Add LeRobot v3 prepare_and_serve_meal/fine_tuning

lerobot/prepare_and_serve_meal/fine_tuning/data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fa72d0d3ae031d0409ab79c8de52582f4f695201fc020e502c0537e79246862
+size 24531891

lerobot/prepare_and_serve_meal/fine_tuning/meta/cross_sim.json

@@ -0,0 +1,219 @@
+{
+  "status": "complete",
+  "split": "fine_tuning",
+  "fps": 50,
+  "task": "prepare_and_serve_meal",
+  "action_schema": "task_env_absolute_v1",
+  "action_names": [
+    "base_x",
+    "base_y",
+    "base_yaw",
+    "joint_1",
+    "joint_2",
+    "joint_3",
+    "joint_4",
+    "joint_5",
+    "joint_6",
+    "joint_7",
+    "gripper_command"
+  ],
+  "units": [
+    "m",
+    "m",
+    "rad",
+    "rad",
+    "rad",
+    "rad",
+    "rad",
+    "rad",
+    "rad",
+    "rad",
+    "fraction_closed"
+  ],
+  "state_gripper": "previous executed command, not measured finger aperture",
+  "sampling": "command at start of each 20ms interval; pre-action qpos",
+  "physics_replay_validated": false,
+  "episodes": [
+    {
+      "source": "/nobackup/le/cross-episode-robotics-sim/runs/train_test_v1/train/batches/round_continuous/prepare_and_serve_meal_000167",
+      "frames": 23880,
+      "source_start_time": 0.0,
+      "stride": 10,
+      "max_raw_ctrl_hold_error": [
+        0.0454516311533264,
+        0.043063831460512736,
+        0.04938619916585174,
+        0.04704226024412539,
+        0.04800482771681858,
+        0.05209673216858457,
+        0.07169140733033386,
+        255.0,
+        0.03607960779550767,
+        0.05151800086954328,
+        6.2831852345603
+      ],
+      "dropped_tail_samples": 0
+    },
+    {
+      "source": "/nobackup/le/cross-episode-robotics-sim/runs/train_test_v1/train/batches/round_continuous/prepare_and_serve_meal_000168",
+      "frames": 31319,
+      "source_start_time": 0.0,
+      "stride": 10,
+      "max_raw_ctrl_hold_error": [
+        0.04911281778982218,
+        0.05378120508588813,
+        0.04939815524435298,
+        0.04805577578120657,
+        0.04800515117549897,
+        0.047805895055234915,
+        0.0731808176703348,
+        255.0,
+        0.036497603560048386,
+        0.052768725888654444,
+        6.28318523457784
+      ],
+      "dropped_tail_samples": 0
+    },
+    {
+      "source": "/nobackup/le/cross-episode-robotics-sim/runs/train_test_v1/train/batches/round_continuous/prepare_and_serve_meal_000169",
+      "frames": 31239,
+      "source_start_time": 0.0,
+      "stride": 10,
+      "max_raw_ctrl_hold_error": [
+        0.04982504491212314,
+        0.05378120508588813,
+        0.04564674368947763,
+        0.04928717091025514,
+        0.04800339693445416,
+        0.049552428156354855,
+        0.07250322331990877,
+        255.0,
+        0.02750238144795958,
+        0.03323491832711856,
+        0.07942855655227254
+      ],
+      "dropped_tail_samples": 0
+    },
+    {
+      "source": "/nobackup/le/cross-episode-robotics-sim/runs/train_test_v1/train/batches/round_continuous/prepare_and_serve_meal_000170",
+      "frames": 27883,
+      "source_start_time": 0.0,
+      "stride": 10,
+      "max_raw_ctrl_hold_error": [
+        0.047263807488635345,
+        0.04434203582347995,
+        0.04936894431478489,
+        0.04966924279475726,
+        0.04800435652305346,
+        0.05332397227762442,
+        0.07250243181820859,
+        255.0,
+        0.0364970505257487,
+        0.053023461931550386,
+        6.2831852454949395
+      ],
+      "dropped_tail_samples": 3
+    },
+    {
+      "source": "/nobackup/le/cross-episode-robotics-sim/runs/train_test_v1/train/batches/round_continuous/prepare_and_serve_meal_000171",
+      "frames": 23977,
+      "source_start_time": 0.0,
+      "stride": 10,
+      "max_raw_ctrl_hold_error": [
+        0.049827003364389943,
+        0.04181845245139848,
+        0.049389021276396106,
+        0.046716555223715206,
+        0.04800315985416653,
+        0.0521658169609569,
+        0.07318082100045076,
+        255.0,
+        0.03849643591934626,
+        0.05287425807115653,
+        6.2831852345603
+      ],
+      "dropped_tail_samples": 5
+    },
+    {
+      "source": "/nobackup/le/cross-episode-robotics-sim/runs/train_test_v1/train/batches/round_continuous/prepare_and_serve_meal_000172",
+      "frames": 31349,
+      "source_start_time": 0.0,
+      "stride": 10,
+      "max_raw_ctrl_hold_error": [
+        0.04911281778982218,
+        0.05378120508588813,
+        0.04565114457422359,
+        0.04932497368866873,
+        0.048005151085462106,
+        0.05278176508618815,
+        0.0731808176703348,
+        255.0,
+        0.0388949782791812,
+        0.04696964732182085,
+        0.07957881667965894
+      ],
+      "dropped_tail_samples": 5
+    },
+    {
+      "source": "/nobackup/le/cross-episode-robotics-sim/runs/train_test_v1/train/batches/round_continuous/prepare_and_serve_meal_000173",
+      "frames": 33706,
+      "source_start_time": 0.0,
+      "stride": 10,
+      "max_raw_ctrl_hold_error": [
+        0.04911281778982218,
+        0.05378120508588813,
+        0.049419288797052596,
+        0.050255740701318885,
+        0.04800434565375378,
+        0.0559279082934081,
+        0.07318194624567953,
+        255.0,
+        0.027502382215644605,
+        0.033291365357537295,
+        0.0733351488085967
+      ],
+      "dropped_tail_samples": 9
+    },
+    {
+      "source": "/nobackup/le/cross-episode-robotics-sim/runs/train_test_v1/train/batches/round_continuous/prepare_and_serve_meal_000174",
+      "frames": 24351,
+      "source_start_time": 0.0,
+      "stride": 10,
+      "max_raw_ctrl_hold_error": [
+        0.04671867192178247,
+        0.04434203582347995,
+        0.04936894431478489,
+        0.04966924279475726,
+        0.048004356505426504,
+        0.05332397227762442,
+        0.07250243181820859,
+        255.0,
+        0.038894632034771615,
+        0.052513010052239295,
+        6.283185090103899
+      ],
+      "dropped_tail_samples": 3
+    },
+    {
+      "source": "/nobackup/le/cross-episode-robotics-sim/runs/train_test_v1/train/batches/round_continuous/prepare_and_serve_meal_000175",
+      "frames": 26732,
+      "source_start_time": 0.0,
+      "stride": 10,
+      "max_raw_ctrl_hold_error": [
+        0.049818403977083925,
+        0.04172393491841975,
+        0.049434093894284103,
+        0.046716555223715206,
+        0.04799536685545486,
+        0.0540769749838681,
+        0.07318194575263282,
+        255.0,
+        0.03607960779550767,
+        0.05288485836878554,
+        6.2831852345603
+      ],
+      "dropped_tail_samples": 3
+    }
+  ],
+  "video_decoder_tolerance_s": 0.001
+}

