{
  "generator": "scripts/automated_data_collection/rollout_to_dataset.py",
  "generated_at": "2026-09-19T07:42:24.492040+00:00",
  "git_commit": "f4620c88ae3d66224ee1f356e58ca535f7cbbb17",
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  "algo_name": "diffusion_policy",
  "epoch": 250,
  "env_name": "stack",
  "task": "stack",
  "type_of_robot": "single",
  "manipulator": "franka",
  "gripper": "allegro",
  "manipulator_controller": "osc_pose_abs_quat",
  "gripper_controller": "joint_position",
  "control_hz": 20,
  "action_dim": 23,
  "obs_keys": [
    "state_manipulator_eef_pos",
    "state_gripper_tcp_pos",
    "state_gripper_qpos",
    "state_other_cube_a_pos",
    "state_other_cube_b_pos",
    "state_other_cube_c_pos"
  ],
  "obs_shapes": {
    "state_gripper_qpos": [
      16
    ],
    "state_gripper_tcp_pos": [
      3
    ],
    "state_manipulator_eef_pos": [
      1,
      3
    ],
    "state_other_cube_a_pos": [
      3
    ],
    "state_other_cube_b_pos": [
      3
    ],
    "state_other_cube_c_pos": [
      3
    ]
  },
  "frame_stack": 2,
  "checkpoint_cameras": [
    "front",
    "wrist"
  ],
  "recorded_cameras": [
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    "wrist"
  ],
  "camera_notes": [],
  "seed": 0,
  "horizon": 600,
  "save_all": false,
  "attempts": 1500,
  "successes": 48,
  "saved": 48,
  "success_rate": 0.032,
  "merged_parts": [
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      "generated_at": "2026-09-19T07:42:24.492040+00:00",
      "git_commit": "f4620c88ae3d66224ee1f356e58ca535f7cbbb17",
      "checkpoint": "/efs/projects/fudi/test_stuff/checkpoints_from_paper/DRIVE/stack_franka_allegro/LOWDIM/DIFFUSION/models/model_epoch_250_stack_franka_allegro_success_0.06.pth",
      "seed": 0,
      "resumed_from_attempt": 688,
      "attempts": 1500,
      "successes": 48,
      "saved": 48
    },
    {
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      "generated_at": "2026-09-19T04:58:24.458832+00:00",
      "git_commit": "f4620c88ae3d66224ee1f356e58ca535f7cbbb17",
      "checkpoint": "/efs/projects/fudi/test_stuff/checkpoints_from_paper/DRIVE/stack_franka_allegro/LOWDIM/DIFFUSION/models/model_epoch_250_stack_franka_allegro_success_0.06.pth",
      "seed": 10000,
      "resumed_from_attempt": null,
      "attempts": 641,
      "successes": 22,
      "saved": 22
    },
    {
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      "generated_at": "2026-09-19T04:42:46.134494+00:00",
      "git_commit": "f4620c88ae3d66224ee1f356e58ca535f7cbbb17",
      "checkpoint": "/efs/projects/fudi/test_stuff/checkpoints_from_paper/DRIVE/stack_franka_allegro/LOWDIM/DIFFUSION/models/model_epoch_250_stack_franka_allegro_success_0.06.pth",
      "seed": 20000,
      "resumed_from_attempt": null,
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    },
    {
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      "git_commit": "f4620c88ae3d66224ee1f356e58ca535f7cbbb17",
      "checkpoint": "/efs/projects/fudi/test_stuff/checkpoints_from_paper/DRIVE/stack_franka_allegro/LOWDIM/DIFFUSION/models/model_epoch_250_stack_franka_allegro_success_0.06.pth",
      "seed": 30000,
      "resumed_from_attempt": null,
      "attempts": 552,
      "successes": 22,
      "saved": 22
    },
    {
      "name": "stack_franka_allegro_mg_p4",
      "generated_at": "2026-09-19T07:32:17.390707+00:00",
      "git_commit": "f4620c88ae3d66224ee1f356e58ca535f7cbbb17",
      "checkpoint": "/efs/projects/fudi/test_stuff/checkpoints_from_paper/DRIVE/stack_franka_allegro/LOWDIM/DIFFUSION/models/model_epoch_250_stack_franka_allegro_success_0.06.pth",
      "seed": 40000,
      "resumed_from_attempt": null,
      "attempts": 717,
      "successes": 22,
      "saved": 22
    },
    {
      "name": "stack_franka_allegro_mg_p5",
      "generated_at": "2026-09-19T03:40:00.558940+00:00",
      "git_commit": "f4620c88ae3d66224ee1f356e58ca535f7cbbb17",
      "checkpoint": "/efs/projects/fudi/test_stuff/checkpoints_from_paper/DRIVE/stack_franka_allegro/LOWDIM/DIFFUSION/models/model_epoch_250_stack_franka_allegro_success_0.06.pth",
      "seed": 50000,
      "resumed_from_attempt": null,
      "attempts": 611,
      "successes": 22,
      "saved": 22
    },
    {
      "name": "stack_franka_allegro_mg_p6",
      "generated_at": "2026-09-19T09:40:33.263622+00:00",
      "git_commit": "f4620c88ae3d66224ee1f356e58ca535f7cbbb17",
      "checkpoint": "/efs/projects/fudi/test_stuff/checkpoints_from_paper/DRIVE/stack_franka_allegro/LOWDIM/DIFFUSION/models/model_epoch_250_stack_franka_allegro_success_0.06.pth",
      "seed": 60000,
      "resumed_from_attempt": null,
      "attempts": 767,
      "successes": 22,
      "saved": 22
    },
    {
      "name": "stack_franka_allegro_mg_p7",
      "generated_at": "2026-09-19T02:06:10.025834+00:00",
      "git_commit": "f4620c88ae3d66224ee1f356e58ca535f7cbbb17",
      "checkpoint": "/efs/projects/fudi/test_stuff/checkpoints_from_paper/DRIVE/stack_franka_allegro/LOWDIM/DIFFUSION/models/model_epoch_250_stack_franka_allegro_success_0.06.pth",
      "seed": 70000,
      "resumed_from_attempt": null,
      "attempts": 570,
      "successes": 22,
      "saved": 22
    }
  ],
  "note": "merged from the parts listed in merged_parts (disjoint seed bases, seed = base + attempt index), trimmed to 200 episodes; see merge_manifest.json"
}