diff --git a/manifests/README.md b/manifests/README.md new file mode 100644 index 0000000000000000000000000000000000000000..02faadcaf2d8c258bc9309cffb727f0ff2caa72d --- /dev/null +++ b/manifests/README.md @@ -0,0 +1,24 @@ +# Exact sampled planning start/goal pairs + +This directory contains the persisted sampling manifests actually used by the evaluation pipeline for PushT, Cube and TwoRoom: 3 datasets × 5 seeds (42–46) × 4 offsets (25, 50, 75, 100) = 60 manifests, each with 200 samples. There are 12,000 entries across combinations, not necessarily 12,000 distinct starting frames. Different seeds/offsets may overlap. Reacher is excluded. + +## Files + +- `_.json`: seed 42. +- `__seed.json`: seeds 43–46. +- `sampled_pairs.csv`: all manifests combined into a row-oriented table, including derived goal steps. +- `index.json`: coverage, sample counts and SHA256 hashes of the original JSON manifests. + +## Original JSON fields + +- `task`: dataset label. +- `seed`: sampling seed. +- `offset`: goal offset in dataset steps. +- `dataset`: original local HDF5 path; this is provenance, not a downloadable dataset link. +- `rows[i]`: zero-based starting row in the HDF5 dataset. +- `episodes[i]`: episode identifier recorded in the source dataset. +- `start_steps[i]`: starting step within that episode. + +Sample `i` uses the recorded starting state and the goal state at `start_steps[i] + offset` in the same episode. The CSV `sample_index` is zero-based and matches `i`. Given an evaluated model/task/offset/seed, `successes[i]` in its per-sample result JSON corresponds to sample `i` in the manifest. These are exact saved draws, not instructions to resample from a seed. All evaluated models share the same manifest for each task/seed/offset combination. A manifest's presence does not imply that every model has completed that evaluation. + +The original supplied datasets were `/workspace/datasets/pusht_expert_train.h5`, `/workspace/datasets/cube_single_expert.h5`, and `/workspace/datasets/tworoom.h5`. These manifests identify samples; images, actions and state arrays remain in those source HDF5 datasets and are not included here. The evaluation pairs are sampled from the provided datasets and are not claimed to form an independent held-out test split. diff --git a/manifests/cube_100.json b/manifests/cube_100.json new file mode 100644 index 0000000000000000000000000000000000000000..661451752f0b5c5ee9ce13964ece82ac741bc419 --- /dev/null +++ b/manifests/cube_100.json @@ -0,0 +1,612 @@ +{ + "task": "cube", + "offset": 100, + "seed": 42, + "dataset": "/workspace/datasets/cube_single_expert.h5", + "rows": [ + 14735, + 45638, + 61924, + 69638, + 74831, + 87935, + 117082, + 128244, + 136488, + 153396, + 159083, + 172688, + 176125, + 179325, + 180945, + 181965, + 185141, + 189201, + 195387, + 213300, + 230166, + 237185, + 253737, + 257371, + 261104, + 280835, + 280883, + 306132, + 310010, + 322876, + 324080, + 332054, + 334073, + 335537, + 366842, + 380741, + 391156, + 401687, + 404845, + 431217, + 455950, + 456672, + 470166, + 479851, + 481428, + 493315, + 555797, + 556182, + 556867, + 565483, + 579381, + 590015, + 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