diff --git "a/annotations.json" "b/annotations.json" new file mode 100644--- /dev/null +++ "b/annotations.json" @@ -0,0 +1,5296 @@ +{ + "episodes": [ + { + "episode_id": "episode_000000", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 10.0, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 95 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 95, + 102 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 102, + 233 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "place", + "frame_range": [ + 232, + 233 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 233, + 300 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 4, + "D2_grasp_precision": 3, + "D3_placement_accuracy": 4, + "D4_temporal_efficiency": 5, + "D5_motion_smoothness": 4, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 3 + }, + "derived": { + "efficiency": 4, + "precision": 4, + "confidence": 0.8, + "composite_score": 4.0, + "episode_grade": "B" + }, + "raw_measurements": { + "path_ratio": 1.3728, + "grasp_angular_offset_deg": 12.47, + "grasp_positional_offset_pct": 15.98, + "placement_positional_offset_pct": 11.57, + "placement_rotation_error_deg": 70.02, + "placement_release_height_m": 0.036, + "duration_ratio_to_median": 0.7407, + "discontinuity_count": 1, + "mean_autocorrelation": 0.9892, + "power_below_2hz_pct": 98.27999877929688, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8391, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000001", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 10.13, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 112 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 112, + 119 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 119, + 237 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "place", + "frame_range": [ + 236, + 237 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 237, + 304 + ], + "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": 4, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 4, + "precision": 4, + "confidence": 0.73, + "composite_score": 4.0, + "episode_grade": "B" + }, + "raw_measurements": { + "path_ratio": 1.2975, + "grasp_angular_offset_deg": 12.56, + "grasp_positional_offset_pct": 23.05, + "placement_positional_offset_pct": 8.12, + "placement_rotation_error_deg": 9.21, + "placement_release_height_m": 0.0442, + "duration_ratio_to_median": 0.7506, + "discontinuity_count": 4, + "mean_autocorrelation": 0.995, + "power_below_2hz_pct": 97.75, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.9072, + "peak_kinematic_joint": "panda_joint2", + "peak_kinematic_type": "acceleration" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000002", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 12.73, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 139 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 139, + 147 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 147, + 314 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "place", + "frame_range": [ + 313, + 314 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 314, + 382 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 4, + "D2_grasp_precision": 3, + "D3_placement_accuracy": 5, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 2, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 3 + }, + "derived": { + "efficiency": 4, + "precision": 4, + "confidence": 0.67, + "composite_score": 3.71, + "episode_grade": "B" + }, + "raw_measurements": { + "path_ratio": 1.3354, + "grasp_angular_offset_deg": 13.24, + "grasp_positional_offset_pct": 8.48, + "placement_positional_offset_pct": 3.69, + "placement_rotation_error_deg": 15.8, + "placement_release_height_m": 0.0596, + "duration_ratio_to_median": 0.9432, + "discontinuity_count": 17, + "mean_autocorrelation": 0.9955, + "power_below_2hz_pct": 97.4000015258789, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8279, + "peak_kinematic_joint": "panda_joint2", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000003", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 12.23, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 149 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 149, + 157 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 157, + 300 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "place", + "frame_range": [ + 299, + 300 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 300, + 367 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 4, + "D2_grasp_precision": 3, + "D3_placement_accuracy": 5, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 2, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 4, + "precision": 4, + "confidence": 0.6, + "composite_score": 3.57, + "episode_grade": "B" + }, + "raw_measurements": { + "path_ratio": 1.3907, + "grasp_angular_offset_deg": 3.51, + "grasp_positional_offset_pct": 17.83, + "placement_positional_offset_pct": 4.59, + "placement_rotation_error_deg": 63.82, + "placement_release_height_m": 0.0524, + "duration_ratio_to_median": 0.9062, + "discontinuity_count": 13, + "mean_autocorrelation": 0.9947, + "power_below_2hz_pct": 98.16999816894531, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8826, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000004", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 9.0, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 88 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 88, + 95 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 95, + 204 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "place", + "frame_range": [ + 203, + 204 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 204, + 270 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 3, + "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": 4.0, + "episode_grade": "B" + }, + "raw_measurements": { + "path_ratio": 1.5468, + "grasp_angular_offset_deg": 9.57, + "grasp_positional_offset_pct": 4.58, + "placement_positional_offset_pct": 5.64, + "placement_rotation_error_deg": 64.04, + "placement_release_height_m": 0.0296, + "duration_ratio_to_median": 0.6667, + "discontinuity_count": 0, + "mean_autocorrelation": 0.9924, + "power_below_2hz_pct": 98.72000122070312, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8614, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000005", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 14.4, + "frozen_frames": 4, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 205 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 205, + 213 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 213, + 364 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "place", + "frame_range": [ + 363, + 364 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 364, + 432 + ], + "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": 1.4454, + "grasp_angular_offset_deg": 7.78, + "grasp_positional_offset_pct": 15.08, + "placement_positional_offset_pct": 15.14, + "placement_rotation_error_deg": 17.98, + "placement_release_height_m": 0.0407, + "duration_ratio_to_median": 1.0568, + "discontinuity_count": 7, + "mean_autocorrelation": 0.994, + "power_below_2hz_pct": 97.95999908447266, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.951, + "peak_kinematic_joint": "panda_joint7", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000006", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 14.8, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 171 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 171, + 179 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 179, + 378 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "place", + "frame_range": [ + 377, + 378 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 378, + 444 + ], + "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": 2, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 4, + "precision": 4, + "confidence": 0.6, + "composite_score": 3.43, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.4919, + "grasp_angular_offset_deg": 14.73, + "grasp_positional_offset_pct": 