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  2. stacking_blocks_ambiguous/scene.yaml +51 -0
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+ schema_version: '1.0'
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+ category: a
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+ name: stacking_blocks_ambiguous
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+ description: ARX L5 arm, a white mat on the left and a black mat on the right of the
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+ third_person view. A magenta cross lies flush on the white mat. Three blocks (red,
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+ green, blue) start at random non-overlapping poses on the black mat and must be
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+ stacked on the cross. The instruction never states the order; the order used is
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+ recorded in the executed_order attribute.
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+ instruction_templates:
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+ all_episodes: Stack the blocks from the black mat to the white mat at the cross
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+ position.
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+ tasks:
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+ 1:
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+ episodes: 240
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+ blocks:
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+ - red
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+ - green
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+ - blue
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+ orders:
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+ - red-green-blue
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+ - red-blue-green
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+ - green-red-blue
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+ - green-blue-red
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+ - blue-red-green
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+ - blue-green-red
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+ episodes_per_order: 40
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+ order_assignment: ORDERS[(episode_id - 1) % 6]; a partial run stays balanced
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+ randomization:
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+ cross_center:
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+ region: centred square of side 0.1 m on the white mat
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+ white_mat_center:
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+ - 0.25
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+ - -0.135
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+ distribution: uniform
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+ block_xy:
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+ region: black mat, inset by SPAWN_MARGIN
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+ black_mat_center:
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+ - 0.25
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+ - 0.135
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+ half_extent:
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+ - 0.077
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+ - 0.067
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+ min_center_gap_m: 0.07
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+ distribution: uniform with rejection; whole set resampled if stranded
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+ sampled_in: canonical color order (red, green, blue, yellow)
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+ block_yaw_rad:
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+ - -0.7853981633974483
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+ - 0.7853981633974483
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+ 10_000*attempt, category_code = {a:1, b:2, c:3}; rng = numpy.random.default_rng(seed)
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+ split_rule: episode_id % 10 == 0 -> val, else train
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