File size: 24,704 Bytes
ef3e4b2 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 | {
"accepted_episode_contract": "collector-episodes-directory-v1",
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
"action_key": null,
"adaptive_intent_expected": true,
"adaptive_trust_region_config": null,
"adaptive_trust_region_enabled": false,
"base_episodes": 20,
"composition_filter": null,
"episodes_per_cell": 20,
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
"evaluation_mode": "simple",
"excluded_trajectories": [],
"execute_horizon": 1,
"extra_perturbation_source_indices": [],
"handover_signal_prompts_enabled": true,
"human_annotations_root": "/mnt/data/data_nhat/hitbench/human_annotations",
"human_interaction_filter": "stop",
"human_interaction_prompts_enabled": true,
"human_task_dir": null,
"initialization_contract": "sealed-frozen-multi-perturbation-reconstruction-v2",
"initialization_source": "human-plan",
"intent_human_prompts_enabled": true,
"intent_visual_history_enabled": true,
"intrinsic_action_evaluation": true,
"max_steps": 650,
"modes": [
"object-perturbed"
],
"object_perturbation_m": 0.005,
"observation_keys": [],
"perturbation_attempts": 20,
"perturbation_bank": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
"perturbation_bank_manifest_sha256": "2dc4669160fb81459b3a812075b19fe48abc65156428d5689eca80f41d0a6988",
"perturbed_state_schedule": [
{
"evaluation_state_index": 0,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 0,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000001.hdf5"
},
{
"evaluation_state_index": 1,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 1,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000002.hdf5"
},
{
"evaluation_state_index": 2,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 2,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000003.hdf5"
},
{
"evaluation_state_index": 3,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 3,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000004.hdf5"
},
{
"evaluation_state_index": 4,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 4,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000005.hdf5"
},
{
"evaluation_state_index": 5,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 5,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000006.hdf5"
},
{
"evaluation_state_index": 6,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 6,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000007.hdf5"
},
{
"evaluation_state_index": 7,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 7,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000008.hdf5"
},
{
"evaluation_state_index": 8,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 8,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000009.hdf5"
},
{
"evaluation_state_index": 9,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 9,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000010.hdf5"
},
{
"evaluation_state_index": 10,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 10,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000011.hdf5"
},
{
"evaluation_state_index": 11,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 11,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000012.hdf5"
},
{
"evaluation_state_index": 12,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 12,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000013.hdf5"
},
{
"evaluation_state_index": 13,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 13,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000014.hdf5"
},
{
"evaluation_state_index": 14,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 14,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000015.hdf5"
},
{