15.08, + "placement_positional_offset_pct": 14.13, + "placement_rotation_error_deg": 8.48, + "placement_release_height_m": 0.0301, + "duration_ratio_to_median": 1.0963, + "discontinuity_count": 15, + "mean_autocorrelation": 0.9948, + "power_below_2hz_pct": 97.69000244140625, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.9117, + "peak_kinematic_joint": "panda_joint2", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000007", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 16.33, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 131 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 131, + 139 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 139, + 423 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "place", + "frame_range": [ + 422, + 423 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 423, + 490 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 2, + "D2_grasp_precision": 3, + "D3_placement_accuracy": 4, + "D4_temporal_efficiency": 3, + "D5_motion_smoothness": 3, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 2, + "precision": 4, + "confidence": 0.67, + "composite_score": 3.14, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 2.1119, + "grasp_angular_offset_deg": 14.56, + "grasp_positional_offset_pct": 14.7, + "placement_positional_offset_pct": 11.38, + "placement_rotation_error_deg": 70.78, + "placement_release_height_m": 0.0422, + "duration_ratio_to_median": 1.2099, + "discontinuity_count": 9, + "mean_autocorrelation": 0.9976, + "power_below_2hz_pct": 98.11000061035156, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.863, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000008", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 11.37, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 111 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 111, + 119 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 119, + 275 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "place", + "frame_range": [ + 274, + 275 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 275, + 341 + ], + "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": 2, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 4, + "precision": 4, + "confidence": 0.6, + "composite_score": 3.43, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.3581, + "grasp_angular_offset_deg": 2.77, + "grasp_positional_offset_pct": 10.03, + "placement_positional_offset_pct": 13.58, + "placement_rotation_error_deg": 66.76, + "placement_release_height_m": 0.0317, + "duration_ratio_to_median": 0.842, + "discontinuity_count": 10, + "mean_autocorrelation": 0.9958, + "power_below_2hz_pct": 97.77999877929688, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8917, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000009", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 18.87, + "frozen_frames": 3, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 230 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 230, + 238 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 238, + 499 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "place", + "frame_range": [ + 498, + 499 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 499, + 566 + ], + "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": 2, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 3, + "precision": 4, + "confidence": 0.6, + "composite_score": 3.29, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.9155, + "grasp_angular_offset_deg": 8.54, + "grasp_positional_offset_pct": 9.56, + "placement_positional_offset_pct": 5.69, + "placement_rotation_error_deg": 86.01, + "placement_release_height_m": 0.0424, + "duration_ratio_to_median": 1.3901, + "discontinuity_count": 14, + "mean_autocorrelation": 0.9965, + "power_below_2hz_pct": 95.6500015258789, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8588, + "peak_kinematic_joint": "panda_joint7", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000010", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 13.4, + "frozen_frames": 3, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 112 + ], + "execution_quality": "fail", + "task_alignment": "correct" + }, + { + "phase": "correction", + "frame_range": [ + 112, + 142 + ], + "execution_quality": "success", + "task_alignment": "correct", + "correction_type": "grasp_retry", + "notes": "Retry after failed grasp attempt" + }, + { + "phase": "approach", + "frame_range": [ + 142, + 199 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 199, + 207 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 207, + 336 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "place", + "frame_range": [ + 335, + 336 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 336, + 402 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 3, + "D2_grasp_precision": 3, + "D3_placement_accuracy": 5, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 4, + "D6_corrective_movements": 3, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 4, + "precision": 4, + "confidence": 0.6, + "composite_score": 3.43, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.5795, + "grasp_angular_offset_deg": 10.88, + "grasp_positional_offset_pct": 4.08, + "placement_positional_offset_pct": 7.8, + "placement_rotation_error_deg": 55.33, + "placement_release_height_m": 0.0333, + "duration_ratio_to_median": 0.9852, + "discontinuity_count": 4, + "mean_autocorrelation": 0.9931, + "power_below_2hz_pct": 97.94000244140625, + "correction_count": 1, + "correction_duration_pct": 7.44, + "peak_kinematic_ratio": 0.899, + "peak_kinematic_joint": "panda_joint7", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000011", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 17.8, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 172 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 172, + 180 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 180, + 207 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "place", + "frame_range": [ + 207, + 208 + ], + "execution_quality": "fail", + "task_alignment": "correct", + "notes": "Object released without reaching container or table zone", + "release_height": "low" + }, + { + "phase": "approach", + "frame_range": [ + 208, + 284 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 284, + 292 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 292, + 467 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "correction", + "frame_range": [ + 208, + 466 + ], + "execution_quality": "success", + "task_alignment": "correct", + "correction_type": "placement_retry", + "notes": "Retry after failed placement attempt" + }, + { + "phase": "place", + "frame_range": [ + 466, + 467 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 467, + 534 + ], + "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": 1, + "D7_kinematic_headroom": 3 + }, + "derived": { + "efficiency": 3, + "precision": 4, + "confidence": 0.4, + "composite_score": 2.71, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.7041, + "grasp_angular_offset_deg": 23.11, + "grasp_positional_offset_pct": 14.59, + "placement_positional_offset_pct": 8.28, + "placement_rotation_error_deg": 38.12, + "placement_release_height_m": 0.0674, + "duration_ratio_to_median": 1.3185, + "discontinuity_count": 11, + "mean_autocorrelation": 0.9965, + "power_below_2hz_pct": 97.2699966430664, + "correction_count": 1, + "correction_duration_pct": 48.22, + "peak_kinematic_ratio": 0.8177, + "peak_kinematic_joint": "panda_joint2", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000012", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 16.47, + "frozen_frames": 3, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 87 + ], + "execution_quality": "fail", + "task_alignment": "correct" + }, + { + "phase": "approach", + "frame_range": [ + 124, + 156 + ], + "execution_quality": "fail", + "task_alignment": "correct" + }, + { + "phase": "correction", + "frame_range": [ + 156, + 183 + ], + "execution_quality": "success", + "task_alignment": "correct", + "correction_type": "grasp_retry", + "notes": "Retry after failed grasp attempt" + }, + { + "phase": "approach", + "frame_range": [ + 183, + 296 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 296, + 304 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 304, + 427 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "place", + "frame_range": [ + 426, + 427 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 427, + 494 + ], + "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": 2, + "D6_corrective_movements": 3, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 3, + "precision": 4, + "confidence": 0.47, + "composite_score": 3.0, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.74, + "grasp_angular_offset_deg": 11.65, + "grasp_positional_offset_pct": 7.3, + "placement_positional_offset_pct": 8.27, + "placement_rotation_error_deg": 46.38, + "placement_release_height_m": 0.0381, + "duration_ratio_to_median": 1.2123, + "discontinuity_count": 12, + "mean_autocorrelation": 0.9936, + "power_below_2hz_pct": 95.97000122070312, + "correction_count": 1, + "correction_duration_pct": 5.45, + "peak_kinematic_ratio": 0.8502, + "peak_kinematic_joint": "panda_joint7", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000013", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 14.57, + "frozen_frames": 3, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 93 + ], + "execution_quality": "fail", + "task_alignment": "correct" + }, + { + "phase": "correction", + "frame_range": [ + 93, + 121 + ], + "execution_quality": "success", + "task_alignment": "correct", + "correction_type": "grasp_retry", + "notes": "Retry after failed grasp attempt" + }, + { + "phase": "approach", + "frame_range": [ + 121, + 231 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 231, + 239 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 239, + 369 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "place", + "frame_range": [ + 368, + 369 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 369, + 437 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 3, + "D2_grasp_precision": 3, + "D3_placement_accuracy": 5, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 2, + "D6_corrective_movements": 3, + "D7_kinematic_headroom": 3 + }, + "derived": { + "efficiency": 4, + "precision": 4, + "confidence": 0.53, + "composite_score": 3.29, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.5001, + "grasp_angular_offset_deg": 12.65, + "grasp_positional_offset_pct": 12.76, + "placement_positional_offset_pct": 2.05, + "placement_rotation_error_deg": 64.3, + "placement_release_height_m": 0.0561, + "duration_ratio_to_median": 1.0716, + "discontinuity_count": 15, + "mean_autocorrelation": 0.9944, + "power_below_2hz_pct": 98.37999725341797, + "correction_count": 1, + "correction_duration_pct": 6.39, + "peak_kinematic_ratio": 0.7994, + "peak_kinematic_joint": "panda_joint2", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000014", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 13.5, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 95 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 95, + 103 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 103, + 338 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "place", + "frame_range": [ + 337, + 338 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 338, + 405 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 3, + "D2_grasp_precision": 1, + "D3_placement_accuracy": 5, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 2, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 4, + "precision": 3, + "confidence": 0.6, + "composite_score": 3.14, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.6965, + "grasp_angular_offset_deg": 3.24, + "grasp_positional_offset_pct": 51.33, + "placement_positional_offset_pct": 6.29, + "placement_rotation_error_deg": 63.35, + "placement_release_height_m": 0.0485, + "duration_ratio_to_median": 1.0, + "discontinuity_count": 14, + "mean_autocorrelation": 0.9935, + "power_below_2hz_pct": 97.3499984741211, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.9145, + "peak_kinematic_joint": "panda_joint7", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000015", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 16.0, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 102 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 102, + 110 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 110, + 145 + ], + "execution_quality": "slip", + "task_alignment": "correct", + "notes": "LongCube slipped during transport (frame 141, t=4.70s)" + }, + { + "phase": "place", + "frame_range": [ + 145, + 146 + ], + "execution_quality": "fail", + "task_alignment": "correct", + "notes": "Object re-overlapped table zone after release", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 146, + 183 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + }, + { + "phase": "approach", + "frame_range": [ + 183, + 287 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 287, + 295 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "correction", + "frame_range": [ + 145, + 295 + ], + "execution_quality": "success", + "task_alignment": "correct", + "correction_type": "slip_recovery", + "notes": "Recovery after slip during transport (frame 141, t=4.70s)" + }, + { + "phase": "transport", + "frame_range": [ + 295, + 412 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "correction", + "frame_range": [ + 146, + 411 + ], + "execution_quality": "success", + "task_alignment": "correct", + "correction_type": "placement_retry", + "notes": "Retry after failed placement attempt" + }, + { + "phase": "place", + "frame_range": [ + 411, + 412 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 412, + 480 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 3, + "D2_grasp_precision": 3, + "D3_placement_accuracy": 5, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 4, + "D6_corrective_movements": 1, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 4, + "precision": 4, + "confidence": 0.47, + "composite_score": 3.14, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.7426, + "grasp_angular_offset_deg": 6.95, + "grasp_positional_offset_pct": 24.11, + "placement_positional_offset_pct": 9.17, + "placement_rotation_error_deg": 65.17, + "placement_release_height_m": 0.0511, + "duration_ratio_to_median": 1.1852, + "discontinuity_count": 4, + "mean_autocorrelation": 0.9961, + "power_below_2hz_pct": 98.04000091552734, + "correction_count": 2, + "correction_duration_pct": 86.28, + "peak_kinematic_ratio": 0.8821, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000016", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 14.43, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 95 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 95, + 103 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 103, + 121 + ], + "execution_quality": "slip", + "task_alignment": "correct", + "notes": "LongCube slipped during transport (frame 118, t=3.93s)" + }, + { + "phase": "place", + "frame_range": [ + 121, + 122 + ], + "execution_quality": "fail", + "task_alignment": "correct", + "notes": "Object released without reaching container or table zone", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 122, + 171 + ], + "execution_quality": "slip", + "task_alignment": "not_applicable" + }, + { + "phase": "approach", + "frame_range": [ + 171, + 240 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 240, + 248 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "correction", + "frame_range": [ + 121, + 248 + ], + "execution_quality": "success", + "task_alignment": "correct", + "correction_type": "slip_recovery", + "notes": "Recovery after slip during transport (frame 118, t=3.93s)" + }, + { + "phase": "transport", + "frame_range": [ + 248, + 366 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "correction", + "frame_range": [ + 122, + 365 + ], + "execution_quality": "success", + "task_alignment": "correct", + "correction_type": "placement_retry", + "notes": "Retry after failed placement attempt" + }, + { + "phase": "place", + "frame_range": [ + 365, + 366 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "correction", + "frame_range": [ + 171, + 366 + ], + "execution_quality": "success", + "task_alignment": "not_applicable", + "correction_type": "slip_recovery", + "notes": "Recovery after slip during transport (prior failure ended at frame 171)" + }, + { + "phase": "retract", + "frame_range": [ + 366, + 433 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 2, + "D2_grasp_precision": 3, + "D3_placement_accuracy": 4, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 3, + "D6_corrective_movements": 1, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 3, + "precision": 4, + "confidence": 0.4, + "composite_score": 2.71, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 2.5086, + "grasp_angular_offset_deg": 7.84, + "grasp_positional_offset_pct": 9.01, + "placement_positional_offset_pct": 16.14, + "placement_rotation_error_deg": 57.11, + "placement_release_height_m": 0.0389, + "duration_ratio_to_median": 1.0691, + "discontinuity_count": 8, + "mean_autocorrelation": 0.9957, + "power_below_2hz_pct": 96.81999969482422, + "correction_count": 3, + "correction_duration_pct": 130.18, + "peak_kinematic_ratio": 0.872, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000017", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 16.0, + "frozen_frames": 3, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 100 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 100, + 108 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 108, + 132 + ], + "execution_quality": "slip", + "task_alignment": "correct", + "notes": "LongCube slipped during transport (frame 128, t=4.27s)" + }, + { + "phase": "place", + "frame_range": [ + 132, + 133 + ], + "execution_quality": "fail", + "task_alignment": "correct", + "notes": "Object released without reaching container or table zone", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 133, + 181 + ], + "execution_quality": "slip", + "task_alignment": "not_applicable" + }, + { + "phase": "approach", + "frame_range": [ + 181, + 286 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 286, + 294 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "correction", + "frame_range": [ + 132, + 294 + ], + "execution_quality": "success", + "task_alignment": "correct", + "correction_type": "slip_recovery", + "notes": "Recovery after slip during transport (frame 128, t=4.27s)" + }, + { + "phase": "transport", + "frame_range": [ + 294, + 414 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "correction", + "frame_range": [ + 133, + 413 + ], + "execution_quality": "success", + "task_alignment": "correct", + "correction_type": "placement_retry", + "notes": "Retry after failed placement attempt" + }, + { + "phase": "place", + "frame_range": [ + 413, + 414 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "correction", + "frame_range": [ + 181, + 414 + ], + "execution_quality": "success", + "task_alignment": "not_applicable", + "correction_type": "slip_recovery", + "notes": "Recovery after slip during transport (prior failure ended at frame 181)" + }, + { + "phase": "retract", + "frame_range": [ + 414, + 480 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 2, + "D2_grasp_precision": 2, + "D3_placement_accuracy": 5, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 3, + "D6_corrective_movements": 1, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 3, + "precision": 4, + "confidence": 0.4, + "composite_score": 2.71, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 2.4682, + "grasp_angular_offset_deg": 7.9, + "grasp_positional_offset_pct": 31.13, + "placement_positional_offset_pct": 2.16, + "placement_rotation_error_deg": 12.96, + "placement_release_height_m": 0.0511, + "duration_ratio_to_median": 1.1778, + "discontinuity_count": 5, + "mean_autocorrelation": 0.9965, + "power_below_2hz_pct": 98.0999984741211, + "correction_count": 3, + "correction_duration_pct": 140.33, + "peak_kinematic_ratio": 0.8588, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000018", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 15.13, + "frozen_frames": 3, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 145 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 145, + 153 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 153, + 181 + ], + "execution_quality": "slip", + "task_alignment": "correct", + "notes": "LongCube slipped during transport (frame 177, t=5.90s)" + }, + { + "phase": "place", + "frame_range": [ + 181, + 182 + ], + "execution_quality": "fail", + "task_alignment": "correct", + "notes": "Object re-overlapped table zone after release", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 182, + 207 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + }, + { + "phase": "approach", + "frame_range": [ + 207, + 275 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 275, + 282 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "correction", + "frame_range": [ + 181, + 282 + ], + "execution_quality": "success", + "task_alignment": "correct", + "correction_type": "slip_recovery", + "notes": "Recovery after slip during transport (frame 177, t=5.90s)" + }, + { + "phase": "transport", + "frame_range": [ + 282, + 389 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "correction", + "frame_range": [ + 182, + 389 + ], + "execution_quality": "success", + "task_alignment": "correct", + "correction_type": "placement_retry", + "notes": "Retry after failed placement attempt" + }, + { + "phase": "place", + "frame_range": [ + 389, + 394 + ], + "execution_quality": "success", + "task_alignment": "correct", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 394, + 454 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 3, + "D2_grasp_precision": 3, + "D3_placement_accuracy": 4, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 5, + "D6_corrective_movements": 1, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 4, + "precision": 4, + "confidence": 0.53, + "composite_score": 3.14, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.7786, + "grasp_angular_offset_deg": 7.47, + "grasp_positional_offset_pct": 14.76, + "placement_positional_offset_pct": 12.92, + "placement_rotation_error_deg": 79.83, + "placement_release_height_m": 0.0296, + "duration_ratio_to_median": 1.1136, + "discontinuity_count": 1, + "mean_autocorrelation": 0.9931, + "power_below_2hz_pct": 98.33000183105469, + "correction_count": 2, + "correction_duration_pct": 67.69, + "peak_kinematic_ratio": 0.9166, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000019", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 13.13, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 93 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 93, + 101 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 101, + 125 + ], + "execution_quality": "slip", + "task_alignment": "correct", + "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" + }, + { + "phase": "retract", + "frame_range": [ + 126, + 148 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + }, + { + "phase": "approach", + "frame_range": [ + 148, + 205 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 205, + 213 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "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" + }, + { + "phase": "correction", + "frame_range": [ + 126, + 326 + ], + "execution_quality": "success", + "task_alignment": "correct", + "correction_type": "placement_retry", + "notes": "Retry after failed placement attempt" + }, + { + "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, + "D2_grasp_precision": 3, + "D3_placement_accuracy": 5, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 3, + "D6_corrective_movements": 1, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 4, + "precision": 4, + "confidence": 0.4, + "composite_score": 