lerobot/prepare_and_serve_meal/fine_tuning/meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2879387c60cf9c3f49d102eccbc342d700d1f10595292ccadcde874cf5497e0c
+size 71794

lerobot/prepare_and_serve_meal/fine_tuning/meta/info.json

@@ -0,0 +1,137 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "franka_tidybot",
+    "total_episodes": 9,
+    "total_frames": 254436,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 50,
+    "splits": {
+        "train": "0:9"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "base_x",
+                "base_y",
+                "base_yaw",
+                "joint_1",
+                "joint_2",
+                "joint_3",
+                "joint_4",
+                "joint_5",
+                "joint_6",
+                "joint_7",
+                "gripper_command"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "base_x",
+                "base_y",
+                "base_yaw",
+                "joint_1",
+                "joint_2",
+                "joint_3",
+                "joint_4",
+                "joint_5",
+                "joint_6",
+                "joint_7",
+                "gripper_command"
+            ]
+        },
+        "observation.images.navigation_cam": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 256,
+                "video.width": 256,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_cam": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 256,
+                "video.width": 256,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

lerobot/prepare_and_serve_meal/fine_tuning/meta/stats.json

@@ -0,0 +1,722 @@
+{
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            254436
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            674.1
+        ],
+        "mean": [
+            287.12675588360133
+        ],
+        "std": [
+            170.6894099848705
+        ],
+        "count": [
+            254436
+        ],
+        "q01": [
+            5.732013339664095
+        ],
+        "q10": [
+            57.420280847891945
+        ],
+        "q50": [
+            287.12427254260945
+        ],
+        "q90": [
+            516.8332309193108
+        ],
+        "q99": [
+            568.5214984275386
+        ]
+    },
+    "observation.state": {
+        "min": [
+            0.7122703790664673,
+            -7.268665313720703,
+            -6.3395795822143555,
+            -2.5900049209594727,
+            -1.7581905126571655,
+            -1.331207275390625,
+            -3.004680871963501,
+            -2.792313575744629,
+            0.5998335480690002,
+            -2.1784720420837402,
+            0.0
+        ],
+        "max": [
+            5.014045715332031,
+            -0.9497390985488892,
+            10.369507789611816,
+            1.9094455242156982,
+            0.37626126408576965,
+            1.9281320571899414,
+            -0.19778652489185333,
+            2.58630108833313,
+            4.496898651123047,
+            2.053663492202759,
+            1.0
+        ],
+        "mean": [
+            2.777630484427063,
+            -2.0407013674111365,
+            2.380944375029033,
+            -0.017058799454928757,
+            -0.5158002240941049,
+            0.07420430341048949,
+            -1.2683171734030403,
+            -0.02694706917197371,
+            1.7904851277687075,
+            -0.0845405237566556,
+            0.49509110442067567
+        ],
+        "std": [
+            0.9990356555468956,
+            1.6016678950511254,
+            3.637816571181703,
+            0.74193373582674,
+            0.47322710344467417,
+            0.48091355299886446,
+            0.8202923775196407,
+            0.8668147481223777,
+            1.1079989991209342,
+            0.7520970450666995,
+            0.49997590294730987
+        ],
+        "count": [
+            254436
+        ],
+        "q01": [
+            0.7123152173881169,
+            -7.161235083022646,
+            -5.311899309085719,
+            -2.0585544299001786,
+            -1.4783531010192634,
+            -1.054963004112464,
+            -2.8632341979658187,
+            -2.022000523908955,
+            0.5998803467522679,
+            -1.8817769684278958,
+            -1.000000013351432e-10
+        ],
+        "q10": [
+            1.692731504592219,
+            -3.8087179534034865,
+            -2.1366072580692443,
+            -1.077477572624475,
+            -1.0773857066610713,
+            -0.4654265652490972,
+            -2.1956011683343353,
+            -0.8772451272095961,
+            0.5998803467522679,
+            -1.0231164137749393,
+            -1.000000013351432e-10
+        ],
+        "q50": [
+            2.547755612768205,
+            -1.4014523973658484,
+            2.769320489838245,
+            -0.00012213015630104624,
+            -0.5508760854009278,
+            0.00017290393738582252,
+            -1.5329406651798718,
+            -0.0002506382141814302,
+            1.6672494670900588,
+            -0.00026529706496022086,
+            0.36024766221064985
+        ],
+        "q90": [
+            4.391048119711812,
+            -1.0283359392827263,
+            5.736020360577063,
+            0.9330016915912741,
+            0.00035214107372144723,
+            0.7044469235236426,
+            -0.19994401843119236,
+            1.2378961826807005,
+            3.387929925771432,
+            0.9949605596400946,
+            0.9999593211599476
+        ],
+        "q99": [
+            4.98397953547636,
+            -0.9503422628584703,
+            7.921623970765209,
+            1.7080804945340577,
+            0.16206487457016705,
+            1.4918365529321445,
+            -0.1995090924719069,
+            2.218453684208691,
+            4.219862320629832,
+            1.609038972187327,
+            0.9999959321159948
+        ]
+    },
+    "observation.images.wrist_cam": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.4412409639310356
+                ]
+            ],
+            [
+                [
+                    0.3280431123002991
+                ]
+            ],
+            [
+                [
+                    0.31732084345307504
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.013009153817542305
+                ]
+            ],
+            [
+                [
+                    0.006770182656252659
+                ]
+            ],
+            [
+                [
+                    0.01876549409709588
+                ]
+            ]
+        ],
+        "count": [
+            19587
+        ],
+        "q01": [
+            [
+                [
+                    0.0720865088858512
+                ]
+            ],
+            [
+                [
+                    -3.9215686274509807e-13
+                ]
+            ],
+            [
+                [
+                    -3.9215686274509807e-13
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.13916480819033047
+                ]
+            ],
+            [
+                [
+                    0.05950185248683364
+                ]
+            ],
+            [
+                [
+                    0.0573938192938854
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.4179732453781626
+                ]
+            ],
+            [
+                [
+                    0.21270767666991525
+                ]
+            ],
+            [
+                [
+                    0.19611318582300305
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.7952560139949162
+                ]
+            ],
+            [
+                [
+                    0.8276976812058607
+                ]
+            ],
+            [
+                [
+                    0.8419207208188497
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9825188413322007
+                ]
+            ],
+            [
