feat(vla): add SmolVLA conditioning and experiment artifacts

2026-07-31 10:11:04 +08:00
parent acbd7c605a
commit 5ae9f5fa48
175 changed files with 317471 additions and 70 deletions
@@ -0,0 +1,41 @@
+{
+  "status": "success",
+  "task_name": "sim_transfer",
+  "success_video": "/data/roboimi_rollout_videos/scripted_success_20260529/sim_transfer/success_front.mp4",
+  "max_reward_required": 4,
+  "attempts": [
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+      "sum_reward": 1238.0,
+      "max_reward": 4.0,
+      "max_reward_required": 4,
+      "max_reward_step": 503,
+      "episode_len": 700,
+      "elapsed_s": 29.355701208114624,
+      "sim_steps_per_wall_s": 23.845453223461178,
+      "video_path": "/data/roboimi_rollout_videos/scripted_success_20260529/sim_transfer/attempt_001_front.mp4",
+      "task_state": [
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+        0.9599788062599779,
+        0.47
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+      "reward_trace": [
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+          "reward": 0.0
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+          "reward": 2.0
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+      ]
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+  ],
+  "created_at": "2026-05-29T19:28:23+0800"
+}
@@ -0,0 +1,80 @@
+{
+  "status": "success",
+  "task_name": "sim_air_insert_socket_peg",
+  "success_video": "/data/roboimi_rollout_videos/scripted_success_20260529/sim_air_insert_socket_peg/success_front.mp4",
+  "max_reward_required": 5,
+  "attempts": [
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+      "task_name": "sim_air_insert_socket_peg",
+      "success": true,
+      "sum_reward": 1942.0,
+      "max_reward": 5.0,
+      "max_reward_required": 5,
+      "max_reward_step": 583,
+      "episode_len": 750,
+      "elapsed_s": 35.83620357513428,
+      "sim_steps_per_wall_s": 20.92855618557775,
+      "video_path": "/data/roboimi_rollout_videos/scripted_success_20260529/sim_air_insert_socket_peg/attempt_001_front.mp4",
+      "task_state": {
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+          0.47200000286102295
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+        "socket_quat": [
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+          0.0,
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+        "peg_pos": [
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+        "peg_quat": [
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+      "reward_trace": [
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+          "reward": 0.0
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+          "reward": 1.0
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+          "reward": 2.0
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+        {
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+          "reward": 3.0
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+        {
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+          "reward": 2.0
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+        {
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+          "reward": 3.0
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+        {
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+          "reward": 4.0
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+        {
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+          "reward": 5.0
+        }
+      ]
+    }
+  ],
+  "created_at": "2026-05-29T19:31:20+0800"
+}