diff --git a/eval/db_conditions/db_m5_piles/README.md b/eval/db_conditions/db_m5_piles/README.md new file mode 100644 index 0000000000000000000000000000000000000000..5c13787980616a1e02bdee95a601505933fbfdb9 --- /dev/null +++ b/eval/db_conditions/db_m5_piles/README.md @@ -0,0 +1,44 @@ +# DB-M5 parts-bin piles (dbclutter `all_x40`) + +The settled piles DB-M5 fills its parts bin with, one folder per part as dbclutter writes them +(`/clutters.json` and `/restores/*.json`), 40 seeds per part. DexBench-Arena reads the folder as +`parts_bin_clutter_dir`; `db_m5_collect.yaml` names it `outputs/clutter/all_x40`, so place it there in the +checkout: + +```bash +hf download RLWRLD/DexBench_datasets --repo-type dataset --include "db_m5/clutter_all_x40/**" --local-dir /tmp/dexbench_m5 +mkdir -p outputs/clutter && cp -r /tmp/dexbench_m5/db_m5/clutter_all_x40 outputs/clutter/all_x40 +``` + +- The 15 parts of DB-M5's part axis (`m5_parts.M5_PARTS`): 5 training and 10 held out + (`m5_splits.M5_PART_SPLIT`). The other 9 parts of the dbclutter set are not used by DB-M5 and are not here. +- Every report is schema 5, dbclutter 0.1.0 on Newton 1.5.0, converged, restored on 2026-10-16 by dbclutter + commit `63cd7878` (593 reports) or `6150e5d0` (7), neither dirty, on the parts' `_prim5` collision + primitives, the colliders DB-M5 selects for its parts. +- The demo start lists and every cell's rows draw among the first 24 seeds of a part by rank + (`m5_splits.M5_PILE_SEED_QUANTILES`, 0.0 to 0.6) and record that subset's hash as + `parts_bin_clutter_set_sha256`: the environment's `resolve_parts_bin_pile_set(...).sha256`, a SHA-256 over + one `seed:report SHA-256` line per seed. The table gives it and the hash of all 40 seeds. +- `SHA256SUMS` lists every file. + +Checked on 2026-10-28 at DexBench-Arena `c716a3f78` (PR #398): all 15 sets load with the environment's +loader, and the hashes below match the ones `write_db_m5_eval_conditions.py` wrote into the start lists and +the four cells' rows. + +| Part | Split | Parts per pile | Set SHA-256, 24 seeds used | Set SHA-256, all 40 seeds | +| --- | --- | --- | --- | --- | +| `bolt_m24` | train | 8 | `cc5d4e16aa293f0402d6a5f4ed4e74e94d321557b04391f5f0e0cb9b472ab5fa` | `f2191d583076346d912b5398591dda0abb1f4e822d01f39011a1e4e8b36f42f1` | +| `pom_roller` | train | 8 | `2ed776a8ae65c0b8175c63006d7ac837c5276c929250678bd09b7ef2fa7bcec9` | `ac8c9bc7863e77651940b42a080df0a7d85cf03416fa80d27f1c84365bff477f` | +| `elbow_50a` | train | 8 | `6c6f3580113c9523b5a39fd5e0195aaeb463a16e586f1d119a0f608f6ba09fdc` | `2c94bf3bf2048065baa437a24e7f3df25d29da254f4d4556993759cc66b58ece` | +| `bearing_6206` | train | 8 | `86a54d77c04ca294fd8959200c2b5888f60a89c95c6a19b5331fda5d2e811b7e` | `6fb23ebddbb2d46bf9518b3085974d0b417e2a1609c2093fba9e9e00fc38a24c` | +| `rs_pro_stepper_motor_535_0502_nema23_class` | train | 8 | `b175b531622be16061843456f55b33716f6434299910c854a67b285b1a2cee76` | `38cdf644c76e073af4d993c30f55070f232a4e65f89487dfbdf7273a2104d00d` | +| `nema17` | held out | 8 | `5a423fd75cbb1f95bbf2edac4fe63e2a62bfc2f5e9608762053ef7b6a2abb3cd` | `f8da6a3b9e451cde2ec54f6564d54906267085ff1da728e62b99d8a71846f7ec` | +| `automotive_exhaust_90_bend_od63` | held out | 4 | `d269073518226447acef0100a376607ec0e9c81b771d48b3f0103699b5e730ec` | `80f8e7ac133dd80d4f1993c15724640ade5aa935c24f5a2d7d4c26ebb6125116` | +| `deco_ad02_2_station_ng6cetop3_manifold` | held out | 4 | `2316bedcb8ae417198c33f82ea1783cb9710297b1da206641cde023d6add5ec4` | `1c696c09e986b944f4c567530dbbe7324dbb2a8273366f28c78bee18fbfab696` | +| `gy1_rigid_flange_coupling_half_flange` | held out | 8 | `f02c297c024f74140cf9c0e0729c2961fd8d9b8f9e1196eb4c812d42ce5392b3` | `b7cabe8c8d96ac247154bfc35ac04cfa423ed98496ebf16e634d6e20df99c890` | +| `jl_sus304_welded_tee_50a` | held out | 4 | `c5fd68e7aa166056a5c8829cd6c8bbbacf864a555c5d9b294e9161c1eb6aa04b` | `786a4648aa92cc712171ca152875f422d78fdaa2211001c56737d7bf19bd918b` | +| `two_piece_split_shaft_collar_od45_bore2_w12` | held out | 8 | `a043a2b5d8e7c0f11a1b6c8095d97df761db16755360bc59350c1939886856f6` | `2cc2d87126f588ac69d60eb102a7a21d169298fa9befc3ecbde7001b3022c0ab` | +| `tyb_ucp205_pillow_block_bearing_unit` | held out | 4 | `140dac564e8298e0a69253ac11c74e20e9d2943b62867e3b8d85063d51681e3c` | `8457585f131bd8600721b0ddbd17a8a804c698834c601819e5adffc98ec79c41` | +| `v_belt_pulley_1a_70_12_4` | held out | 8 | `7e8d56925eeb904c31902d0b517a5aaedc74aea42c6d7b8a3436468b994b1872` | `234e5af8b17389e7441ca93c11b9cc62b53cc61632a94aada2f9e313e0e4fa3f` | +| `boltkorea_iso4014_class_8_8_hex_bolt_m36x160` | held out | 8 | `dd3e05391464a4122ed32584e63132ba1dfcc5d09db7bd16a0216e2098fd997c` | `fe2663affd248a1eac248583aab1ee384e7247622c8caabb8d2925e7403745b6` | +| `norgren_rt_57232_m_50_roundline_cylinder` | held out | 8 | `127bc8c4e1895d6a344c1ca0550d360b00ffbf83e750c4eaad2b5b777fdce148` | `6d94f6ce8e0bf6d6c63ec8576421038b9bfbf94be73f84ae0f22a9315a8bdef6` | diff --git a/eval/db_conditions/db_m5_piles/SHA256SUMS b/eval/db_conditions/db_m5_piles/SHA256SUMS new file mode 100644 index 0000000000000000000000000000000000000000..b3091a581fb0338e69486c32d70a5f4250b789ac --- /dev/null +++ b/eval/db_conditions/db_m5_piles/SHA256SUMS @@ -0,0 +1,615 @@ +9160a3fa1036f86f7821fa5ffe1f4794b6e75b41cf516177c522c3e38b8066d3 automotive_exhaust_90_bend_od63/clutters.json +77bff09f21c4b09dbb5549101354a15ebc0735a97f821fc03773a6e3b516aa4e automotive_exhaust_90_bend_od63/restores/clutter_20261016-141359_restore_n4_automotive_exhaust_90_bend_od63-10.json +bdd62df0c00690af6883540d41c2222b510ee0e703495d10ee756ecbc665802a 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