ogbench-cube-rigid-body-artifacts / validation /render_cache_validation.json
Conditiondark's picture
Add rigid-body manipulation workstation artifacts (v1) (part 2)
07ff166 verified
Raw History Blame Contribute Delete
12.9 kB
{
"generated_utc": "2026-09-20T05:35:20Z",
"root": "data/bucket/ogbench-cube-success-1000-v1",
"dataset_tar_sha256": "e2f4e2658f25924c7c6c5bc00238542efbf69f0916230e12183419eff0ff4dcd",
"budgets": {
"10": {
"files": {
"frames": {
"path": "cache/pix_b0010_frames.npy",
"exists": true,
"bytes": 4534400,
"sha256": "af861dd46bfc1183ebaf5f4d423cd91f2f43d87bc1eb77009573b7ba3fdbc966"
},
"goals": {
"path": "cache/pix_b0010_goals.npy",
"exists": true,
"bytes": 4534400,
"sha256": "38a22ebefe9eb9619a81a11d4faac89fc7bdb7efdb6ac1b8500ee68d19ba63fd"
},
"meta": {
"path": "cache/pix_b0010_meta.npz",
"exists": true,
"bytes": 50938,
"sha256": "4dfd82d67c61f8404f040aa152380fcc57579ad453955f2861b3e5fd5c0081d2"
},
"prop": {
"path": "cache/prop_b0010.npy",
"exists": true,
"bytes": 28172,
"sha256": "e3e0c0a73bf110868e4761d76d01742ff1df4df1e336e54ae51f3ebaf3ef744f"
}
},
"episodes": 10,
"transitions_cache": 369,
"transitions_manifest": 369,
"count_match": true,
"frame_shape": [
64,
64,
3
],
"goals_shape_match": true,
"proprio_shape": [
369,
19
],
"proprio_aligned": true,
"actions_match_release": true,
"states_match_release": true,
"traj_ids_match": true,
"proprio_recomputed_exact": true,
"goal_frames": {
"exact": 10,
"of": 10,
"max_abs_pixel_diff": 0
},
"obs_reproduction": {
"rows_checked": 28,
"max_abs": 1.0,
"mean_abs": 0.020309653577992137,
"per_dim_max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.00269552760830849,
0.001639261532514924,
0.007514842753129636,
0.0023527846041022683,
0.002106581219991688,
0.0,
1.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
1.1102230246251565e-16,
1.1102230246251565e-16
],
"worst_dims": [
18,
14,
12,
15,
16
],
"max_abs_continuous_dims": 0.007514842753129636,
"contact_flag_mismatch_fraction": 0.5714285714285714,
"note": "continuous dims reproduce the release; only the binary contact flag (dim 18) can differ. Proprio is never taken from replayed states: training uses the release's stored live values, eval uses env info."