+                [
+                    0.9858835395100586
+                ]
+            ],
+            [
+                [
+                    0.9968336267158302
+                ]
+            ]
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            254435
+        ],
+        "mean": [
+            127217.5
+        ],
+        "std": [
+            73449.34654519852
+        ],
+        "count": [
+            254436
+        ],
+        "q01": [
+            113147.76287280794
+        ],
+        "q10": [
+            115732.17624821846
+        ],
+        "q50": [
+            127217.80776047223
+        ],
+        "q90": [
+            138702.82375178154
+        ],
+        "q99": [
+            141287.23712719206
+        ]
+    },
+    "observation.images.navigation_cam": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.5307622046027651
+                ]
+            ],
+            [
+                [
+                    0.41064508794833776
+                ]
+            ],
+            [
+                [
+                    0.39933435476652895
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.019310909110193696
+                ]
+            ],
+            [
+                [
+                    0.010491299751774413
+                ]
+            ],
+            [
+                [
+                    0.031818567563416146
+                ]
+            ]
+        ],
+        "count": [
+            19587
+        ],
+        "q01": [
+            [
+                [
+                    0.13781965312720684
+                ]
+            ],
+            [
+                [
+                    -3.9215686274509807e-13
+                ]
+            ],
+            [
+                [
+                    -3.9215686274509807e-13
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.32169407458250604
+                ]
+            ],
+            [
+                [
+                    0.07572376603705294
+                ]
+            ],
+            [
+                [
+                    0.07766231548763969
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.4719131457303932
+                ]
+            ],
+            [
+                [
+                    0.35849119841114546
+                ]
+            ],
+            [
+                [
+                    0.3298200979645849
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.8158625380755347
+                ]
+            ],
+            [
+                [
+                    0.8615923547387202
+                ]
+            ],
+            [
+                [
+                    0.864958196694924
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9999486165385897
+                ]
+            ],
+            [
+                [
+                    0.9999488473271544
+                ]
+            ],
+            [
+                [
+                    0.9999495208867338
+                ]
+            ]
+        ]
+    },
+    "action": {
+        "min": [
+            0.7124762535095215,
+            -7.2685866355896,
+            -6.339423656463623,
+            -2.5900275707244873,
+            -1.7581946849822998,
+            -1.3347527980804443,
+            -3.0046815872192383,
+            -2.792180299758911,
+            0.5999999642372131,
+            -2.179943799972534,
+            0.0
+        ],
+        "max": [
+            5.013920783996582,
+            -0.9499985575675964,
+            10.369504928588867,
+            1.9102778434753418,
+            0.3762776851654053,
+            1.9281431436538696,
+            -0.1999918818473816,
+            2.586251735687256,
+            4.4969000816345215,
+            2.053661823272705,
+            1.0
+        ],
+        "mean": [
+            2.7775746891608724,
+            -2.0407487521873007,
+            2.3809109606782557,
+            -0.017046726316219143,
+            -0.5159125726456674,
+            0.07422600697544342,
+            -1.2685885535498251,
+            -0.0269714867342416,
+            1.790897073814263,
+            -0.08440211925432083,
+            0.4951107562878836
+        ],
+        "std": [
+            0.9990129162186508,
+            1.6018603552700774,
+            3.638002826009888,
+            0.7422035453454325,
+            0.4734926064576221,
+            0.4812038019902974,
+            0.8206673980190734,
+            0.8668978298302408,
+            1.1084651674871489,
+            0.7524758422499179,
+            0.4999760893471199
+        ],
+        "count": [
+            254436
+        ],
+        "q01": [
+            0.7124764884647736,
+            -7.16103674988605,
+            -5.312031291922219,
+            -2.0564352263739396,
+            -1.4808331512461281,
+            -1.0548071640929577,
+            -2.863084575873389,
+            -2.0221217817100836,
+            0.5999999939470021,
+            -1.8818568878821804,
+            -1.000000013351432e-10
+        ],
+        "q10": [
+            1.6925793533754343,
+            -3.8090076460570192,
+            -2.137145960596024,
+            -1.0777628382200357,
+            -1.0775176414056633,
+            -0.4662118015186708,
+            -2.1959816940956234,
+            -0.8777294033374601,
+            0.5999999939470021,
+            -1.0237686195586257,
+            -1.000000013351432e-10
+        ],
+        "q50": [
+            2.54778812669101,
+            -1.4014325775779182,
+            2.7696776037783053,
+            0.00015700143242068984,
+            -0.5521987487813543,
+            0.00010772232886322319,
+            -1.5335150541404772,
+            -0.00023624369171616267,
+            1.6661978355697542,
+            -0.00020548745385718186,
+            0.36024766375048145
+        ],
+        "q90": [
+            4.390907610829838,
+            -1.0280770980946263,
+            5.735949181821817,
+            0.9332661032068965,
+            0.00010426567661951781,
+            0.7042361963323281,
+            -0.20019013083677875,
+            1.2376742631633375,
+            3.3884123971256983,
+            0.995476394131931,
+            0.9999593231116629
+        ],
+        "q99": [
+            4.9838190048337525,
+            -0.9505990409515538,
+            7.921730544736785,
+            1.7117358727280925,
+            0.16330877305077365,
+            1.4982428651334485,
+            -0.20001170815533598,
+            2.218663454520676,
+            4.215487739290305,
+            1.609474512300219,
+            0.9999959323111663
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            33705
+        ],
+        "mean": [
+            14356.337794180068
+        ],
+        "std": [
+            8534.470499243522
+        ],
+        "count": [
+            254436
+        ],
+        "q01": [
+            286.60066698800694
+        ],
+        "q10": [
+            2871.0140423985167
+        ],
+        "q50": [
+            14356.645554652294
+        ],
+        "q90": [
+            25841.66154596162
+        ],
+        "q99": [
+            28426.074921372136
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            8
+        ],
+        "mean": [
+            3.9956924334606736
+        ],
+        "std": [
+            2.5309395825042373
+        ],
+        "count": [
+            254436
+        ],
+        "q01": [
+            3.9956924334606736
+        ],
+        "q10": [
+            3.995692433460678
+        ],
+        "q50": [
+            3.995692433460694
+        ],
+        "q90": [
+            3.9956924334607096
+        ],
+        "q99": [
+            3.995692433460714
+        ]
+    }
+}

lerobot/prepare_and_serve_meal/fine_tuning/meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b09f9c7a035ae58a3c3882f2a747c696eaef41bde29e071502f9cc8cbabb20b
+size 3179

