blog: HQ case videos (1)

blog/robotwin_2_0_put_bottles_dustbin-standard--ydhsp73/meta.json

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+{
+ "slug": "robotwin_2_0_put_bottles_dustbin-standard--ydhsp73",
+ "status": "rendered",
+ "task": "robotwin_2_0_put_bottles_dustbin-standard",
+ "bench": "robotwin_2_0",
+ "mode": "standard",
+ "run": "codex-gpt6_astra-high",
+ "outcome": "success",
+ "card": "GPT-6 Astra, standard, solved",
+ "source_trial": "codex/gpt6_astra/high/codex-gpt6_astra-high-robotwin_2_0_put_bottles_dustbin-standard/robotwin_2_0_put_bottles_dustbin__YdHsp73",
+ "what": "re-rendered natively in the task's own simulator: this trial's recorded physics-step rows replayed from the frozen instance with the task's own rcb_traj.py Session of the trial's commit (physics unchanged), frames ray traced by SAPIEN's rt shader; same camera, lights and settings as the suite's HF master masters/robotwin-2/put_bottles_dustbin (a privileged trial of the same task and instance)",
+ "renderer": "SAPIEN 3.0.0b1 ray tracing (shader 'rt'), 32 spp, path depth 8, OIDN denoiser; render 2560x1440; RoboTwin's own lights re-balanced (ambient 0.22, key 1.6, fill 0.45); backdrop wall hidden from rendering only; fixed camera = the HF master's (pos 0.5855,1.3114,2.0806, target -0.0819,-0.1197,0.7557, fovy 36 deg); image eai-robotwin:0.1.2",
+ "rendering": "ray-tracing",
+ "width": 2560,
+ "height": 1440,
+ "fps": 30,
+ "frames_rendered": 605,
+ "render_seconds": 210.4,
+ "seconds_per_frame": 0.317,
+ "time_range": {
+  "from_step": 0,
+  "to_step": 15082,
+  "physics_hz": 250,
+  "sim_t_from_s": 0.0,
+  "sim_t_to_s": 60.33,
+  "why": "the whole live episode (the graded one): every recorded physics step from the frozen start to the success that ended it"
+ },
+ "speed": 3.0,
+ "speed_note": "uniform 3x: one frame every 25 physics steps (250 Hz) at 30 fps; the master used 1.92x",
+ "holds": {
+  "start_s": 0.5,
+  "end_s": 1.5,
+  "note": "first/last frame held, no extra simulation"
+ },
+ "replay_check": {
+  "reproduced": true,
+  "how": "every recorded physics-step row (verifier/trajectory.npz = artifacts/data/trajectory.npz, 15082 rows) replayed in the render pass with the task's own environment/sim/rcb_traj.py Session at exam repo 95ccd77111 (the last change to the task before the trial) on the frozen instance.json; RoboTwin's check_success() and the state hash taken at the end, compared with the live episode's record (final.json)",
+  "recorded": {
+   "success": true,
+   "graded_by": "live",
+   "live_sha": "f92c423cffc0",
+   "n_actions": 15082,
+   "verifier_reward": 1
+  },
+  "replayed": {
+   "success": true,
+   "state_sha": "f92c423cffc0",
+   "n_actions": 15082,
+   "instance_sha": "8766c75a74ac"
+  },
+  "matches": {
+   "success": true,
+   "state_sha": true,
+   "n_actions": true
+  },
+  "instance": {
+   "instance_sha": "8766c75a74ac",
+   "hf_master_instance_sha": "8766c75a74ac"
+  }
+ },
+ "render": {
+  "task": "put_bottles_dustbin",
+  "seed": 28831,
+  "n_actions": 15082,
+  "success": true,
+  "state_sha": "f92c423cffc0",
+  "instance_sha": "8766c75a74ac",
+  "every": 25,
+  "fps": 30,
+  "speed": 3.0,
+  "frames": 664,
+  "hold_frames": [
+   15,
+   45
+  ],
+  "w": 2560,
+  "h": 1440,
+  "spp": 32,
+  "path_depth": 8,
+  "denoiser": "oidn",
+  "light": "tuned",
+  "light_params": {
+   "ambient": 0.22,
+   "key": 1.6,
+   "fill": 0.45
+  },
+  "wall_hidden": true,
+  "fit": {},
+  "cams": {
+   "main": {
+    "pos": [
+     0.5855,
+     1.3114,
+     2.0806
+    ],
+    "target": [
+     -0.0819,
+     -0.1197,
+     0.7557
+    ],
+    "fovy_deg": 36.0
+   }
+  },
+  "build_s": 54.6,
+  "render_s": 210.4,
+  "s_per_frame": 0.317,
+  "wall_s": 286.8,
+  "sapien": "3.0.0b1"
+ },
+ "encode": "master: libx264 preset slow CRF 16, yuv420p, 30 fps, +faststart, no audio (as the HF master)",
+ "files": {
+  "video.mp4": {
+   "codec": "h264",
+   "profile": "High",
+   "pix_fmt": "yuv420p",
+   "width": 2560,
+   "height": 1440,
+   "fps": "30/1",
+   "frames": 664,
+   "duration_s": 22.134,
+   "bytes": 4817060,
+   "audio": false,
+   "faststart": true,
+   "sha256": "d518b1f2c1e01a5f402dff1bf549893ba490335ff8aa4c780fabdbbee976b7cc",
+   "note": "stream copy of the master (remuxed with +faststart)"
+  },
+  "web.mp4": {
+   "codec": "h264",
+   "profile": "High",
+   "pix_fmt": "yuv420p",
+   "width": 1920,
+   "height": 1080,
+   "fps": "30/1",
+   "frames": 664,
+   "duration_s": 22.134,
+   "bytes": 2171980,
+   "audio": false,
+   "faststart": true,
+   "crf": 20,
+   "sha256": "5bff28c5f068b84401dbed6de93d09b37da08990aa164fdcc581d0610ba7a2e5"
+  },
+  "poster.jpg": {
+   "bytes": 51532,
+   "size": "1280x720",
+   "from": "main_last.png",
+   "sha256": "3f5a77b2937a315b9ab8494159879de0477a509de894636f9ab361652b154d7f"
+  }
+ }
+}

blog/robotwin_2_0_put_bottles_dustbin-standard--ydhsp73/video.mp4

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