Test Rows - v0.12.0 - 92% success

Rows test - train with situation removal - test with situation removal disabled 92% success rate.

Testing iteration: 1273
Change detected: True (value: 624)
Primitive confidence scores: 3.098449 (push), 3.570703 (grasp), 6.244108 (place)
Action: place at (12, 181, 42)
Executing: place at (-0.640000, 0.138000, 0.000995)
gripper position: 0.0007762610912322998
gripper position: 0.0007658600807189941
Trainer.get_label_value(): Current reward: 2.343750 Current reward multiplier: 3.000000 Predicted Future reward: 6.230157 Expected reward: 2.343750 + 0.650000 x 6.230157 = 6.393352
Training loss: 0.862810
current_position: [-0.64910257  0.13522317  0.02600006]
current_obj_z_location: 0.05600005827844143
goal_position: 0.06099496489586487 goal_position_margin: 0.16099496489586487
has_moved: True near_goal: True place_success: True
check_row: True | row_size: 4 | blocks: ['blue' 'green' 'yellow' 'red']
check_stack() stack_height: 4 stack matches current goal: True partial_stack_success: True Does the code think a reset is needed: False
TRIAL 101 SUCCESS!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
STACK:  trial: 101 actions/partial: 4.378006872852234  actions/full stack: 13.698924731182796 (lower is better)  Grasp Count: 707, grasp success rate: 0.6817538896746818 place_on_stack_rate: 0.610062893081761 place_attempts: 477  partial_stack_successes: 291  stack_successes: 93 trial_success_rate: 0.9207920792079208 stack goal: [2 3 1 0] current_height: 4
Time elapsed: 14.448621
Trainer iteration: 1274.000000

Testing iteration: 1274
Change detected: True (value: 3645)
Trainer.get_label_value(): Current reward: 1.031250 Current reward multiplier: 1.000000 Predicted Future reward: 5.253522 Expected reward: 1.031250 + 0.650000 x 5.253522 = 4.446039
Trial logging complete: 100 --------------------------------------------------------------
Training loss: 0.391659

video:

We also did an additional few trials with the visualization reconfigured to a 0-8 range to better show the Q values:

Testing iteration: 176
Change detected: True (value: 1596)
Primitive confidence scores: 3.454333 (push), 4.110956 (grasp), 6.303567 (place)
Strategy: exploit (exploration probability: 0.000000)
Action: grasp at (8, 67, 116)
Executing: grasp at (-0.492000, -0.090000, 0.001000)
Trainer.get_label_value(): Current reward: 2.250000 Current reward multiplier: 3.000000 Predicted Future reward: 6.740332 Expected reward: 2.250000 + 0.650000 x 6.740332 = 6.631216
Training loss: 2.596855
gripper position: 0.05303570628166199
gripper position: 0.03606218099594116
gripper position: 0.0313781201839447
Grasp successful: False
check_row: True | row_size: 3 | blocks: ['blue' 'green' 'red']
check_stack() stack_height: 3 stack matches current goal: True partial_stack_success: True Does the code think a reset is needed: False
STACK:  trial: 8 actions/partial: 7.695652173913044  actions/full stack: 25.285714285714285 (lower is better)  Grasp Count: 98, grasp success rate: 0.7244897959183674 place_on_stack_rate: 0.323943661971831 place_attempts: 71  partial_stack_successes: 23  stack_successes: 7 trial_success_rate: 0.875 stack goal: [1 0 3 2] current_height: 3
Time elapsed: 8.795416
Trainer iteration: 177.000000