{
  "success": true,
  "kind": 0,
  "reset_id": 439,
  "env_id": 0,
  "episode": 0,
  "steps": 111,
  "invalid": false,
  "initial_upright": false,
  "ever_grasped": true,
  "max_clearance_m": 0.11318600177764893,
  "initial_grasp_distance_m": 0.6112592816352844,
  "minimum_grasp_distance_m": 0.025378135964274406,
  "checkpoint_sha256": "2656a61ece9d7fe3e488f5128dc9c20cce8b846d9253611bd45cf5b1ee147592",
  "bank_sha256": "97ec2787955372fb03bac2a489475cb1dc570c62fb543c1cafd3fb6dc189bbae",
  "contract": {
    "schema": 87,
    "robot": "UR5",
    "gripper": "legacy_RG2",
    "policy_hz": 25,
    "control_hz": 50,
    "physics_hz": 1000,
    "action": {
      "dim": 7,
      "arm": "q_target=q_measured+0.04*clip(action,-1,1), joint limits enforced",
      "frame": "joint",
      "gripper": "Bernoulli width command: +1 open, -1 close",
      "pause": false,
      "target_update_hz": 25
    },
    "observations": {
      "history_frames": 5,
      "per_frame_dim": 27,
      "fields": "base-frame EE position/quaternion/twist, six arm joints, measured width, last seven commands",
      "point_cloud": {
        "point_source": "compiled_collision_surfaces",
        "point_frame": "current_ee",
        "point_count": 1024,
        "point_groups": {
          "bottle": 512,
          "gripper": 256,
          "table": 256
        },
        "point_noise_std_m": 0.002,
        "point_visibility": "full surfaces including occluded geometry",
        "camera_input": "Privileged scene XYZ in current EE frame, meters; no camera rendering",
        "point_subsample_stride": null
      },
      "privileged_critic": false
    },
    "reward": "binary-pick-raw-control-v87",
    "objective": {
      "bottom_clearance_m": 0.1,
      "hold_s": 1.0,
      "bilateral_contact": false,
      "linear_speed_max_m_s": 0.15,
      "angular_speed_max_rad_s": 1.0,
      "fingertip_table_contact_max_n": 10.0,
      "other_robot_world_contact_max_n": 0.5,
      "penetration_max_m": 0.003
    },
    "control_cost": {
      "coefficient": 1e-07,
      "formula": "c*(sum(executed_action^2)+sum(arm_qdot^2)+sum(arm_applied_torque^2))",
      "units": "normalized command, rad/s, N*m",
      "evaluation": "once at policy boundary, not integrated",
      "coefficient_source": "local calibration; not specified numerically in inspected paper"
    },
    "shaping": false,
    "invalid_reward": 0,
    "success_reward": 1,
    "controller": "25Hz relative joint target, calibrated delayed UR servo response, no scripted behavior",
    "sampler": {
      "weight": "epsilon+sqrt(p*(1-p))",
      "epsilon": 0.0001,
      "history": 100,
      "unseen_success": 0,
      "prior_strength": 0,
      "fixed_kind_quota": null
    },
    "network": {
      "point_encoder": [
        3072,
        256,
        128
      ],
      "point_activation": "ELU",
      "encoder_interpretation": "flattened deterministic surface XYZ ordering",
      "robot_running_normalization": true,
      "residual_blocks": 2,
      "width": 256,
      "expansion": 1024,
      "activation": "SiLU",
      "actor_critic": "same architecture and inputs, independent parameters"
    },
    "timeout": {
      "seconds": 20.0,
      "bootstrap": false
    },
    "adaptations": [
      "UR5 and calibrated width gripper instead of Franka",
      "binary gripper likelihood instead of all-Gaussian figure output",
      "bottle stable-lift completion and existing physical validity rules",
      "27 robot/action features per frame instead of Franka 30",
      "MJLab/MuJoCo-Warp instead of Isaac Lab"
    ],
    "initialization": "random weights; no teacher, demonstrations, or shaped-policy initialization"
  },
  "seed": 85001,
  "policy_inference": "CPU",
  "simulation_device": "Quadro P620",
  "hardware_executed": false,
  "wall_s": 16.04368778297794,
  "recorded_control_frames": 223,
  "description": "Selected successful local simulation episode, not a success-rate estimate.",
  "completion_seconds": 4.44,
  "playback_fps": 50,
  "video_sha256": "38c8c016d5b5bdfa096e722106cf03911b93465799a9f0dc1a0db764baeaa807",
  "source_manifest_matches_training": true,
  "final_clearance_m": 0.10347002744674683,
  "final_hold_s": 1.0399996042251587
}