SpeedTuning/benchmarks/scripted_results.json at main · DaivdYuan/SpeedTuning · GitHub

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{
  "schema_version": 1,
  "description": "Reference results for from-scratch scripted-policy training",
  "protocol": {
    "base_policy": "bundled scripted policy",
    "training_decisions": 100000,
    "evaluation_checkpoint": "final training output",
    "held_out_seeds": [100, 199],
    "episodes_per_task": 100,
    "metric": "physical_acceleration=nominal_horizon/executed_physics_steps"
  },
  "results": {
    "pick_and_place": {
      "preset": "scripted-pick-and-place",
      "training_seed": 0,
      "learned_speed": {
        "successes": 98,
        "success_rate": 0.98,
        "mean_physical_acceleration": 3.856
      },
      "matched_fixed_speed": {
        "commanded_speed": 3.856,
        "successes": 66,
        "success_rate": 0.66,
        "mean_physical_acceleration": 3.846
      }
    },
    "insertion": {
      "preset": "scripted-insertion",
      "training_seed": 0,
      "learned_speed": {
        "successes": 97,
        "success_rate": 0.97,
        "mean_physical_acceleration": 2.387
      },
      "matched_fixed_speed": {
        "commanded_speed": 2.387,
        "successes": 52,
        "success_rate": 0.52,
        "mean_physical_acceleration": 2.381
      }
    },
    "tea_bag": {
      "preset": "scripted-tea-bag-randomized",
      "training_seed": 1,
      "learned_speed": {
        "successes": 78,
        "success_rate": 0.78,
        "mean_physical_acceleration": 2.077
      },
      "matched_fixed_speed": {
        "commanded_speed": 2.075,
        "successes": 24,
        "success_rate": 0.24,
        "mean_physical_acceleration": 2.075
      }
    }
  }
}