"evaluation_state_index": 15,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 15,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000016.hdf5"
},
{
"evaluation_state_index": 16,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 16,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000017.hdf5"
},
{
"evaluation_state_index": 17,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 17,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000018.hdf5"
},
{
"evaluation_state_index": 18,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 18,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000019.hdf5"
},
{
"evaluation_state_index": 19,
"perturbation_index": 0,
"scenario_id": "tomato-to-bowl/stop",
"source_index": 19,
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000020.hdf5"
}
],
"policy_endpoint": "http://127.0.0.1:5596",
"policy_payload_schema": "hitbench-policy-observation-v3",
"policy_rollouts": 20,
"policy_server_config": {
"ablation": {
"history_indices": [
-9,
-6,
-3,
0
],
"interaction_prompt": true,
"regular_prompt": true,
"variant": "E",
"visual_history": 4
},
"action": {
"shape": [
50,
7
]
},
"action_execution": "fresh trust sample and action chunk each request; evaluator executes one action",
"identity": {
"checkpoint": "/mnt/data/data_nhat/hitbench/outputs/hri_diff/joint_h50_100k/checkpoints/100000/hri_diff",
"model": "hri-diff"
},
"observation": {
"observation.depth.agentview": "float32 1HW camera-Z metres",
"observation.images.rgb": "uint8 HWC RGB",
"observation.state": "float32 [8] current proprioception"
},
"policy": "hri-diff",
"rgb_input_contract": {
"alignment": "exact_odd_gop; causal_current_frame_approximation; exact_history_after_next_frame",
"codec_roundtrip": {
"canonical_codec": "av1",
"crf": 30,
"fps": 20,
"g": 2,
"pix_fmt": "yuv420p",
"vcodec": "libsvtav1"
},
"storage": "av1_yuv420_video"
},
"trust_flow": {
"dimension": 512,
"ode_steps": 20,
"tokens": 50
}
},
"policy_variant": "E",
"reconstruction_selection": "object-perturbed",
"recorded_evaluation_mode": "single",
"runtime_perturbation_sampling": false,
"safety_filter_enabled": false,
"save_video_mode": "all",
"schema_version": 10,
"selected_cases": [
"tomato-to-bowl/stop"
],
"shortages": {},
"source_alignment": [
{
"event_human_seeds": [
1635210879
],
"human_plan_sha256": "3b16e64f1e2403065fff877573779a0bc85761bc1e031b0e40fe1cf2a50aad78",
"human_seed": 1635210879,
"initial_sim_state_sha256": "8b01ef99c4fa98d7b59dceec9f81f259778c2e4a00772b137151c31cae25a0f5",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000001.hdf5",
"task_seed": 773541292,
"task_sim_state_sha256": "8b01ef99c4fa98d7b59dceec9f81f259778c2e4a00772b137151c31cae25a0f5"
},
{
"event_human_seeds": [
2703376662
],
"human_plan_sha256": "54b0ab2a5cb8c84e5d2b9f3a44114e2b5d12f69189a647fa7668320a9f661ebb",
"human_seed": 2703376662,
"initial_sim_state_sha256": "d78b1cc24d32b01106a081bed15d1be9aaf191ba1511b77eb982466e5d60636b",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000002.hdf5",
"task_seed": 713873487,
"task_sim_state_sha256": "d78b1cc24d32b01106a081bed15d1be9aaf191ba1511b77eb982466e5d60636b"
},
{
"event_human_seeds": [
4062072836
],
"human_plan_sha256": "4d3c5fcdf0afc95b93cfb8f57991d0980ae7b9403838ac0380230dbc42e3cfc3",
"human_seed": 4062072836,
"initial_sim_state_sha256": "a1d0776fd0f6d1aed7760a5d20f68d5d8b4f82c428367b54c55c9e6720d0600e",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000003.hdf5",
"task_seed": 439585592,
"task_sim_state_sha256": "a1d0776fd0f6d1aed7760a5d20f68d5d8b4f82c428367b54c55c9e6720d0600e"
},
{
"event_human_seeds": [
1701134689
],
"human_plan_sha256": "766e2612f4fc03b9bb50aa80c23eb0d2385759a12a1afecb55144bfc9160a6cb",
"human_seed": 1701134689,
"initial_sim_state_sha256": "5f8658f699edee7093ffc2b24723aebe494791c846acfcb078fa4d3a4e49c585",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000004.hdf5",