},
"rerender_determinism": {
"sampled": 369,
"pixel_exact": 369,
"max_abs_pixel_diff": 0,
"mean_abs_pixel_diff": 0.0
},
"seconds": 1.7
},
"50": {
"files": {
"frames": {
"path": "cache/pix_b0050_frames.npy",
"exists": true,
"bytes": 31629440,
"sha256": "8c5f135ba333c607ae23b6901ca47886e9ee50e6beb4d0a875887a1adfea0f70"
},
"goals": {
"path": "cache/pix_b0050_goals.npy",
"exists": true,
"bytes": 31629440,
"sha256": "107924c2cf2f24a18e55e5b937ddb991c7ac7379cbfab1a15eda20bbd6926e10"
},
"meta": {
"path": "cache/pix_b0050_meta.npz",
"exists": true,
"bytes": 350818,
"sha256": "257a55db4e738784ae34ebf6ed79487da7686beb256597ab211841f2d5e1370d"
},
"prop": {
"path": "cache/prop_b0050.npy",
"exists": true,
"bytes": 195752,
"sha256": "c85b43b4ad3c616bb146cd3860f4002c82aefc67bcd2a6665357e079b7144569"
}
},
"episodes": 50,
"transitions_cache": 2574,
"transitions_manifest": 2574,
"count_match": true,
"frame_shape": [
64,
64,
3
],
"goals_shape_match": true,
"proprio_shape": [
2574,
19
],
"proprio_aligned": true,
"actions_match_release": true,
"states_match_release": true,
"traj_ids_match": true,
"proprio_recomputed_exact": true,
"goal_frames": {
"exact": 50,
"of": 50,
"max_abs_pixel_diff": 0
},
"obs_reproduction": {
"rows_checked": 144,
"max_abs": 1.0,
"mean_abs": 0.017712168507890605,
"per_dim_max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.006435099165534308,
0.007012783143188872,
0.007514842753129636,
0.002698969193136641,
0.0028079093939583077,
0.0,
1.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
3.3306690738754696e-16,
4.440892098500626e-16
],
"worst_dims": [
18,
14,
13,
12,
16
],
"max_abs_continuous_dims": 0.007514842753129636,
"contact_flag_mismatch_fraction": 0.4930555555555556,
"note": "continuous dims reproduce the release; only the binary contact flag (dim 18) can differ. Proprio is never taken from replayed states: training uses the release's stored live values, eval uses env info."
},
"rerender_determinism": {
"sampled": 400,
"pixel_exact": 400,
"max_abs_pixel_diff": 0,
"mean_abs_pixel_diff": 0.0
},
"seconds": 2.4
},
"100": {
"files": {
"frames": {
"path": "cache/pix_b0100_frames.npy",
"exists": true,
"bytes": 60973184,
"sha256": "6c1f23d426eb1ab07ea8007e1f8f0492ee6ba0a678652d034de133598492fc77"
},
"goals": {
"path": "cache/pix_b0100_goals.npy",
"exists": true,
"bytes": 60973184,
"sha256": "e44653b2bfcb6fdaf37de0f45c040a7a647108d3f47f7978a9b15139cb0c5c4a"
},
"meta": {
"path": "cache/pix_b0100_meta.npz",
"exists": true,
"bytes": 675586,
"sha256": "1380837194276559d8fa6ec8a8924e09c3e0fb6d63d640b3bef46dc84ea21243"
},
"prop": {
"path": "cache/prop_b0100.npy",
"exists": true,
"bytes": 377240,
"sha256": "f7c1939c1525e99577f4c11a628a474618342e331cda79bac064fd4a3ae142fd"
}
},
"episodes": 100,
"transitions_cache": 4962,
"transitions_manifest": 4962,
"count_match": true,
"frame_shape": [
64,
64,
3
],
"goals_shape_match": true,
"proprio_shape": [
4962,
19
],
"proprio_aligned": true,
"actions_match_release": true,
"states_match_release": true,
"traj_ids_match": true,
"proprio_recomputed_exact": true,
"goal_frames": {
"exact": 100,
"of": 100,
"max_abs_pixel_diff": 0
},
"obs_reproduction": {
"rows_checked": 292,
"max_abs": 1.0,
"mean_abs": 0.01860733037798127,
"per_dim_max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.006984374104054281,
0.007291855344200293,
0.007748101849298639,
0.002698969193136641,
0.0028079093939583077,
0.0,
1.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
4.440892098500626e-16,
4.440892098500626e-16
],
"worst_dims": [
18,
14,
13,
12,
16
],
"max_abs_continuous_dims": 0.007748101849298639,
"contact_flag_mismatch_fraction": 0.5205479452054794,
"note": "continuous dims reproduce the release; only the binary contact flag (dim 18) can differ. Proprio is never taken from replayed states: training uses the release's stored live values, eval uses env info."
