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"name": "new_stack",
"selection": [
{
"source": "pick_place",
"skill": "approach"
},
{
"source": "stack",
"skill": "grasp"
},
{
"source": "pick_place",
"skill": "retreat"
},
{
"source": "pick_place",
"skill": "transport"
},
{
"source": "stack",
"skill": "stack"
},
{
"source": "stack",
"skill": "return"
}
],
"positions": [
"lower",
"upper"
],
"episode_policy": "Each full atomic skill clip is an independent episode; no cropping or cross-source temporal concatenation.",
"condition_policy": "new_stack uses cup task conditions and target-specific task text; original source object/text retained",
"splits": {
"train": {
"episodes": 594,
"frames": 60184,
"original_episodes": 150
}
},
"all_data_as_train": true,
"normalization_scope": "all selected episodes; conditional mean/std identity for dimensions 30:57",
"source_root": "rokae/1offline_skill_segment/dataset/3encode",
"split_reference": "rokae/2offline_model/mlp/models/run_20261012_retrain_32frame/manifest.json",
"seam_scope": "No pose-based filtering or cross-source concatenation; entry adaptation and cross-object transfer remain experiments",
"composition_choices": [
"lower_top1",
"lower_top2",
"upper_top1",
"upper_top2"
]
}
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