 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 116, | |
| 219 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 218, | |
| 219 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct", | |
| "notes": "LongCube placed in Container", | |
| "release_height": "low" | |
| }, | |
| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 219, | |
| 287 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
| } | |
| ], | |
| "scores": { | |
| "D1_path_efficiency": 3, | |
| "D2_grasp_precision": 3, | |
| "D3_placement_accuracy": 5, | |
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| "D5_motion_smoothness": 2, | |
| "D6_corrective_movements": 5, | |
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| "derived": { | |
| "efficiency": 4, | |
| "precision": 4, | |
| "confidence": 0.67, | |
| "composite_score": 3.71, | |
| "episode_grade": "B" | |
| }, | |
| "raw_measurements": { | |
| "path_ratio": 1.5913, | |
| "grasp_angular_offset_deg": 10.41, | |
| "grasp_positional_offset_pct": 17.37, | |
| "placement_positional_offset_pct": 9.43, | |
| "placement_rotation_error_deg": 34.45, | |
| "placement_release_height_m": 0.0506, | |
| "duration_ratio_to_median": 0.7037, | |
| "discontinuity_count": 10, | |
| "mean_autocorrelation": 0.9945, | |
| "power_below_2hz_pct": 98.61000061035156, | |
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| "peak_kinematic_ratio": 0.8432, | |
| "peak_kinematic_joint": "panda_joint4", | |
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| { | |
| "episode_id": "episode_000045", | |
| "success": true, | |
| "task_success": true, | |
| "failure_reason": "none", | |
| "duration_sec": 18.47, | |
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| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 0, | |
| 167 | |
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| "execution_quality": "fail", | |
| "task_alignment": "correct" | |
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| { | |
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| 167, | |
| 191 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct", | |
| "correction_type": "grasp_retry", | |
| "notes": "Retry after failed grasp attempt" | |
| }, | |
| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 191, | |
| 318 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 318, | |
| 326 | |
| ], | |
| "execution_quality": "success", | |
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| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 326, | |
| 487 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct" | |
| }, | |
| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 486, | |
| 487 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "correct", | |
| "notes": "LongCube placed in Container", | |
| "release_height": "low" | |
| }, | |
| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 487, | |
| 554 | |
| ], | |
| "execution_quality": "success", | |
| "task_alignment": "not_applicable" | |
| } | |
| ], | |
| "scores": { | |
| "D1_path_efficiency": 3, | |
| "D2_grasp_precision": 2, | |
| "D3_placement_accuracy": 5, | |
| "D4_temporal_efficiency": 3, | |
| "D5_motion_smoothness": 2, | |
| "D6_corrective_movements": 3, | |
| "D7_kinematic_headroom": 3 | |
| }, | |
| "derived": { | |
| "efficiency": 3, | |
| "precision": 4, | |
| "confidence": 0.53, | |
| "composite_score": 3.0, | |
| "episode_grade": "C" | |
| }, | |
| "raw_measurements": { | |
| "path_ratio": 1.6746, | |
| "grasp_angular_offset_deg": 18.61, | |
| "grasp_positional_offset_pct": 16.38, | |
| "placement_positional_offset_pct": 7.7, | |
| "placement_rotation_error_deg": 7.54, | |
| "placement_release_height_m": 0.0447, | |
| "duration_ratio_to_median": 1.3481, | |
| "discontinuity_count": 12, | |
| "mean_autocorrelation": 0.9961, | |
| "power_below_2hz_pct": 97.2300033569336, | |
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| "correction_duration_pct": 4.32, | |
| "peak_kinematic_ratio": 0.7998, | |
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| "scorer_id": "auto_v1.1.0" | |
| }, | |
| { | |
| "episode_id": "episode_000046", | |
| "success": false, | |
| "task_success": false, | |
| "failure_reason": "operator_abort", | |
| "duration_sec": 16.3, | |
| "frozen_frames": 4, | |
| "phase_annotations": [ | |
| { | |
| "phase": "approach", | |
| "frame_range": [ | |
| 0, | |
| 148 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "wrong_object" | |
| }, | |
| { | |
| "phase": "grasp", | |
| "frame_range": [ | |
| 148, | |
| 159 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "wrong_object" | |
| }, | |
| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 159, | |
| 372 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "wrong_object" | |
| }, | |
| { | |
| "phase": "place", | |
| "frame_range": [ | |
| 372, | |
| 373 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "wrong_object", | |
| "notes": "Object re-overlapped table zone after release", | |
| "release_height": "low" | |
| }, | |
| { | |
| "phase": "retract", | |
| "frame_range": [ | |
| 373, | |
| 489 | |
| ], | |
| "execution_quality": "fail", | |
| "task_alignment": "not_applicable" | |
| } | |
| ], | |
| "scores": { | |
| "D1_path_efficiency": 4, | |
| "D2_grasp_precision": 1, | |
| "D3_placement_accuracy": 1, | |
| "D4_temporal_efficiency": 4, | |
| "D5_motion_smoothness": 3, | |
| "D6_corrective_movements": 5, | |
| "D7_kinematic_headroom": 2 | |
| }, | |
| "derived": { | |
| "efficiency": 4, | |
| "precision": 1, | |
| "confidence": 0.67, | |
| "composite_score": 2.86, | |
| "episode_grade": "C" | |
| }, | |
| "raw_measurements": { | |
| "path_ratio": 1.2047, | |
| "grasp_angular_offset_deg": 14.66, | |
| "grasp_positional_offset_pct": 321.2, | |
| "placement_positional_offset_pct": 123.87, | |
| "placement_rotation_error_deg": 17.12, | |
| "placement_release_height_m": 0.0, | |
| "duration_ratio_to_median": 1.1975, | |
| "discontinuity_count": 8, | |
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| 126 | |
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| 126, | |
| 136 | |
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| { | |
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| 136, | |
| 307 | |
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| 307, | |
| 308 | |
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| "notes": "Object released without reaching container or table zone", | |
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| { | |
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| 308, | |
| 532 | |
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| 140 | |
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| "task_alignment": "correct" | |
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| 140, | |
| 148 | |
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| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "transport", | |
| "frame_range": [ | |
| 148, | |
| 557 | |
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| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
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| "duration_sec": 15.6, | |
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| 151 | |
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| { | |
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| "frame_range": [ | |
| 151, | |
| 159 | |
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| "execution_quality": "success", | |
| "task_alignment": "correct" | |
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| { | |
| "phase": "transport", | |
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| 159, | |
| 198 | |
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| "execution_quality": "slip", | |
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| 198, | |
| 199 | |
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| 199, | |
| 468 | |
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