3.0, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.7165, + "grasp_angular_offset_deg": 10.35, + "grasp_positional_offset_pct": 11.16, + "placement_positional_offset_pct": 5.24, + "placement_rotation_error_deg": 23.06, + "placement_release_height_m": 0.0423, + "duration_ratio_to_median": 0.9728, + "discontinuity_count": 9, + "mean_autocorrelation": 0.9946, + "power_below_2hz_pct": 98.75, + "correction_count": 2, + "correction_duration_pct": 72.91, + "peak_kinematic_ratio": 0.9115, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000020", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 12.3, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 87 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 87, + 96 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 96, + 106 + ], + "execution_quality": "slip", + "task_alignment": "correct", + "notes": "LongCube slipped during transport (frame 103, t=3.43s)" + }, + { + "phase": "place", + "frame_range": [ + 106, + 107 + ], + "execution_quality": "fail", + "task_alignment": "correct", + "notes": "Object re-overlapped table zone after release", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 107, + 130 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + }, + { + "phase": "approach", + "frame_range": [ + 130, + 182 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 182, + 190 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "correction", + "frame_range": [ + 106, + 190 + ], + "execution_quality": "success", + "task_alignment": "correct", + "correction_type": "slip_recovery", + "notes": "Recovery after slip during transport (frame 103, t=3.43s)" + }, + { + "phase": "transport", + "frame_range": [ + 190, + 301 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "correction", + "frame_range": [ + 107, + 300 + ], + "execution_quality": "success", + "task_alignment": "correct", + "correction_type": "placement_retry", + "notes": "Retry after failed placement attempt" + }, + { + "phase": "place", + "frame_range": [ + 300, + 301 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 301, + 369 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 3, + "D2_grasp_precision": 3, + "D3_placement_accuracy": 4, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 3, + "D6_corrective_movements": 1, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 4, + "precision": 4, + "confidence": 0.4, + "composite_score": 2.86, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.5105, + "grasp_angular_offset_deg": 10.64, + "grasp_positional_offset_pct": 10.04, + "placement_positional_offset_pct": 19.89, + "placement_rotation_error_deg": 9.56, + "placement_release_height_m": 0.0468, + "duration_ratio_to_median": 0.9111, + "discontinuity_count": 5, + "mean_autocorrelation": 0.9928, + "power_below_2hz_pct": 98.63999938964844, + "correction_count": 2, + "correction_duration_pct": 74.86, + "peak_kinematic_ratio": 0.8618, + "peak_kinematic_joint": "panda_joint2", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000021", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 12.6, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 54 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 54, + 61 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 61, + 86 + ], + "execution_quality": "slip", + "task_alignment": "correct", + "notes": "LongCube slipped during transport (frame 82, t=2.73s)" + }, + { + "phase": "place", + "frame_range": [ + 86, + 87 + ], + "execution_quality": "fail", + "task_alignment": "correct", + "notes": "Object released without reaching container or table zone", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 87, + 113 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + }, + { + "phase": "approach", + "frame_range": [ + 113, + 196 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 196, + 204 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "correction", + "frame_range": [ + 86, + 204 + ], + "execution_quality": "success", + "task_alignment": "correct", + "correction_type": "slip_recovery", + "notes": "Recovery after slip during transport (frame 82, t=2.73s)" + }, + { + "phase": "transport", + "frame_range": [ + 204, + 311 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "correction", + "frame_range": [ + 87, + 310 + ], + "execution_quality": "success", + "task_alignment": "correct", + "correction_type": "placement_retry", + "notes": "Retry after failed placement attempt" + }, + { + "phase": "place", + "frame_range": [ + 310, + 311 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 311, + 378 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 2, + "D2_grasp_precision": 3, + "D3_placement_accuracy": 4, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 4, + "D6_corrective_movements": 1, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 3, + "precision": 4, + "confidence": 0.47, + "composite_score": 2.86, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 2.2582, + "grasp_angular_offset_deg": 13.98, + "grasp_positional_offset_pct": 14.03, + "placement_positional_offset_pct": 11.39, + "placement_rotation_error_deg": 11.95, + "placement_release_height_m": 0.0493, + "duration_ratio_to_median": 0.9333, + "discontinuity_count": 3, + "mean_autocorrelation": 0.9936, + "power_below_2hz_pct": 97.83000183105469, + "correction_count": 2, + "correction_duration_pct": 89.97, + "peak_kinematic_ratio": 0.9811, + "peak_kinematic_joint": "panda_joint2", + "peak_kinematic_type": "acceleration" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000022", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 16.4, + "frozen_frames": 3, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 120 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object" + }, + { + "phase": "grasp", + "frame_range": [ + 120, + 123 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object" + }, + { + "phase": "transport", + "frame_range": [ + 123, + 187 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object" + }, + { + "phase": "place", + "frame_range": [ + 187, + 188 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object", + "notes": "Object released without reaching container or table zone", + "release_height": "low" + }, + { + "phase": "correction", + "frame_range": [ + 188, + 188 + ], + "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": [ + 188, + 291 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 291, + 299 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 299, + 425 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "place", + "frame_range": [ + 424, + 425 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 425, + 492 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 3, + "D2_grasp_precision": 3, + "D3_placement_accuracy": 4, + "D4_temporal_efficiency": 3, + "D5_motion_smoothness": 2, + "D6_corrective_movements": 3, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 3, + "precision": 4, + "confidence": 0.47, + "composite_score": 2.86, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.986, + "grasp_angular_offset_deg": 8.64, + "grasp_positional_offset_pct": 8.94, + "placement_positional_offset_pct": 14.85, + "placement_rotation_error_deg": 36.58, + "placement_release_height_m": 0.0429, + "duration_ratio_to_median": 1.2074, + "discontinuity_count": 14, + "mean_autocorrelation": 0.9968, + "power_below_2hz_pct": 97.3499984741211, + "correction_count": 1, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.9452, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000023", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 17.5, + "frozen_frames": 3, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 102 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object" + }, + { + "phase": "grasp", + "frame_range": [ + 102, + 113 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object" + }, + { + "phase": "transport", + "frame_range": [ + 113, + 185 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object" + }, + { + "phase": "place", + "frame_range": [ + 185, + 186 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object", + "notes": "Object re-overlapped table zone after release", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 186, + 187 + ], + "execution_quality": "fail", + "task_alignment": "not_applicable" + }, + { + "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" + }, + { + "phase": "approach", + "frame_range": [ + 187, + 320 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 320, + 328 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 328, + 458 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "place", + "frame_range": [ + 457, + 458 + ], + "execution_quality": "success", + "task_alignment": "correct", + "notes": "LongCube placed in Container", + "release_height": "low" + }, + { + "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" + } + ], + "scores": { + "D1_path_efficiency": 3, + "D2_grasp_precision": 3, + "D3_placement_accuracy": 4, + "D4_temporal_efficiency": 3, + "D5_motion_smoothness": 2, + "D6_corrective_movements": 1, + "D7_kinematic_headroom": 3 + }, + "derived": { + "efficiency": 3, + "precision": 4, + "confidence": 0.4, + "composite_score": 2.71, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.805, + "grasp_angular_offset_deg": 6.55, + "grasp_positional_offset_pct": 4.99, + "placement_positional_offset_pct": 11.45, + "placement_rotation_error_deg": 89.29, + "placement_release_height_m": 0.0321, + "duration_ratio_to_median": 1.2889, + "discontinuity_count": 10, + "mean_autocorrelation": 0.9962, + "power_below_2hz_pct": 97.72000122070312, + "correction_count": 2, + "correction_duration_pct": 51.71, + "peak_kinematic_ratio": 0.8387, + "peak_kinematic_joint": "panda_joint2", + "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, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 127 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "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" + } + ], + "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": 3 + }, + "derived": { + "efficiency": 4, + "precision": 1, + "confidence": 0.73, + "composite_score": 3.0, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.2222, + "grasp_angular_offset_deg": 7.97, + "grasp_positional_offset_pct": 253.86, + "placement_positional_offset_pct": 136.61, + "placement_rotation_error_deg": 64.88, + "placement_release_height_m": 0.0, + "duration_ratio_to_median": 1.0049, + "discontinuity_count": 6, + "mean_autocorrelation": 0.9947, + "power_below_2hz_pct": 94.38999938964844, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8162, + "peak_kinematic_joint": "panda_joint6", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000031", + "success": false, + "task_success": false, + "failure_reason": "operator_abort", + "duration_sec": 11.83, + "frozen_frames": 3, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 159 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object" + }, + { + "phase": "grasp", + "frame_range": [ + 159, + 163 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object" + }, + { + "phase": "transport", + "frame_range": [ + 163, + 281 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object" + }, + { + "phase": "place", + "frame_range": [ + 281, + 282 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object", + "notes": "Object released without reaching container or table zone", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 282, + 355 + ], + "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": 4, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 3 + }, + "derived": { + "efficiency": 4, + "precision": 1, + "confidence": 0.8, + "composite_score": 3.14, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.2698, + "grasp_angular_offset_deg": 8.45, + "grasp_positional_offset_pct": 208.8, + "placement_positional_offset_pct": 123.87, + "placement_rotation_error_deg": 5.6, + "placement_release_height_m": 0.0, + "duration_ratio_to_median": 0.8691, + "discontinuity_count": 3, + "mean_autocorrelation": 0.993, + "power_below_2hz_pct": 97.66999816894531, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8031, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000032", + "success": false, + "task_success": false, + "failure_reason": "operator_abort", + "duration_sec": 11.07, + "frozen_frames": 4, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 124 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object" + }, + { + "phase": "grasp", + "frame_range": [ + 124, + 134 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object" + }, + { + "phase": "transport", + "frame_range": [ + 134, + 251 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object" + }, + { + "phase": "place", + "frame_range": [ + 251, + 252 + ], + "execution_quality": "drop_from_height", + "task_alignment": "wrong_object", + "notes": "Object released ~7.0cm above Container, fell into Container", + "release_height": "high" + }, + { + "phase": "retract", + "frame_range": [ + 252, + 332 + ], + "execution_quality": "fail", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 5, + "D2_grasp_precision": 1, + "D3_placement_accuracy": 1, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 4, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 3 + }, + "derived": { + "efficiency": 4, + "precision": 1, + "confidence": 0.8, + "composite_score": 3.29, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.1544, + "grasp_angular_offset_deg": 18.21, + "grasp_positional_offset_pct": 465.25, + "placement_positional_offset_pct": 174.0, + "placement_rotation_error_deg": 17.68, + "placement_release_height_m": 0.0, + "duration_ratio_to_median": 0.8099, + "discontinuity_count": 3, + "mean_autocorrelation": 0.993, + "power_below_2hz_pct": 98.54000091552734, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.7914, + "peak_kinematic_joint": "panda_joint7", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000033", + "success": false, + "task_success": false, + "failure_reason": "operator_abort", + "duration_sec": 12.47, + "frozen_frames": 3, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 90 + ], + "execution_quality": "fail", + "task_alignment": "correct" + }, + { + "phase": "approach", + "frame_range": [ + 112, + 150 + ], + "execution_quality": "fail", + "task_alignment": "correct" + } + ], + "scores": { + "D1_path_efficiency": 3, + "D2_grasp_precision": 5, + "D3_placement_accuracy": 1, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 2, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 3 + }, + "derived": { + "efficiency": 4, + "precision": 3, + "confidence": 0.67, + "composite_score": 3.29, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.5821, + "grasp_angular_offset_deg": 0.0, + "grasp_positional_offset_pct": 0.0, + "placement_positional_offset_pct": 164.19, + "placement_rotation_error_deg": 48.78, + "placement_release_height_m": 0.0, + "duration_ratio_to_median": 0.916, + "discontinuity_count": 12, + "mean_autocorrelation": 0.9896, + "power_below_2hz_pct": 97.75, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.7878, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000034", + "success": false, + "task_success": false, + "failure_reason": "operator_abort", + "duration_sec": 18.77, + "frozen_frames": 3, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 151 + ], + "execution_quality": "fail", + "task_alignment": "correct" + }, + { + "phase": "approach", + "frame_range": [ + 190, + 215 + ], + "execution_quality": "fail", + "task_alignment": "correct" + } + ], + "scores": { + "D1_path_efficiency": 2, + "D2_grasp_precision": 5, + "D3_placement_accuracy": 1, + "D4_temporal_efficiency": 3, + "D5_motion_smoothness": 2, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 3 + }, + "derived": { + "efficiency": 2, + "precision": 3, + "confidence": 0.67, + "composite_score": 3.0, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 2.3319, + "grasp_angular_offset_deg": 0.0, + "grasp_positional_offset_pct": 0.0, + "placement_positional_offset_pct": 