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000000/asset_selection.json

@@ -0,0 +1,7 @@
+{
+  "unavailable": [],
+  "selected": {
+    "food_container_01": "robocasa__lightwheel__tupperware__Tupperware039",
+    "drink_bottle_01": "robocasa__lightwheel__juice__Juice006"
+  }
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000000/base_layout.json

@@ -0,0 +1,210 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 1787312922,
+  "rooms": [
+    {
+      "name": "kitchen",
+      "room_type": "kitchen",
+      "bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -2.3999999999999995
+      ],
+      "size": [
+        5.580000000000002,
+        4.880000000000001
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          5.540000000000001,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -4.84,
+          5.540000000000001,
+          0.04000000000000048
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_room_main",
+      "furniture": []
+    },
+    {
+      "name": "dining",
+      "room_type": "dining",
+      "bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -8.065806451612902
+      ],
+      "size": [
+        5.580000000000002,
+        6.451612903225804
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -11.291612903225804
+        ],
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -11.291612903225804
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -11.291612903225804,
+          5.540000000000001,
+          -4.84
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_dining_room_main",
+      "furniture": [
+        "dining_table_dining_room_main",
+        "table_leg_0_dining_room_main",
+        "table_leg_1_dining_room_main",
+        "table_leg_2_dining_room_main",
+        "table_leg_3_dining_room_main",
+        "chair_0_seat_dining_room_main",
+        "chair_0_back_dining_room_main",
+        "chair_0_leg_0_dining_room_main",
+        "chair_0_leg_1_dining_room_main",
+        "chair_0_leg_2_dining_room_main",
+        "chair_0_leg_3_dining_room_main",
+        "chair_1_seat_dining_room_main",
+        "chair_1_back_dining_room_main",
+        "chair_1_leg_0_dining_room_main",
+        "chair_1_leg_1_dining_room_main",
+        "chair_1_leg_2_dining_room_main",
+        "chair_1_leg_3_dining_room_main",
+        "chair_2_seat_dining_room_main",
+        "chair_2_back_dining_room_main",
+        "chair_2_leg_0_dining_room_main",
+        "chair_2_leg_1_dining_room_main",
+        "chair_2_leg_2_dining_room_main",
+        "chair_2_leg_3_dining_room_main"
+      ]
+    }
+  ],
+  "connections": [
+    {
+      "rooms": [
+        "kitchen",
+        "dining"
+      ],
+      "wall": [
+        1,
+        -4.84,
+        -0.04000000000000048,
+        5.540000000000001
+      ],
+      "center": [
+        3.029000000000001,
+        -4.84
+      ],
+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
+    }
+  ],
+  "footprint": {
+    "outline": [
+      [
+        5.540000000000001,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -4.84
+      ],
+      [
+        -0.04000000000000048,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        -4.84
+      ]
+    ],
+    "corner_count": 6,
+    "bounding_box_fill_ratio": 1.0
+  },
+  "kitchen_dining_paths": [
+    [
+      "kitchen",
+      "dining"
+    ]
+  ],
+  "parameters": {
+    "room_count": 2,
+    "room_area": 36.0,
+    "bedroom_requirement": "explicit two-room profile exception"
+  },
+  "furniture_instance_seed": null,
+  "source_scene_sha256": "36548425f69c70bd2f394648d3fa7d654bd811992fb83123c2233cf1dad0d8e9"
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000000/config.json

@@ -0,0 +1,166 @@
+{
+  "schema_version": 1,
+  "episode_id": "prepare_and_serve_meal_000167",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
+  "procedure": "retrieve_before_heating",
+  "scene": {
+    "seed": 453001686,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "food_container": 1,
+      "drink_bottle": 1
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
+        "yaw_deg": -4.96730167429898,
+        "dx": -0.06616210998811663,
+        "dy": 0.0007848291597359475
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "warm_home"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 453001686,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "food_heated_long_enough",
+    "all_meal_items_served",
+    "microwave_off",
+    "microwave_closed",
+    "fridge_closed",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "fridge_retrieval",
+    "microwave_loading",
+    "microwave_controls",
+    "private_duration_tracking"
+  ],
+  "catalog_version": "fixed-atomic-v1",
+  "video_speedup": 1.0,
+  "dataset_role": "pilot_unassigned",
+  "motion": {
+    "optimize_motion_components": true,
+    "smooth_action": true,
+    "record_action_replay": true
+  },
+  "initial_state_policy": "deterministic_setup_from_scene_config",
+  "validation_status": "not_executed",
+  "scene_spec_sha256": "da0cb2ce8dee2a38ac6e385cd9d6caf16f17aec6a7789108bea60c1301bfa3e6",
+  "room_route": "default",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/prepare_and_serve_meal.yaml",
+    "specification": {
+      "task": "prepare_and_serve_meal",
+      "seed": 20290,
+      "count": 1,
+      "base_layout": {
+        "profile": "two_rooms",
+        "rooms": [
+          2,
+          2
+        ],
+        "max_attempts": 100,
+        "loop_probability": 0.8
+      },
+      "fixed": {
+        "scene.people": 2,
+        "scene.kitchen_layout": 1,
+        "scene.asset_instance_set": "baseline"
+      },
+      "controls": {
+        "execution_order": {
+          "procedure": {
+            "choices": [
+              "heat_while_retrieving",
+              "retrieve_before_heating"
+            ]
+          }
+        },
+        "furniture_translation": {
+          "scene.furniture.dining_set.dx": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          },
+          "scene.furniture.dining_set.dy": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          }
+        },
+        "furniture_rotation": {
+          "scene.furniture.dining_set.yaw_deg": {
+            "uniform": [
+              -5,
+              5
+            ]
+          }
+        },
+        "appearance_theme": {
+          "scene.appearance.preset": {
+            "choices": [
+              "warm_home",
+              "cool_daylight"
+            ]
+          }
+        },
+        "door_route": {
+          "room_route": {
+            "choices": [
+              "default",
+              "closed_direct"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 5,
+        "max_active": 5
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "door_route",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "warm_home",
+      "room_route": "default",
+      "procedure": "retrieve_before_heating",
+      "scene.furniture.dining_set.yaw_deg": -4.96730167429898,
+      "scene.furniture.dining_set.dx": -0.06616210998811663,
+      "scene.furniture.dining_set.dy": 0.0007848291597359475
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 20290,
+    "attempt_index": 167,
+    "procedure_schedule": "retrieve_before_heating",
+    "route_schedule": "default"
+  }
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000000/skill_calls.json

