| { |
| "status": "final", |
| "updated": "2026-10-18T01:25:06+02:00", |
| "dataset": "ws4/haller_open_the_box", |
| "task": "open the box by pulling its handle", |
| "rule": "held-out = last 3 good takes of P2 and of P3 (orchestrator); P1 (3 takes) folded into train; drop = review.json rejects", |
| "layouts": { |
| "P1": [ |
| 0, |
| 1, |
| 2 |
| ], |
| "P2": [ |
| 3, |
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| ], |
| "P3": [ |
| 39, |
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| 74 |
| ] |
| }, |
| "drop": [ |
| 3, |
| 7, |
| 16, |
| 19, |
| 21, |
| 28, |
| 41, |
| 46, |
| 47, |
| 70 |
| ], |
| "heldout": { |
| "P1": [], |
| "P2": [ |
| 36, |
| 37, |
| 38 |
| ], |
| "P3": [ |
| 72, |
| 73, |
| 74 |
| ] |
| }, |
| "train": [ |
| 0, |
| 1, |
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| 71 |
| ], |
| "counts": { |
| "episodes": 75, |
| "good": { |
| "P1": 3, |
| "P2": 30, |
| "P3": 32 |
| }, |
| "good_total": 65, |
| "heldout_total": 6, |
| "train_total": 59 |
| }, |
| "notes": { |
| "task_arm": "robot RIGHT arm = haller 'left' = left_* columns and observation.images.left_wrist; the pen arm (right_*) is parked and holding", |
| "end_state": "takes end with the box arm HOLDING the lid open (returning home closes the lid; Oscar). Not a return to home.", |
| "start_pose": "box arm at home, median left_* [0.2, 6.4, 0.9, 0.8, 0.2, 99.5]; ep 26 started away from home (noted in review.json)", |
| "positions": "provisional, from head frames (Oscar did not name them): P1 eps 0-2 first box setup; P2 eps 3-38 box with the red tab handle on its left edge; P3 eps 39-74 box shifted left and rotated (final setup per Oscar's photo at the end)", |
| "parked_arm": "pen arm right_* tucked [-1.1, -102.5, 95.9, 37.7, -11.1, 2.4] at the start; moved by hand around eps 6-7 to [1.3, -83.7, 81.8, 82.8, -10.3, 0.9], pan drifting to 5.4 by ep ~35. Range eps 7-74: min [1.1, -95.5, 81.8, 44.4, -10.5, 0.9] max [5.4, -83.0, 81.9, 83.2, -10.1, 0.9]", |
| "box_arm_hold_after_session": "after the last take the box arm holds the lid at left_* [12.13, -13.80, 12.26, 37.54, 29.93, 0.87] (gripper closed on the flap), load <= 0.11; this is the start pose for the green-pen and cutter sessions", |
| "rate": "30 Hz except eps 31 (29.50), 43 (29.76), 73 (29.82) during other jobs' CPU spikes; gaps > 100 ms in eps 1, 31, 43, 73 (max 182 ms in ep 43); 3 cameras push typical max gaps to 50-70 ms", |
| "integrity": "225 video files: packets == rows; timestamps exactly frame_index/30; action != state on the task arm in every episode" |
| } |
| } |
|
|