165.53, + "placement_rotation_error_deg": 65.37, + "placement_release_height_m": 0.0, + "duration_ratio_to_median": 1.3827, + "discontinuity_count": 12, + "mean_autocorrelation": 0.9945, + "power_below_2hz_pct": 96.16000366210938, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8445, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000035", + "success": false, + "task_success": false, + "failure_reason": "operator_abort", + "duration_sec": 15.7, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 107 + ], + "execution_quality": "fail", + "task_alignment": "correct" + }, + { + "phase": "approach", + "frame_range": [ + 136, + 191 + ], + "execution_quality": "fail", + "task_alignment": "correct" + }, + { + "phase": "approach", + "frame_range": [ + 200, + 242 + ], + "execution_quality": "fail", + "task_alignment": "correct" + } + ], + "scores": { + "D1_path_efficiency": 1, + "D2_grasp_precision": 5, + "D3_placement_accuracy": 1, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 3, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 2, + "precision": 3, + "confidence": 0.67, + "composite_score": 3.0, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 3.5292, + "grasp_angular_offset_deg": 0.0, + "grasp_positional_offset_pct": 0.0, + "placement_positional_offset_pct": 122.36, + "placement_rotation_error_deg": 41.52, + "placement_release_height_m": 0.0, + "duration_ratio_to_median": 1.163, + "discontinuity_count": 6, + "mean_autocorrelation": 0.9926, + "power_below_2hz_pct": 95.2699966430664, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8718, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000036", + "success": false, + "task_success": false, + "failure_reason": "operator_abort", + "duration_sec": 14.83, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 170 + ], + "execution_quality": "fail", + "task_alignment": "correct" + }, + { + "phase": "approach", + "frame_range": [ + 208, + 244 + ], + "execution_quality": "fail", + "task_alignment": "correct" + } + ], + "scores": { + "D1_path_efficiency": 2, + "D2_grasp_precision": 5, + "D3_placement_accuracy": 1, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 2, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 3 + }, + "derived": { + "efficiency": 3, + "precision": 3, + "confidence": 0.67, + "composite_score": 3.14, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 2.4408, + "grasp_angular_offset_deg": 0.0, + "grasp_positional_offset_pct": 0.0, + "placement_positional_offset_pct": 135.92, + "placement_rotation_error_deg": 68.08, + "placement_release_height_m": 0.0, + "duration_ratio_to_median": 1.0988, + "discontinuity_count": 14, + "mean_autocorrelation": 0.9914, + "power_below_2hz_pct": 97.6500015258789, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8414, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000037", + "success": false, + "task_success": false, + "failure_reason": "slip_drop", + "duration_sec": 15.5, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 105 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 105, + 112 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 112, + 138 + ], + "execution_quality": "slip", + "task_alignment": "correct", + "notes": "LongCube slipped during transport (frame 134, t=4.47s)" + }, + { + "phase": "place", + "frame_range": [ + 138, + 139 + ], + "execution_quality": "fail", + "task_alignment": "correct", + "notes": "Object re-overlapped table zone after release", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 139, + 465 + ], + "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": 2 + }, + "derived": { + "efficiency": 4, + "precision": 2, + "confidence": 0.6, + "composite_score": 3.14, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.0743, + "grasp_angular_offset_deg": 8.53, + "grasp_positional_offset_pct": 16.33, + "placement_positional_offset_pct": 119.81, + "placement_rotation_error_deg": 27.94, + "placement_release_height_m": 0.0449, + "duration_ratio_to_median": 1.1481, + "discontinuity_count": 11, + "mean_autocorrelation": 0.9927, + "power_below_2hz_pct": 98.0999984741211, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8832, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000038", + "success": false, + "task_success": false, + "failure_reason": "slip_drop", + "duration_sec": 14.37, + "frozen_frames": 3, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 161 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 161, + 162 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 162, + 192 + ], + "execution_quality": "slip", + "task_alignment": "correct", + "notes": "LongCube slipped during transport (frame 188, t=6.27s)" + }, + { + "phase": "place", + "frame_range": [ + 192, + 193 + ], + "execution_quality": "fail", + "task_alignment": "correct", + "notes": "Object re-overlapped table zone after release", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 193, + 259 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + }, + { + "phase": "approach", + "frame_range": [ + 259, + 314 + ], + "execution_quality": "fail", + "task_alignment": "correct" + } + ], + "scores": { + "D1_path_efficiency": 5, + "D2_grasp_precision": 3, + "D3_placement_accuracy": 1, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 3, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 3 + }, + "derived": { + "efficiency": 4, + "precision": 2, + "confidence": 0.73, + "composite_score": 3.43, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.1086, + "grasp_angular_offset_deg": 8.24, + "grasp_positional_offset_pct": 13.26, + "placement_positional_offset_pct": 165.4, + "placement_rotation_error_deg": 19.13, + "placement_release_height_m": 0.0162, + "duration_ratio_to_median": 1.0568, + "discontinuity_count": 7, + "mean_autocorrelation": 0.9912, + "power_below_2hz_pct": 98.38999938964844, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8487, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000039", + "success": false, + "task_success": false, + "failure_reason": "slip_drop", + "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, + "discontinuity_count": 13, + "mean_autocorrelation": 0.9922, + "power_below_2hz_pct": 96.7699966430664, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8061, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000040", + "success": false, + "task_success": false, + "failure_reason": "operator_abort", + "duration_sec": 11.43, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "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, + "D3_placement_accuracy": 1, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 4, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 4, + "precision": 2, + "confidence": 0.73, + "composite_score": 3.29, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.2668, + "grasp_angular_offset_deg": 6.79, + "grasp_positional_offset_pct": 20.83, + "placement_positional_offset_pct": 165.64, + "placement_rotation_error_deg": 52.92, + "placement_release_height_m": 0.2166, + "duration_ratio_to_median": 0.8469, + "discontinuity_count": 4, + "mean_autocorrelation": 0.9938, + "power_below_2hz_pct": 97.73999786376953, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8727, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000041", + "success": false, + "task_success": false, + "failure_reason": "operator_abort", + "duration_sec": 14.37, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 152 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "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" + } + ], + "scores": { + "D1_path_efficiency": 3, + "D2_grasp_precision": 2, + "D3_placement_accuracy": 3, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 2, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 4, + "precision": 2, + "confidence": 0.6, + "composite_score": 3.0, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.5478, + "grasp_angular_offset_deg": 4.76, + "grasp_positional_offset_pct": 27.28, + "placement_positional_offset_pct": 