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  1. marker_bowl/README.md +0 -71
  2. marker_bowl/conditioning_samples/depth_episode_s100000_ego.mp4 +0 -3
  3. marker_bowl/conditioning_samples/depth_episode_s100000_right.mp4 +0 -3
  4. marker_bowl/conditioning_samples/depth_episode_s100001_ego.mp4 +0 -3
  5. marker_bowl/conditioning_samples/depth_episode_s100001_right.mp4 +0 -3
  6. marker_bowl/conditioning_samples/depth_episode_s101001_ego.mp4 +0 -3
  7. marker_bowl/conditioning_samples/depth_episode_s101001_right.mp4 +0 -3
  8. marker_bowl/conditioning_samples/fixed_wrist_mask.mp4 +0 -3
  9. marker_bowl/conditioning_samples/mask_preview_s103000_fixed.png +0 -3
  10. marker_bowl/conditioning_samples/verify_fix.png +0 -3
  11. marker_bowl/depth_variants/depth_tuning2_s100000_ego.mp4 +0 -3
  12. marker_bowl/depth_variants/depth_tuning2_s100000_right.mp4 +0 -3
  13. marker_bowl/depth_variants/depth_tuning2_s116000_ego.mp4 +0 -3
  14. marker_bowl/depth_variants/depth_tuning2_s116000_right.mp4 +0 -3
  15. marker_bowl/depth_variants/depth_tuning_s100000_ego.mp4 +0 -3
  16. marker_bowl/depth_variants/depth_tuning_s100000_right.mp4 +0 -3
  17. marker_bowl/depth_variants/depth_tuning_s116000_ego.mp4 +0 -3
  18. marker_bowl/depth_variants/depth_tuning_s116000_right.mp4 +0 -3
  19. marker_bowl/depth_variants/depth_variants_s100000_ego.mp4 +0 -3
  20. marker_bowl/depth_variants/depth_variants_s100000_right.mp4 +0 -3
  21. marker_bowl/depth_variants/depth_variants_s116000_ego.mp4 +0 -3
  22. marker_bowl/depth_variants/depth_variants_s116000_right.mp4 +0 -3
  23. marker_bowl/depth_variants/wrist_fix_s100000.mp4 +0 -3
  24. marker_bowl/depth_variants/wrist_fix_s116000.mp4 +0 -3
  25. marker_bowl/generated/fixed_generated_ext1.mp4 +0 -3
  26. marker_bowl/generated/fixed_generated_wrist.mp4 +0 -3
  27. marker_bowl/generated/gen_C2_ext1.mp4 +0 -3
  28. marker_bowl/generated/gen_C2_wrist.mp4 +0 -3
  29. marker_bowl/generated/gen_C_ext1.mp4 +0 -3
  30. marker_bowl/generated/gen_C_wrist.mp4 +0 -3
  31. marker_bowl/generated/gen_D2_ext1.mp4 +0 -3
  32. marker_bowl/generated/gen_D2_wrist.mp4 +0 -3
  33. marker_bowl/generated/gen_D_ext1.mp4 +0 -3
  34. marker_bowl/generated/gen_D_wrist.mp4 +0 -3
  35. marker_bowl/generated/gen_W1_ext1.mp4 +0 -3
  36. marker_bowl/generated/gen_W1_wrist.mp4 +0 -3
  37. marker_bowl/generated/gen_W2_ext1.mp4 +0 -3
  38. marker_bowl/generated/gen_W2_wrist.mp4 +0 -3
  39. marker_bowl/previews/episode_s100000_preview.mp4 +0 -3
  40. marker_bowl/previews/episode_s107028_preview.mp4 +0 -3
  41. marker_bowl/previews/episode_s111019_preview.mp4 +0 -3
  42. marker_bowl/scenes/initial_scenes_v2.png +0 -3
  43. marker_bowl/scenes/initial_scenes_v3.png +0 -3
  44. marker_bowl/scenes/initial_scenes_walls_moved_back.png +0 -3
marker_bowl/README.md DELETED
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- # marker_bowl — YAM sim task: put the green Sharpie marker in the red bowl
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-
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- Video-generation material for the `marker_bowl` xdof-sim task (single YAM right
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- arm, MuJoCo). Generated with the Wan2.1-Fun-V1.1-1.3B DualControl LoRA
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- (`...droidnew_continue_depthpatch_lora/step-8859`), 416x240, 81-frame clips,
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- 50 steps, CFG 5.0, conditioned on **depth + robot-RGB mask** per view.