@@ -0,0 +1,787 @@
+[
+  {
+    "index": 0,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 2.0000000000000013,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 8.899999999999642,
+    "wall_seconds": 7.10893704299815,
+    "motion_timing": {
+      "simulated_seconds": 6.89999999999964,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 1,
+    "skill": "open_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 8.899999999999642,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 52.96200000001876,
+    "wall_seconds": 143.66260540718213,
+    "motion_timing": {
+      "simulated_seconds": 44.06200000001912,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 2,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 52.96200000001876,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 58.73200000002581,
+    "wall_seconds": 15.737425810890272,
+    "motion_timing": {
+      "simulated_seconds": 5.770000000007052,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 3,
+    "skill": "pick",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 58.73200000002581,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 67.21600000002475,
+    "wall_seconds": 47.46170262200758,
+    "motion_timing": {
+      "simulated_seconds": 8.483999999998936,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 4,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 67.21600000002475,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 81.81599999999072,
+    "wall_seconds": 36.14901175000705,
+    "motion_timing": {
+      "simulated_seconds": 14.599999999965974,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 5,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 81.81599999999072,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 86.72799999997928,
+    "wall_seconds": 22.12635615700856,
+    "motion_timing": {
+      "simulated_seconds": 4.911999999988552,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "faster_than_target"
+    }
+  },
+  {
+    "index": 6,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 86.72799999997928,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 100.44399999994731,
+    "wall_seconds": 23.691039039986208,
+    "motion_timing": {
+      "simulated_seconds": 13.715999999968034,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 7,
+    "skill": "close_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 100.44399999994731,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 112.99399999991806,
+    "wall_seconds": 51.33898949995637,
+    "motion_timing": {
+      "simulated_seconds": 12.549999999970751,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 8,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 112.99399999991806,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 122.3719999998962,
+    "wall_seconds": 19.58254998899065,
+    "motion_timing": {
+      "simulated_seconds": 9.377999999978144,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 9,
+    "skill": "open_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 122.3719999998962,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 161.21000000004165,
+    "wall_seconds": 141.6598332710564,
+    "motion_timing": {
+      "simulated_seconds": 38.83800000014544,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 10,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 161.21000000004165,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 171.26800000008967,
+    "wall_seconds": 20.615264415042475,
+    "motion_timing": {
+      "simulated_seconds": 10.058000000048025,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 11,
+    "skill": "pick",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 171.26800000008967,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 179.05600000012686,
+    "wall_seconds": 23.972307835007086,
+    "motion_timing": {
+      "simulated_seconds": 7.7880000000371865,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 12,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 179.05600000012686,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 192.5300000001912,
+    "wall_seconds": 16.71868210285902,
+    "motion_timing": {
+      "simulated_seconds": 13.474000000064336,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 13,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "microwave",
+      "region": "interior"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 192.5300000001912,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 200.2620000002281,
+    "wall_seconds": 27.149050446925685,
+    "motion_timing": {
+      "simulated_seconds": 7.732000000036919,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 14,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 200.2620000002281,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 211.72000000028282,
+    "wall_seconds": 22.50010760501027,
+    "motion_timing": {
+      "simulated_seconds": 11.45800000005471,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 15,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 211.72000000028282,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 263.98000000053236,
+    "wall_seconds": 200.22667903010733,
+    "motion_timing": {
+      "simulated_seconds": 52.26000000024953,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 16,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave_start"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 263.98000000053236,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 272.62600000057364,
+    "wall_seconds": 22.380955875152722,
+    "motion_timing": {
+      "simulated_seconds": 8.646000000041283,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 17,
+    "skill": "push_button",
+    "arguments": {
+      "target": "microwave_start"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 272.62600000057364,
+    "preconditions": {
+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 281.1840000006145,
+    "wall_seconds": 39.10219295788556,
+    "motion_timing": {
+      "simulated_seconds": 8.558000000040863,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 18,
+    "skill": "wait",
+    "arguments": {
+      "duration_seconds": 30.0
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 281.1840000006145,
+    "preconditions": {
+      "ready": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 311.18400000075775,
+    "wall_seconds": 29.00440162420273,
+    "motion_timing": {
+      "simulated_seconds": 30.000000000143245,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "explicit_wait"
+    }
+  },
+  {
+    "index": 19,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 311.18400000075775,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 321.30200000080606,
+    "wall_seconds": 24.8600206929259,
+    "motion_timing": {
+      "simulated_seconds": 10.118000000048312,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 20,
+    "skill": "push_button",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 321.30200000080606,
+    "preconditions": {
+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 329.32400000084436,
+    "wall_seconds": 38.6553361879196,
+    "motion_timing": {
+      "simulated_seconds": 8.022000000038304,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 21,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 329.32400000084436,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 339.07600000089093,
+    "wall_seconds": 24.494439599104226,
+    "motion_timing": {
+      "simulated_seconds": 9.752000000046564,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 22,
+    "skill": "open_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 339.07600000089093,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 378.43200000107885,
+    "wall_seconds": 144.32586070802063,
+    "motion_timing": {
+      "simulated_seconds": 39.35600000018792,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 23,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 378.43200000107885,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 385.2320000011113,
+    "wall_seconds": 18.125502100912854,
+    "motion_timing": {
+      "simulated_seconds": 6.800000000032469,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 24,
+    "skill": "pick",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 385.2320000011113,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 392.8780000011478,
+    "wall_seconds": 110.54098883806728,
+    "motion_timing": {
+      "simulated_seconds": 7.6460000000365085,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 25,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 392.8780000011478,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 409.22000000122586,
+    "wall_seconds": 25.14286790601909,
+    "motion_timing": {
+      "simulated_seconds": 16.34200000007803,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 26,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 409.22000000122586,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 411.90000000123865,
+    "wall_seconds": 24.943185947835445,
+    "motion_timing": {
+      "simulated_seconds": 2.6800000000127966,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "faster_than_target"
+    }
+  },
+  {
+    "index": 27,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 411.90000000123865,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 425.41200000130317,
+    "wall_seconds": 22.755188862094656,
+    "motion_timing": {
+      "simulated_seconds": 13.512000000064518,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 28,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 425.41200000130317,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 477.60000000155236,
+    "wall_seconds": 197.57518313499168,
+    "motion_timing": {
+      "simulated_seconds": 52.18800000024919,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  }
+]