44.04, + "placement_rotation_error_deg": 51.57, + "placement_release_height_m": 0.3064, + "duration_ratio_to_median": 1.0642, + "discontinuity_count": 11, + "mean_autocorrelation": 0.9905, + "power_below_2hz_pct": 97.41999816894531, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8664, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000042", + "success": false, + "task_success": false, + "failure_reason": "slip_drop", + "duration_sec": 11.43, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 137 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "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 + }, + "derived": { + "efficiency": 4, + "precision": 2, + "confidence": 0.87, + "composite_score": 3.86, + "episode_grade": "B" + }, + "raw_measurements": { + "path_ratio": 1.1326, + "grasp_angular_offset_deg": 9.96, + "grasp_positional_offset_pct": 18.98, + "placement_positional_offset_pct": 8.73, + "placement_rotation_error_deg": 40.15, + "placement_release_height_m": 0.3315, + "duration_ratio_to_median": 0.8469, + "discontinuity_count": 1, + "mean_autocorrelation": 0.9963, + "power_below_2hz_pct": 98.08000183105469, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8089, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000043", + "success": false, + "task_success": false, + "failure_reason": "slip_drop", + "duration_sec": 12.6, + "frozen_frames": 4, + "phase_annotations": [ + { + "phase": "approach", + "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 + }, + "derived": { + "efficiency": 4, + "precision": 2, + "confidence": 0.6, + "composite_score": 3.14, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.2088, + "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, + "discontinuity_count": 13, + "mean_autocorrelation": 0.9964, + "power_below_2hz_pct": 98.04000091552734, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8665, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000044", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 9.57, + "frozen_frames": 2, + "phase_annotations": [ + { + "phase": "approach", + "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, + "D4_temporal_efficiency": 5, + "D5_motion_smoothness": 2, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 3 + }, + "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, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8432, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000045", + "success": true, + "task_success": true, + "failure_reason": "none", + "duration_sec": 18.47, + "frozen_frames": 8, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 167 + ], + "execution_quality": "fail", + "task_alignment": "correct" + }, + { + "phase": "correction", + "frame_range": [ + 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" + }, + { + "phase": "grasp", + "frame_range": [ + 318, + 326 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "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, + "correction_count": 1, + "correction_duration_pct": 4.32, + "peak_kinematic_ratio": 0.7998, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "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, + "mean_autocorrelation": 0.9953, + "power_below_2hz_pct": 97.29000091552734, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.9683, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000047", + "success": false, + "task_success": false, + "failure_reason": "operator_abort", + "duration_sec": 17.73, + "frozen_frames": 4, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 126 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object" + }, + { + "phase": "grasp", + "frame_range": [ + 126, + 136 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object" + }, + { + "phase": "transport", + "frame_range": [ + 136, + 307 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object" + }, + { + "phase": "place", + "frame_range": [ + 307, + 308 + ], + "execution_quality": "fail", + "task_alignment": "wrong_object", + "notes": "Object released without reaching container or table zone", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 308, + 532 + ], + "execution_quality": "fail", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 5, + "D2_grasp_precision": 1, + "D3_placement_accuracy": 1, + "D4_temporal_efficiency": 3, + "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": 1.1349, + "grasp_angular_offset_deg": 28.25, + "grasp_positional_offset_pct": 321.74, + "placement_positional_offset_pct": 136.61, + "placement_rotation_error_deg": 76.63, + "placement_release_height_m": 0.0, + "duration_ratio_to_median": 1.3037, + "discontinuity_count": 5, + "mean_autocorrelation": 0.9964, + "power_below_2hz_pct": 96.68000030517578, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.9349, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000048", + "success": false, + "task_success": false, + "failure_reason": "operator_abort", + "duration_sec": 18.57, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 140 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 140, + 148 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 148, + 557 + ], + "execution_quality": "success", + "task_alignment": "correct" + } + ], + "scores": { + "D1_path_efficiency": 3, + "D2_grasp_precision": 2, + "D3_placement_accuracy": 1, + "D4_temporal_efficiency": 3, + "D5_motion_smoothness": 2, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 3, + "precision": 2, + "confidence": 0.6, + "composite_score": 2.57, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.5983, + "grasp_angular_offset_deg": 12.29, + "grasp_positional_offset_pct": 30.79, + "placement_positional_offset_pct": 115.88, + "placement_rotation_error_deg": 69.15, + "placement_release_height_m": 0.2536, + "duration_ratio_to_median": 1.3753, + "discontinuity_count": 12, + "mean_autocorrelation": 0.996, + "power_below_2hz_pct": 96.05999755859375, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.9088, + "peak_kinematic_joint": "panda_joint7", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + }, + { + "episode_id": "episode_000049", + "success": false, + "task_success": false, + "failure_reason": "operator_abort", + "duration_sec": 15.6, + "frozen_frames": 0, + "phase_annotations": [ + { + "phase": "approach", + "frame_range": [ + 0, + 151 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "grasp", + "frame_range": [ + 151, + 159 + ], + "execution_quality": "success", + "task_alignment": "correct" + }, + { + "phase": "transport", + "frame_range": [ + 159, + 198 + ], + "execution_quality": "slip", + "task_alignment": "correct", + "notes": "LongCube slipped during transport (frame 194, t=6.47s)" + }, + { + "phase": "place", + "frame_range": [ + 198, + 199 + ], + "execution_quality": "fail", + "task_alignment": "correct", + "notes": "Object re-overlapped table zone after release", + "release_height": "low" + }, + { + "phase": "retract", + "frame_range": [ + 199, + 468 + ], + "execution_quality": "success", + "task_alignment": "not_applicable" + } + ], + "scores": { + "D1_path_efficiency": 5, + "D2_grasp_precision": 1, + "D3_placement_accuracy": 1, + "D4_temporal_efficiency": 4, + "D5_motion_smoothness": 2, + "D6_corrective_movements": 5, + "D7_kinematic_headroom": 2 + }, + "derived": { + "efficiency": 4, + "precision": 1, + "confidence": 0.6, + "composite_score": 2.86, + "episode_grade": "C" + }, + "raw_measurements": { + "path_ratio": 1.1053, + "grasp_angular_offset_deg": 15.4, + "grasp_positional_offset_pct": 59.98, + "placement_positional_offset_pct": 175.45, + "placement_rotation_error_deg": 20.25, + "placement_release_height_m": 0.043, + "duration_ratio_to_median": 1.1556, + "discontinuity_count": 15, + "mean_autocorrelation": 0.9948, + "power_below_2hz_pct": 94.7699966430664, + "correction_count": 0, + "correction_duration_pct": 0.0, + "peak_kinematic_ratio": 0.8831, + "peak_kinematic_joint": "panda_joint4", + "peak_kinematic_type": "position" + }, + "scorer_id": "auto_v1.1.0" + } + ] +} \ No newline at end of file