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-
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- Uploaded 2026-08-05.
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-
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- ## Prompt
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-
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- > This video shows in the background, a messy lab background and a clean
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- > tabletop workspace. In the foreground, on a smooth white table, there is a
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- > green Sharpie marker with a rounded green cap and white body, lying flat,
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- > together with a yellow marker and a blue marker scattered nearby as
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- > distractors, and a glossy red plastic bowl. The robot is instructed to pick
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- > up the green Sharpie marker and place it into the red bowl.
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-
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- (An earlier variant of the prompt listed three distractors — purple, yellow,
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- blue — and was used for the generations in `generated/`.)
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-
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- ## Contents
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-
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- ### `generated/`
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- Wan outputs, one `ext1` (ego/external) + `wrist` pair per configuration.
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- Ablation over **ego depth mapping** with wrist conditioning fixed:
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-
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- | file prefix | ego depth mapping |
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- |---|---|
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- | `gen_C_` | inverse-depth log map, gamma 0.45 |
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- | `gen_C2_` | inverse-depth log map, gamma 0.60 |
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- | `gen_D_` | inverse-depth log map + histogram equalization |
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- | `gen_D2_` | inverse-depth log map + contrast-limited hist-eq (clip 3x) |
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- | `gen_W1_` | wrist ablation: fixed metric disparity + gamma 0.5 |
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- | `gen_W2_` | wrist ablation: fixed metric disparity |
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- | `fixed_generated_` | **final config**: W2 fixed disparity both views + robot-RGB masks |
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-
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- NOTE: `gen_C*`, `gen_D*`, `gen_W*` were produced with *binary white* masks,
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- which is incorrect conditioning for this model — the robot does not render
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- properly in them. `fixed_generated_*` uses the correct robot-RGB masks.
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-
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- ### `previews/`
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- Four-panel comparison videos, full episode length. Layout:
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- `sim RGB | depth conditioning | robot-RGB mask | generated`, ego row over
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- wrist row, all in matching 16:9 framing.
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-
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- ### `depth_variants/`
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- Side-by-side depth-processing comparisons (input conditioning only, no
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- generation): `depth_variants_*` = RGB | log | fixed-clip;
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- `depth_tuning*` = RGB | gamma/hist-eq variants; `wrist_fix_*` = RGB | gamma
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- 0.45 | gamma 0.6 | fixed-disparity variants.
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-
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- ### `conditioning_samples/`
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- Individual processed depth videos, a robot-RGB mask video, and verification
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- stills (`verify_fix.png` = depth | mask | generated grid;
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- `mask_preview_*` = sim RGB over robot-mask overlay).
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-
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- ### `scenes/`
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- Initial-scene renders (ego | top per episode) showing object randomization.
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- `initial_scenes_v2` = 4-marker layout; `initial_scenes_v3` = final 3-marker
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- layout (green target + yellow/blue distractors).
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-
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- ## Final conditioning spec
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-
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- - **Depth**: fixed metric disparity, no per-video statistics, so brightness
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- semantics are identical across episodes.
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- `brightness = (1/z - 1/far) / (1/near - 1/far)`, ego `near=0.25, far=3.0`,
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- wrist `near=0.05, far=2.5`; 416x240.
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- - **Mask**: the robot's own rendered RGB pixels on a black background (NOT a
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- binary silhouette).
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- - Both streams are written at 15 fps; the simulator ran at 30 Hz control.
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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