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/asset_selection.json

@@ -0,0 +1,7 @@
+{
+  "unavailable": [],
+  "selected": {
+    "food_container_01": "robocasa__lightwheel__tupperware__Tupperware039",
+    "drink_bottle_01": "robocasa__lightwheel__juice__Juice006"
+  }
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/base_layout.json

@@ -0,0 +1,210 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 522227596,
+  "rooms": [
+    {
+      "name": "kitchen",
+      "room_type": "kitchen",
+      "bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -2.3999999999999995
+      ],
+      "size": [
+        5.580000000000002,
+        4.880000000000001
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          5.540000000000001,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -4.84,
+          5.540000000000001,
+          0.04000000000000048
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_room_main",
+      "furniture": []
+    },
+    {
+      "name": "dining",
+      "room_type": "dining",
+      "bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -8.065806451612902
+      ],
+      "size": [
+        5.580000000000002,
+        6.451612903225804
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -11.291612903225804
+        ],
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -11.291612903225804
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -11.291612903225804,
+          5.540000000000001,
+          -4.84
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_dining_room_main",
+      "furniture": [
+        "dining_table_dining_room_main",
+        "table_leg_0_dining_room_main",
+        "table_leg_1_dining_room_main",
+        "table_leg_2_dining_room_main",
+        "table_leg_3_dining_room_main",
+        "chair_0_seat_dining_room_main",
+        "chair_0_back_dining_room_main",
+        "chair_0_leg_0_dining_room_main",
+        "chair_0_leg_1_dining_room_main",
+        "chair_0_leg_2_dining_room_main",
+        "chair_0_leg_3_dining_room_main",
+        "chair_1_seat_dining_room_main",
+        "chair_1_back_dining_room_main",
+        "chair_1_leg_0_dining_room_main",
+        "chair_1_leg_1_dining_room_main",
+        "chair_1_leg_2_dining_room_main",
+        "chair_1_leg_3_dining_room_main",
+        "chair_2_seat_dining_room_main",
+        "chair_2_back_dining_room_main",
+        "chair_2_leg_0_dining_room_main",
+        "chair_2_leg_1_dining_room_main",
+        "chair_2_leg_2_dining_room_main",
+        "chair_2_leg_3_dining_room_main"
+      ]
+    }
+  ],
+  "connections": [
+    {
+      "rooms": [
+        "kitchen",
+        "dining"
+      ],
+      "wall": [
+        1,
+        -4.84,
+        -0.04000000000000048,
+        5.540000000000001
+      ],
+      "center": [
+        3.029000000000001,
+        -4.84
+      ],
+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
+    }
+  ],
+  "footprint": {
+    "outline": [
+      [
+        5.540000000000001,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -4.84
+      ],
+      [
+        -0.04000000000000048,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        -4.84
+      ]
+    ],
+    "corner_count": 6,
+    "bounding_box_fill_ratio": 1.0
+  },
+  "kitchen_dining_paths": [
+    [
+      "kitchen",
+      "dining"
+    ]
+  ],
+  "parameters": {
+    "room_count": 2,
+    "room_area": 36.0,
+    "bedroom_requirement": "explicit two-room profile exception"
+  },
+  "furniture_instance_seed": null,
+  "source_scene_sha256": "fc9209fe9be2468cdd47f9499ad2232a0aba1f20ae1f12b276020506fd9f0b84"
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/config.json

@@ -0,0 +1,166 @@
+{
+  "schema_version": 1,
+  "episode_id": "prepare_and_serve_meal_000168",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
+  "procedure": "heat_while_retrieving",
+  "scene": {
+    "seed": 1964804762,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "food_container": 1,
+      "drink_bottle": 1
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
+        "yaw_deg": -2.0382987585668575,
+        "dx": -0.024840700403380156,
+        "dy": 0.055185755190805125
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 1964804762,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "closed_direct"
+    }
+  },
+  "goal_keys": [
+    "food_heated_long_enough",
+    "all_meal_items_served",
+    "microwave_off",
+    "microwave_closed",
+    "fridge_closed",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "fridge_retrieval",
+    "microwave_loading",
+    "microwave_controls",
+    "private_duration_tracking"
+  ],
+  "catalog_version": "fixed-atomic-v1",
+  "video_speedup": 1.0,
+  "dataset_role": "pilot_unassigned",
+  "motion": {
+    "optimize_motion_components": true,
+    "smooth_action": true,
+    "record_action_replay": true
+  },
+  "initial_state_policy": "deterministic_setup_from_scene_config",
+  "validation_status": "not_executed",
+  "scene_spec_sha256": "8ab9bdeede753ff54531b52dae8a9d2050b3eedbbab15c9888a6036a8a94a4e4",
+  "room_route": "closed_direct",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/prepare_and_serve_meal.yaml",
+    "specification": {
+      "task": "prepare_and_serve_meal",
+      "seed": 20291,
+      "count": 1,
+      "base_layout": {
+        "profile": "two_rooms",
+        "rooms": [
+          2,
+          2
+        ],
+        "max_attempts": 100,
+        "loop_probability": 0.8
+      },
+      "fixed": {
+        "scene.people": 2,
+        "scene.kitchen_layout": 1,
+        "scene.asset_instance_set": "baseline"
+      },
+      "controls": {
+        "execution_order": {
+          "procedure": {
+            "choices": [
+              "heat_while_retrieving",
+              "retrieve_before_heating"
+            ]
+          }
+        },
+        "furniture_translation": {
+          "scene.furniture.dining_set.dx": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          },
+          "scene.furniture.dining_set.dy": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          }
+        },
+        "furniture_rotation": {
+          "scene.furniture.dining_set.yaw_deg": {
+            "uniform": [
+              -5,
+              5
+            ]
+          }
+        },
+        "appearance_theme": {
+          "scene.appearance.preset": {
+            "choices": [
+              "warm_home",
+              "cool_daylight"
+            ]
+          }
+        },
+        "door_route": {
+          "room_route": {
+            "choices": [
+              "default",
+              "closed_direct"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 5,
+        "max_active": 5
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "door_route",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "room_route": "closed_direct",
+      "procedure": "heat_while_retrieving",
+      "scene.furniture.dining_set.yaw_deg": -2.0382987585668575,
+      "scene.furniture.dining_set.dx": -0.024840700403380156,
+      "scene.furniture.dining_set.dy": 0.055185755190805125
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 20291,
+    "attempt_index": 168,
+    "procedure_schedule": "heat_while_retrieving",
+    "route_schedule": "closed_direct"
+  }
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/skill_calls.json