"task_seed": 1577080669,
"task_sim_state_sha256": "5f8658f699edee7093ffc2b24723aebe494791c846acfcb078fa4d3a4e49c585"
},
{
"event_human_seeds": [
1266628508
],
"human_plan_sha256": "ccce74048bd628d1ba717e802971ad014355a31826b68a7d8d0691f9d048fbef",
"human_seed": 1266628508,
"initial_sim_state_sha256": "f73fb456d9e435812ed28c1a2c457f45b6882aea4b5a1b6f7f1f9a9899a30731",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000005.hdf5",
"task_seed": 2754298370,
"task_sim_state_sha256": "f73fb456d9e435812ed28c1a2c457f45b6882aea4b5a1b6f7f1f9a9899a30731"
},
{
"event_human_seeds": [
389407544
],
"human_plan_sha256": "ec49a4ed86c5e1bb110982d4d31fdc3409e79bc25d269eebcb30bef0454202cc",
"human_seed": 389407544,
"initial_sim_state_sha256": "2a8b60fe17326aba80f2d4bf993c661eb33a67e02cf67224b920b0b8c889d841",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000006.hdf5",
"task_seed": 3120033489,
"task_sim_state_sha256": "2a8b60fe17326aba80f2d4bf993c661eb33a67e02cf67224b920b0b8c889d841"
},
{
"event_human_seeds": [
504667925
],
"human_plan_sha256": "a06b776c9a1a397460dd89609ff21448a2c3c9b2d35f30669bb0c885710a4619",
"human_seed": 504667925,
"initial_sim_state_sha256": "5228344bba2fadafb1cac0ad9574d8190b5db093ef81af4b761a5bdc9655cf58",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000007.hdf5",
"task_seed": 2776985119,
"task_sim_state_sha256": "5228344bba2fadafb1cac0ad9574d8190b5db093ef81af4b761a5bdc9655cf58"
},
{
"event_human_seeds": [
3383006701
],
"human_plan_sha256": "4a93d5a6a8254528fefbb4b63ae2f56a5e611b57d8824139d796f5bc67769c8f",
"human_seed": 3383006701,
"initial_sim_state_sha256": "75c638827030c70b2477a3b999918065b7b1c1aa8cca2d595f95764f580c637e",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000008.hdf5",
"task_seed": 1590257221,
"task_sim_state_sha256": "75c638827030c70b2477a3b999918065b7b1c1aa8cca2d595f95764f580c637e"
},
{
"event_human_seeds": [
2782862035
],
"human_plan_sha256": "f2d2b36f38ee26ee2c5c9f31affc0ebd7b128a0fb9599bf9926495b75e98563c",
"human_seed": 2782862035,
"initial_sim_state_sha256": "25a1707419cabd3f11e49fdf53f8f32e63f91601feb61a97983110d2c18ef8d6",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000009.hdf5",
"task_seed": 373243349,
"task_sim_state_sha256": "25a1707419cabd3f11e49fdf53f8f32e63f91601feb61a97983110d2c18ef8d6"
},
{
"event_human_seeds": [
4133361110
],
"human_plan_sha256": "4a468cd04862e12c1021031d47a4440260c62f0e0b7b9b695040db4d6fed07b0",
"human_seed": 4133361110,
"initial_sim_state_sha256": "e1c0b41c6b47b7a01933affe7bb31c0b454b51d185d4cf963048fa4c5046c336",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000010.hdf5",
"task_seed": 2215284696,
"task_sim_state_sha256": "e1c0b41c6b47b7a01933affe7bb31c0b454b51d185d4cf963048fa4c5046c336"
},
{
"event_human_seeds": [
2696896047
],
"human_plan_sha256": "730bf5cf4c668f2d691d19e5d3218f605ff7784f5d3d81068baab67263ffe88d",
"human_seed": 2696896047,
"initial_sim_state_sha256": "0a91af46276be0331d58c9fb747d766723102c830fbc5535cd3aa2e2ab0dfaf2",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000011.hdf5",
"task_seed": 3187069060,
"task_sim_state_sha256": "0a91af46276be0331d58c9fb747d766723102c830fbc5535cd3aa2e2ab0dfaf2"
},
{
"event_human_seeds": [
103622708
],
"human_plan_sha256": "675e3c350a5a0ca571c921811801b3a31c91aa192ecd7178c974bd65b911d8b2",
"human_seed": 103622708,
"initial_sim_state_sha256": "8e60aeb211eac0c267ad58eb5798a6fe6c5e9d5bf5e7783478cc0b0073fdfe2a",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000012.hdf5",
"task_seed": 4286315569,
"task_sim_state_sha256": "8e60aeb211eac0c267ad58eb5798a6fe6c5e9d5bf5e7783478cc0b0073fdfe2a"
},
{
"event_human_seeds": [
2225181465
],
"human_plan_sha256": "9009b81d371ab1198cef5568f543e06387cc08497a820957fe65bf8c9cfec5fc",
"human_seed": 2225181465,
