| { | |
| "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" | |
| ] | |
| } | |