@@ -0,0 +1,895 @@
+[
+  {
+    "index": 0,
+    "skill": "navigate",
+    "arguments": {
+      "target": "room_door_0_left"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 2.0000000000000013,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 12.620000000000884,
+    "wall_seconds": 10.889608707977459,
+    "motion_timing": {
+      "simulated_seconds": 10.620000000000882,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 1,
+    "skill": "open_door",
+    "arguments": {
+      "target": "room_door_0_left"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 12.620000000000884,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 72.36400000001275,
+    "wall_seconds": 203.55856128805317,
+    "motion_timing": {
+      "simulated_seconds": 59.744000000011866,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 2,
+    "skill": "navigate",
+    "arguments": {
+      "target": "room_door_0_right"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 72.36400000001275,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 78.97199999999735,
+    "wall_seconds": 21.28960867598653,
+    "motion_timing": {
+      "simulated_seconds": 6.6079999999845995,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 3,
+    "skill": "open_door",
+    "arguments": {
+      "target": "room_door_0_right"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 78.97199999999735,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 138.10399999993132,
+    "wall_seconds": 198.49195177596994,
+    "motion_timing": {
+      "simulated_seconds": 59.13199999993397,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 4,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 138.10399999993132,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 150.0559999999884,
+    "wall_seconds": 25.47493654000573,
+    "motion_timing": {
+      "simulated_seconds": 11.952000000057069,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 5,
+    "skill": "open_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 150.0559999999884,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 189.35200000017602,
+    "wall_seconds": 148.78071337402798,
+    "motion_timing": {
+      "simulated_seconds": 39.29600000018763,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 6,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 189.35200000017602,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 199.402000000224,
+    "wall_seconds": 22.071377548854798,
+    "motion_timing": {
+      "simulated_seconds": 10.050000000047987,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 7,
+    "skill": "pick",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 199.402000000224,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 207.18000000026115,
+    "wall_seconds": 24.886645905906335,
+    "motion_timing": {
+      "simulated_seconds": 7.778000000037139,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 8,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 207.18000000026115,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 220.62000000032532,
+    "wall_seconds": 18.933205001056194,
+    "motion_timing": {
+      "simulated_seconds": 13.440000000064174,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 9,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "microwave",
+      "region": "interior"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 220.62000000032532,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 228.64400000036363,
+    "wall_seconds": 28.91696992702782,
+    "motion_timing": {
+      "simulated_seconds": 8.024000000038313,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 10,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 228.64400000036363,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 240.34000000041948,
+    "wall_seconds": 25.136890415800735,
+    "motion_timing": {
+      "simulated_seconds": 11.696000000055847,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 11,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 240.34000000041948,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 292.9780000006708,
+    "wall_seconds": 222.91638261498883,
+    "motion_timing": {
+      "simulated_seconds": 52.63800000025134,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 12,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave_start"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 292.9780000006708,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 301.6260000007121,
+    "wall_seconds": 24.59457685588859,
+    "motion_timing": {
+      "simulated_seconds": 8.648000000041293,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 13,
+    "skill": "push_button",
+    "arguments": {
+      "target": "microwave_start"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 301.6260000007121,
+    "preconditions": {
+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 310.2280000007532,
+    "wall_seconds": 41.990287655964494,
+    "motion_timing": {
+      "simulated_seconds": 8.602000000041073,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 14,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 310.2280000007532,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 323.96000000081875,
+    "wall_seconds": 32.11423595598899,
+    "motion_timing": {
+      "simulated_seconds": 13.732000000065568,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 15,
+    "skill": "open_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 323.96000000081875,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 368.8040000010329,
+    "wall_seconds": 149.46251959586516,
+    "motion_timing": {
+      "simulated_seconds": 44.84400000021412,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 16,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 368.8040000010329,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 374.56000000106036,
+    "wall_seconds": 17.262043650029227,
+    "motion_timing": {
+      "simulated_seconds": 5.756000000027484,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 17,
+    "skill": "pick",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 374.56000000106036,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 383.0300000011008,
+    "wall_seconds": 49.778333395021036,
+    "motion_timing": {
+      "simulated_seconds": 8.470000000040443,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 18,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 383.0300000011008,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 397.51000000116994,
+    "wall_seconds": 37.4851768699009,
+    "motion_timing": {
+      "simulated_seconds": 14.48000000006914,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 19,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 397.51000000116994,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 402.26600000119265,
+    "wall_seconds": 23.130333279957995,
+    "motion_timing": {
+      "simulated_seconds": 4.756000000022709,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "faster_than_target"
+    }
+  },
+  {
+    "index": 20,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 402.26600000119265,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 416.00200000125824,
+    "wall_seconds": 25.464993007015437,
+    "motion_timing": {
+      "simulated_seconds": 13.736000000065587,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 21,
+    "skill": "close_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 416.00200000125824,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 428.6060000013184,
+    "wall_seconds": 54.57300115795806,
+    "motion_timing": {
+      "simulated_seconds": 12.604000000060182,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 22,
+    "skill": "wait",
+    "arguments": {
+      "duration_seconds": 30.0
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 428.6060000013184,
+    "preconditions": {
+      "ready": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 458.60600000146167,
+    "wall_seconds": 27.368982487823814,
+    "motion_timing": {
+      "simulated_seconds": 30.000000000143245,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "explicit_wait"
+    }
+  },
+  {
+    "index": 23,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 458.60600000146167,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 469.05600000151156,
+    "wall_seconds": 21.78518616198562,
+    "motion_timing": {
+      "simulated_seconds": 10.450000000049897,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 24,
+    "skill": "push_button",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 469.05600000151156,
+    "preconditions": {
+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 477.738000001553,
+    "wall_seconds": 41.28634531283751,
+    "motion_timing": {
+      "simulated_seconds": 8.682000000041455,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 25,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 477.738000001553,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 487.4760000015995,
+    "wall_seconds": 25.972542287083343,
+    "motion_timing": {
+      "simulated_seconds": 9.738000000046497,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 26,
+    "skill": "open_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 487.4760000015995,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 526.9600000013628,
+    "wall_seconds": 150.76178984506987,
+    "motion_timing": {
+      "simulated_seconds": 39.483999999763284,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 27,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 526.9600000013628,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 533.5840000012062,
+    "wall_seconds": 18.456000813050196,
+    "motion_timing": {
+      "simulated_seconds": 6.623999999843363,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 28,
+    "skill": "pick",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 533.5840000012062,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 541.1260000010278,
+    "wall_seconds": 114.22313904389739,
+    "motion_timing": {
+      "simulated_seconds": 7.541999999821655,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 29,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 541.1260000010278,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 557.5080000006404,
+    "wall_seconds": 31.981518597807735,
+    "motion_timing": {
+      "simulated_seconds": 16.381999999612617,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 30,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 557.5080000006404,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 560.3420000005734,
+    "wall_seconds": 27.526334930909798,
+    "motion_timing": {
+      "simulated_seconds": 2.833999999932985,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "faster_than_target"
+    }
+  },
+  {
+    "index": 31,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 560.3420000005734,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 574.0380000002496,
+    "wall_seconds": 23.724566254997626,
+    "motion_timing": {
+      "simulated_seconds": 13.695999999676133,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 32,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 574.0380000002496,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 626.3799999990118,
+    "wall_seconds": 209.6265072838869,
+    "motion_timing": {
+      "simulated_seconds": 52.341999998762276,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  }
+]

