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"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 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"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, 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"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": 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"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": { 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"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" }, { 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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, 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"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 ], 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