"initial_sim_state_sha256": "2c9c829d5f6e8b130b1cb9f0125c811bdfa4b82eaace4ae437eb7a54848875a6",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000013.hdf5",
"task_seed": 1890333878,
"task_sim_state_sha256": "2c9c829d5f6e8b130b1cb9f0125c811bdfa4b82eaace4ae437eb7a54848875a6"
},
{
"event_human_seeds": [
1779656868
],
"human_plan_sha256": "66db3c600935e67b6593905b15a99ebd515de346678ccf230c7e6937ceb60ea8",
"human_seed": 1779656868,
"initial_sim_state_sha256": "b6ba81a6e05f702ba0389b9c1b770cfec1ddb143b64bf04476ddcda0283302b1",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000014.hdf5",
"task_seed": 2713619963,
"task_sim_state_sha256": "b6ba81a6e05f702ba0389b9c1b770cfec1ddb143b64bf04476ddcda0283302b1"
},
{
"event_human_seeds": [
11407759
],
"human_plan_sha256": "7e98133a26ceaf908c4597c10515619dfcc97462bb65d2dcb3a17f3fdeb487e8",
"human_seed": 11407759,
"initial_sim_state_sha256": "c7da56189e269a83f5d8963cbcb4e4380b503e90e9f2096544e40977fa1ed7dc",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000015.hdf5",
"task_seed": 1512525398,
"task_sim_state_sha256": "c7da56189e269a83f5d8963cbcb4e4380b503e90e9f2096544e40977fa1ed7dc"
},
{
"event_human_seeds": [
3373267507
],
"human_plan_sha256": "92481ba580b30c40b293ff8175ee522dcaa5a0a8daaf4c651221757aa5bfd321",
"human_seed": 3373267507,
"initial_sim_state_sha256": "ffb5f56c32263e7192b5d907f44179275c9e1206924a1631d22765eb17882228",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000016.hdf5",
"task_seed": 2130026241,
"task_sim_state_sha256": "ffb5f56c32263e7192b5d907f44179275c9e1206924a1631d22765eb17882228"
},
{
"event_human_seeds": [
191608387
],
"human_plan_sha256": "a70199ad0683a88f84261ad2d8c17b6422ae9bf70a2e4212e8d142a163204670",
"human_seed": 191608387,
"initial_sim_state_sha256": "ad87fde6fe370937ba0c40d14c975daa7a07c1732f4f3899b64ae64ce9b8a854",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000017.hdf5",
"task_seed": 1554710272,
"task_sim_state_sha256": "ad87fde6fe370937ba0c40d14c975daa7a07c1732f4f3899b64ae64ce9b8a854"
},
{
"event_human_seeds": [
2251320525
],
"human_plan_sha256": "eda3cec968911e6a45b5c1acf6e83389100acb44417cced6dfd8018bb58ddfa4",
"human_seed": 2251320525,
"initial_sim_state_sha256": "2cf126a336677113477750e17b4328789921713e51b9cc02fdcac041f88a914d",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000018.hdf5",
"task_seed": 4248188463,
"task_sim_state_sha256": "2cf126a336677113477750e17b4328789921713e51b9cc02fdcac041f88a914d"
},
{
"event_human_seeds": [
3162418352
],
"human_plan_sha256": "ffdf84185a75c156da764f459affb0ffbff33dbd2ee66fa8d98544f90b72ee8f",
"human_seed": 3162418352,
"initial_sim_state_sha256": "16077a974417645ea7ee95126316a5ed59c2ba3580efd51894c02923f87f54a8",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000019.hdf5",
"task_seed": 2200621456,
"task_sim_state_sha256": "16077a974417645ea7ee95126316a5ed59c2ba3580efd51894c02923f87f54a8"
},
{
"event_human_seeds": [
88055538
],
"human_plan_sha256": "08403b22075f3a73534453d2ab0b954f68a76b5d0772dbc058a52f981899c7c1",
"human_seed": 88055538,
"initial_sim_state_sha256": "c9e9f7d53bd91f26b2d2e8e7ee68c5c9172dcec1fc0bfaf9636fcabf46e2f732",
"interaction_ids": [
"stop"
],
"scenario_id": "tomato-to-bowl/stop",
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000020.hdf5",
"task_seed": 847517899,
"task_sim_state_sha256": "c9e9f7d53bd91f26b2d2e8e7ee68c5c9172dcec1fc0bfaf9636fcabf46e2f732"
}
],
"source_alignment_contract": "accepted-exact-state-and-human-plan-v1",
"split_family": null,
"split_manifest": null,
"split_manifest_sha256": null,
"split_name": null,
"state_atol": 0.0001,
"task_filter": "tomato-to-bowl",
"trajectory_root": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw",
"transfer_action_guards_enabled": false,
"video_fps": 30,
"video_success_metric": "overall_success",
"visual_history_enabled": false
}
|