},
"rerender_determinism": {
"sampled": 400,
"pixel_exact": 400,
"max_abs_pixel_diff": 0,
"mean_abs_pixel_diff": 0.0
},
"seconds": 2.9
},
"1000": {
"files": {
"frames": {
"path": "cache/pix_b1000_frames.npy",
"exists": true,
"bytes": 594407552,
"sha256": "9b338580aa1ae828949d4887bea2707ae0ecd09017a7cd9d796671056b323108"
},
"goals": {
"path": "cache/pix_b1000_goals.npy",
"exists": true,
"bytes": 594407552,
"sha256": "c8736825a77b93db5fef8e8dc53d9896f428f8fd6a9c4f99dda73b3ae56d37e0"
},
"meta": {
"path": "cache/pix_b1000_meta.npz",
"exists": true,
"bytes": 6579482,
"sha256": "53d8d6a6d756877732a711fd3bd6116839c45086c306a416c37c9aff0f2fbd16"
},
"prop": {
"path": "cache/prop_b1000.npy",
"exists": true,
"bytes": 3676476,
"sha256": "608d06d6d8c76ccf0700fef3a902ef0f68b7ffd15c3eddd54847a03f1136ab07"
}
},
"episodes": 1000,
"transitions_cache": 48373,
"transitions_manifest": 48373,
"count_match": true,
"frame_shape": [
64,
64,
3
],
"goals_shape_match": true,
"proprio_shape": [
48373,
19
],
"proprio_aligned": true,
"actions_match_release": true,
"states_match_release": true,
"traj_ids_match": true,
"proprio_recomputed_exact": true,
"goal_frames": {
"exact": 1000,
"of": 1000,
"max_abs_pixel_diff": 0
},
"obs_reproduction": {
"rows_checked": 2936,
"max_abs": 1.0,
"mean_abs": 0.019165709582566443,
"per_dim_max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.008678170692932197,
0.009986865871348227,
0.008437998606821262,
0.002698969193136641,
0.0028079093939583077,
0.0,
1.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
4.440892098500626e-16,
4.440892098500626e-16
],
"worst_dims": [
18,
13,
12,
14,
16
],
"max_abs_continuous_dims": 0.009986865871348227,
"contact_flag_mismatch_fraction": 0.5388283378746594,
"note": "continuous dims reproduce the release; only the binary contact flag (dim 18) can differ. Proprio is never taken from replayed states: training uses the release's stored live values, eval uses env info."
},
"rerender_determinism": {
"sampled": 400,
"pixel_exact": 400,
"max_abs_pixel_diff": 0,
"mean_abs_pixel_diff": 0.0
},
"seconds": 14.7
}
},
"nested_subsets": [
{
"small": 10,
"large": 50,
"is_prefix": true
},
{
"small": 50,
"large": 100,
"is_prefix": true
},
{
"small": 100,
"large": 1000,
"is_prefix": true
}
],
"cache224": {
"files": {
"frames224": {
"path": "cache/vla_b1000_frames224.npy",
"bytes": 7281491072,
"sha256": "3503c97b56412cd8c73c45a70c5405fcc3a87237a4c836ade457e08357f142e1"
},
"meta": {
"path": "cache/vla_b1000_meta.npz",
"bytes": 1548694,
"sha256": "19a1eca56c39e6fe1d8a171255b2d135e33b5ff379eb6ab25e75ac8633f282f1"
}
},
"shape": [
48373,
224,
224,
3
],
"transitions_match_64": true,
"actions_identical_to_64_cache": true,
"traj_ids_identical_to_64_cache": true,
"goal_xy_matches_release": true,
"rerender_determinism": {
"sampled": 400,
"pixel_exact": 284,
"max_abs_pixel_diff": 2
},
"seconds": 4.9
},
"obs_method": "cube-single-v0.compute_observation",
"env": {
"nq": 21,
"nv": 20,
"frame": [
64,
64,
3
]
},
"domain_gap": {
"episode": "episode-000931.npz",
"mean_abs_pixel_diff_raw_vs_eval_224": [
24.3976668792517,
24.241662680697278,
26.457429846938776
],
"note": "raw release frames come from the collection renderer (swm/OGBCube-v0); policies are trained on eval-renderer frames instead"
},
"verdict": "PASS"
}