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}, { "id": 14, "name": "gripper0_leftfinger" }, { "id": 15, "name": "gripper0_finger_joint1_tip" }, { "id": 16, "name": "gripper0_rightfinger" }, { "id": 17, "name": "gripper0_finger_joint2_tip" }, { "id": 18, "name": "mount0_base" }, { "id": 19, "name": "mount0_controller_box" }, { "id": 20, "name": "mount0_pedestal_feet" }, { "id": 21, "name": "mount0_torso" }, { "id": 22, "name": "mount0_pedestal" }, { "id": 23, "name": "akita_black_bowl_1_main" }, { "id": 24, "name": "akita_black_bowl_2_main" }, { "id": 25, "name": "cookies_1_main" }, { "id": 26, "name": "glazed_rim_porcelain_ramekin_1_main" }, { "id": 27, "name": "plate_1_main" }, { "id": 28, "name": "wooden_cabinet_1_main" }, { "id": 29, "name": "wooden_cabinet_1_base" }, { "id": 30, "name": "wooden_cabinet_1_cabinet_top" }, { "id": 31, "name": "wooden_cabinet_1_cabinet_middle" }, { "id": 32, "name": "wooden_cabinet_1_cabinet_bottom" }, { "id": 33, "name": "flat_stove_1_main" }, { "id": 34, "name": "flat_stove_1_base" }, { "id": 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"name": "robot0_joint7", "qpos_adr": 6, "qpos_dim": 1, "range": [ -2.8973, 2.8973 ], "wrap": false }, { "clamp": true, "kind": "slide", "name": "gripper0_finger_joint1", "qpos_adr": 7, "qpos_dim": 1, "range": [ 0.0, 0.04 ], "wrap": false }, { "clamp": true, "kind": "slide", "name": "gripper0_finger_joint2", "qpos_adr": 8, "qpos_dim": 1, "range": [ -0.04, 0.0 ], "wrap": false }, { "clamp": false, "kind": "free", "name": "akita_black_bowl_1_joint0", "qpos_adr": 9, "qpos_dim": 7, "range": null, "wrap": false }, { "clamp": false, "kind": "free", "name": "akita_black_bowl_2_joint0", "qpos_adr": 16, "qpos_dim": 7, "range": null, "wrap": false }, { "clamp": false, "kind": "free", "name": "cookies_1_joint0", "qpos_adr": 23, "qpos_dim": 7, "range": null, "wrap": false }, { "clamp": false, "kind": "free", "name": "glazed_rim_porcelain_ramekin_1_joint0", "qpos_adr": 30, "qpos_dim": 7, "range": null, "wrap": false }, { "clamp": false, "kind": "free", "name": "plate_1_joint0", "qpos_adr": 37, "qpos_dim": 7, "range": null, "wrap": false }, { "clamp": true, "kind": "slide", "name": "wooden_cabinet_1_top_level", "qpos_adr": 44, "qpos_dim": 1, "range": [ -0.16, 0.01 ], "wrap": false }, { "clamp": true, "kind": "slide", "name": "wooden_cabinet_1_middle_level", "qpos_adr": 45, "qpos_dim": 1, "range": [ -0.16, 0.01 ], "wrap": false }, { "clamp": true, "kind": "slide", "name": "wooden_cabinet_1_bottom_level", "qpos_adr": 46, "qpos_dim": 1, "range": [ -0.16, 0.01 ], "wrap": false }, { "clamp": true, "kind": "hinge", "name": "flat_stove_1_button", "qpos_adr": 47, "qpos_dim": 1, "range": [ -0.005, 2.1 ], "wrap": false } ], "qpos": { "nbody": 38, "nq": 48, "nu": 9, "nv": 43 }, "units": { "angle": "radian", "length": "m", "quaternion": "wxyz", "time": "s" } }, "notes": "Isolated OpenVLA-OFT checkpoint rollout for LIBERO Spatial task 0 (pick up the black bowl between the plate and the ramekin and place it on the plate) trial 0 seed 7. Protocol: OffScreenRenderEnv.seed(0); env.reset(); DEFAULT task_suite.get_task_init_states(task_id)[trial]; env.set_init_state(initial_state); 10 dummy wait steps; env_img_res=256; center_crop 90%; unnorm_key libero_spatial_no_noops; policy_seed=7 via set_seed_everywhere; env.seed(0) DEFAULT init; 8 open-loop steps; process_action = normalize_gripper_action then invert_gripper_action. Body poses are detached forward kinematics of each recorded qpos; success is recorded from the unmodified native step check_success result, which can differ from rechecking contact after forwarding the post-step qpos. this is not a suite score and not the 500-episode paper protocol. Do not treat a fixture export or injected runtime as checkpoint evaluation. Native check_success True is recorded on this artefact.", "origin": "site-generated", "overlays": { "contacts": false, "reward": false, "sensors": false }, "provenance": { "asset_licence": "LIBERO MIT / robosuite MIT Panda / third-party object meshes", "code_licence": "MIT", "gym_id": "libero_spatial.pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate", "licence": "MIT card; inherited Llama 2 backbone terms", "protocol": "pinned openvla-oft e4287e94541f459edc4feabc4e181f537cd569a8 / LIBERO 8f1084e3132a39270c3a13ebe37270a43ece2a01; OffScreenRenderEnv.seed(0); env.reset(); DEFAULT task_suite.get_task_init_states then set_init_state; 10 dummy wait steps [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0]; prepare_observation: 180-degree camera flip, proprio eef_pos+quat2axisangle+gripper_qpos; normalize_gripper_action then