| --- |
| license: mit |
| tags: |
| - robotics |
| - oat |
| - robocasa |
| - evaluation |
| --- |
| |
| # RoboCasa last-two — datasets + Wave1 logs |
|
|
| Companion models: [`hackhackhack66666/rc-model-two-last`](https://huggingface.co/hackhackhack66666/rc-model-two-last) |
|
|
| Guides (branch `robocasa`): |
| - [AGENT_GUIDE_ROBOCASA_SINK_BON16_AWR.md](https://github.com/Mirageinvo/OAT_BLT_research/blob/robocasa/oat/AGENT_GUIDE_ROBOCASA_SINK_BON16_AWR.md) |
| - [AGENT_GUIDE_ROBOCASA_MICROWAVE_BON16_AWR.md](https://github.com/Mirageinvo/OAT_BLT_research/blob/robocasa/oat/AGENT_GUIDE_ROBOCASA_MICROWAVE_BON16_AWR.md) |
|
|
| ## Inventory (mentee readiness) |
|
|
| | Asset | Status | Needed for AWR16 Wave2? | |
| |-------|--------|-------------------------| |
| | `turn_off_sink_faucet_N200.zarr.tar` | ✅ on repo | yes (untar → `data/robocasa/`) | |
| | `turn_off_microwave_N200.zarr.tar` | ✅ on repo | yes | |
| | Wave1 sink **baseline** seeds `10000..10004` | ✅ | **yes** (Wave2 gate) | |
| | Wave1 sink **BoN8** seeds `10000..10004` + `summary_literal5.json` | ✅ | no (Table P only) | |
| | Wave1 microwave **baseline** seeds `10000..10004` | ✅ | **yes** (Wave2 gate) | |
| | Wave1 microwave **BoN8** | ⏳ **1/5** (`seed10000` only) — cluster still running | no for AWR16 | |
| | Microwave `summary_literal5.json` | ⏳ provisional (BoN incomplete) | no | |
|
|
| ## Wave1 Table P (literal-5) |
|
|
| Protocol: seeds `10000..10004`, `-n 1 --n_test 50`, OAT8; BoN `--bon_free 8 --bon_signal vote`. |
| Aggregation: mean±SEM over 5 seeds; `Δ = mean(BoN)−mean(base)`, `SEM_Δ = sqrt(SEM_b²+SEM_m²)`. |
|
|
| | task | baseline mean±SEM | BoN N=8 | Δ_BoN±SEM_Δ | status | |
| |------|-------------------|---------|-------------|--------| |
| | `turn_off_sink_faucet` | **52.4±2.5%** | **56.0±3.4%** | **+3.6±4.2 pp** | DONE | |
| | `turn_off_microwave` | **43.6±3.1%** | *(pending 1/5)* | — | base DONE · BoN RUNNING | |
|
|
| ## Layout after download |
|
|
| ```text |
| turn_off_*_N200.zarr.tar # large — already on this dataset |
| wave1_turn_off_sink_faucet/ |
| baseline_seed{10000..10004}/eval_log.json |
| bon_n8_seed{10000..10004}/eval_log.json |
| summary_literal5.json |
| wave1_turn_off_microwave/ |
| baseline_seed{10000..10004}/eval_log.json # complete — mentee OK to start Wave2 |
| bon_n8_seed10000/eval_log.json # partial |
| summary_literal5.json # provisional until BoN 5/5 |
| ``` |
|
|
| ### Place under `oat/` |
|
|
| ```bash |
| tar -xf turn_off_sink_faucet_N200.zarr.tar -C data/robocasa/ |
| tar -xf turn_off_microwave_N200.zarr.tar -C data/robocasa/ |
| rsync -a wave1_turn_off_sink_faucet/ \ |
| output/eval/matched_s10000/robocasa/turn_off_sink_faucet/ |
| rsync -a wave1_turn_off_microwave/ \ |
| output/eval/matched_s10000/robocasa/turn_off_microwave/ |
| ``` |
|
|
| Wave2 gate check (both tasks): |
|
|
| ```bash |
| for t in turn_off_sink_faucet turn_off_microwave; do |
| for s in 10000 10001 10002 10003 10004; do |
| test -f output/eval/matched_s10000/robocasa/$t/baseline_seed$s/eval_log.json && echo OK $t $s |
| done |
| done |
| ``` |
|
|
| When microwave BoN finishes on cluster, refresh `bon_n8_seed*` + final `summary_literal5.json` here (or see `hackhackhack66666/last`). |
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|