invert_gripper_action; unnorm_key libero_spatial_no_noops; num_open_loop_steps=8; policy_seed=7; env_seed=0 DEFAULT; site write-horizon 89 vs official max_steps=220; checkpoint_executed=True; runtime_kind=openvla-oft", "robot_id": "libero.robot.panda", "runner": { "dm_control_version": null, "gymnasium_version": null, "humanoid_bench_version": null, "jax_version": null, "name": "scripts/worlds/evaluate.py", "python_version": "3.10.14", "simulator": "mujoco", "simulator_version": "3.1.6", "torch_version": "2.2.0+cu121", "version": "4" }, "scene_id": "libero.scene.spatial.pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate", "seed": 7, "source_blobs": [ { "path": "action_head--150000_checkpoint.pt", "sha256": "809858636cf0a65009dd567d2f4e116249442790f02b8fe31f24500ea6118908" }, { "path": "model-00001-of-00004.safetensors", "sha256": "2809bd7be9422315c5ecbe91eea612f5b02925f37e0051728ad45bc993c79251" }, { "path": "model-00002-of-00004.safetensors", "sha256": "a00a7c5f2b6586ccfc89c693a9c36f3552ff455ff2b1bfea3e92642e4cd2b6d3" }, { "path": "model-00003-of-00004.safetensors", "sha256": "a894b7230a08b471af55c57dd7385fd3b51fae2c4d9307a36a8017ef57abf22a" }, { "path": "model-00004-of-00004.safetensors", "sha256": "a877e3fece1feafb80f59f91585ce04379ee39e2bf9a25cb7b4acf237e896e60" }, { "path": "proprio_projector--150000_checkpoint.pt", "sha256": "438d28e81e125166d0771762424aaf017de3a8daaebde06a5cb71157e62b3bf3" } ], "source_ref": "8f1084e3132a39270c3a13ebe37270a43ece2a01", "source_revision": "e4287e94541f459edc4feabc4e181f537cd569a8", "source_url": "https://github.com/moojink/openvla-oft/blob/e4287e94541f459edc4feabc4e181f537cd569a8/experiments/robot/libero/run_libero_eval.py", "suite_id": "libero", "task_id": "libero.task.libero_spatial.pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate", "version_id": "libero.8f1084e3132a39270c3a13ebe37270a43ece2a01" }, "schema_version": 1, "summary": { "env_terminated": true, "env_truncated": false, "horizon": 89, "official_max_episode_steps": 220, "recording_truncated": false, "return_sum": 1.0, "steps": 90, "success": true, "success_bar": null, "terminated": true, "truncated": false, "truncation_reason": "site horizon 89; official max_steps 220" }, "timebase": { "action_alignment": "sample[i].action is the processed OSC_POSE vector passed to env.step for i>0; sample[i].policy_action is the raw model chunk action; sample[0] is post-reset and was not a policy step; samples 1..10 are dummy wait steps when the horizon includes them", "dt": 0.05, "frame_skip": 25, "sample_hz": 20.0, "timestep": 0.002, "unit": "s" }, "verify": { "indices": [ 0, 89 ], "kinematics_atol": 1e-09, "qpos_xpos_same_sample": true, "samples": [ { "index": 0, "joints": { "akita_black_bowl_1_joint0": -0.06348281771240429, "akita_black_bowl_2_joint0": -0.1887304942403383, "cookies_1_joint0": 0.057859587539025564, "flat_stove_1_button": 0.0, "glazed_rim_porcelain_ramekin_1_joint0": -0.1973841700047281, "gripper0_finger_joint1": 0.020833, "gripper0_finger_joint2": -0.020833, "plate_1_joint0": 0.053409166801723335, "robot0_joint1": -0.00013845394136945786, "robot0_joint2": -0.17673447526998573, "robot0_joint3": -0.0365575974683561, "robot0_joint4": -2.457112976205914, "robot0_joint5": 0.005935026720258382, "robot0_joint6": 2.235219967025902, "robot0_joint7": 0.7993834381640941, "wooden_cabinet_1_bottom_level": 0.0, "wooden_cabinet_1_middle_level": 0.0, "wooden_cabinet_1_top_level": 0.0 }, "objects": { "world": { "pos": [ 0.0, 0.0, 0.0 ], "quat": [ 1.0, 0.0, 0.0, 0.0 ] } }, "qpos_finite": true, "root": { "name": "robot0_link0", "pos": [ -0.66, 0.0, 0.912 ], "quat": [ 1.0, 0.0, 0.0, 0.0 ] }, "t": 0.0 }, { "index": 89, "joints": { "akita_black_bowl_1_joint0": 0.06162936098841747, "akita_black_bowl_2_joint0": -0.18872204348866806, "cookies_1_joint0": 0.057859587539025564, "flat_stove_1_button": 0.0, "glazed_rim_porcelain_ramekin_1_joint0": -0.19738350632009882, "gripper0_finger_joint1": 0.0024549251114280887, "gripper0_finger_joint2": -0.0020562900834343056, "plate_1_joint0": 0.05276972700026339, "robot0_joint1": 0.13106733864091094, "robot0_joint2": 0.991294364307934, "robot0_joint3": 0.10226308492421801, "robot0_joint4": -1.3622621903839809, "robot0_joint5": -0.05070744088800899, "robot0_joint6": 2.386534112221177, "robot0_joint7": 1.0530946857760264, "wooden_cabinet_1_bottom_level": 0.0, "wooden_cabinet_1_middle_level": 0.0, "wooden_cabinet_1_top_level": 0.0 }, "objects": { "world": { "pos": [ 0.0, 0.0, 0.0 ], "quat": [ 1.0, 0.0, 0.0, 0.0 ] } }, "qpos_finite": true, "root": { "name": "robot0_link0", "pos": [ -0.66, 0.0, 0.912 ], "quat": [ 1.0, 0.0, 0.0, 0.0 ] }, "t": 4.45 } ] } }