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000002/asset_selection.json

@@ -0,0 +1,7 @@
+{
+  "unavailable": [],
+  "selected": {
+    "food_container_01": "robocasa__lightwheel__tupperware__Tupperware039",
+    "drink_bottle_01": "robocasa__lightwheel__juice__Juice006"
+  }
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000002/base_layout.json

@@ -0,0 +1,216 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 2103802820,
+  "rooms": [
+    {
+      "name": "kitchen",
+      "room_type": "kitchen",
+      "bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -2.3999999999999995
+      ],
+      "size": [
+        5.580000000000002,
+        4.880000000000001
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          5.540000000000001,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -4.84,
+          5.540000000000001,
+          0.04000000000000048
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_room_main",
+      "furniture": []
+    },
+    {
+      "name": "dining",
+      "room_type": "dining",
+      "bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -8.065806451612902
+      ],
+      "size": [
+        5.580000000000002,
+        6.451612903225804
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -11.291612903225804
+        ],
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -11.291612903225804
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -11.291612903225804,
+          5.540000000000001,
+          -4.84
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_dining_room_main",
+      "furniture": [
+        "dining_table_dining_room_main",
+        "table_leg_0_dining_room_main",
+        "table_leg_1_dining_room_main",
+        "table_leg_2_dining_room_main",
+        "table_leg_3_dining_room_main",
+        "chair_0_seat_dining_room_main",
+        "chair_0_back_dining_room_main",
+        "chair_0_leg_0_dining_room_main",
+        "chair_0_leg_1_dining_room_main",
+        "chair_0_leg_2_dining_room_main",
+        "chair_0_leg_3_dining_room_main",
+        "chair_1_seat_dining_room_main",
+        "chair_1_back_dining_room_main",
+        "chair_1_leg_0_dining_room_main",
+        "chair_1_leg_1_dining_room_main",
+        "chair_1_leg_2_dining_room_main",
+        "chair_1_leg_3_dining_room_main",
+        "chair_2_seat_dining_room_main",
+        "chair_2_back_dining_room_main",
+        "chair_2_leg_0_dining_room_main",
+        "chair_2_leg_1_dining_room_main",
+        "chair_2_leg_2_dining_room_main",
+        "chair_2_leg_3_dining_room_main",
+        "chair_3_seat_dining_room_main",
+        "chair_3_back_dining_room_main",
+        "chair_3_leg_0_dining_room_main",
+        "chair_3_leg_1_dining_room_main",
+        "chair_3_leg_2_dining_room_main",
+        "chair_3_leg_3_dining_room_main"
+      ]
+    }
+  ],
+  "connections": [
+    {
+      "rooms": [
+        "kitchen",
+        "dining"
+      ],
+      "wall": [
+        1,
+        -4.84,
+        -0.04000000000000048,
+        5.540000000000001
+      ],
+      "center": [
+        3.029000000000001,
+        -4.84
+      ],
+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
+    }
+  ],
+  "footprint": {
+    "outline": [
+      [
+        5.540000000000001,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -4.84
+      ],
+      [
+        -0.04000000000000048,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        -4.84
+      ]
+    ],
+    "corner_count": 6,
+    "bounding_box_fill_ratio": 1.0
+  },
+  "kitchen_dining_paths": [
+    [
+      "kitchen",
+      "dining"
+    ]
+  ],
+  "parameters": {
+    "room_count": 2,
+    "room_area": 36.0,
+    "bedroom_requirement": "explicit two-room profile exception"
+  },
+  "furniture_instance_seed": null,
+  "source_scene_sha256": "81373a709402722fd6bb9ac821eb71490a8ee19773ec90dbdbfbb7193f4d5c76"
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000002/config.json

@@ -0,0 +1,166 @@
+{
+  "schema_version": 1,
+  "episode_id": "prepare_and_serve_meal_000169",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
+  "procedure": "retrieve_before_heating",
+  "scene": {
+    "seed": 1322726189,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "food_container": 1,
+      "drink_bottle": 1
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
+        "yaw_deg": 4.186937485305837,
+        "dx": -0.037552435576079214,
+        "dy": 0.07823539744699906
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 1322726189,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "closed_direct"
+    }
+  },
+  "goal_keys": [
+    "food_heated_long_enough",
+    "all_meal_items_served",
+    "microwave_off",
+    "microwave_closed",
+    "fridge_closed",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "fridge_retrieval",
+    "microwave_loading",
+    "microwave_controls",
+    "private_duration_tracking"
+  ],
+  "catalog_version": "fixed-atomic-v1",
+  "video_speedup": 1.0,
+  "dataset_role": "pilot_unassigned",
+  "motion": {
+    "optimize_motion_components": true,
+    "smooth_action": true,
+    "record_action_replay": true
+  },
+  "initial_state_policy": "deterministic_setup_from_scene_config",
+  "validation_status": "not_executed",
+  "scene_spec_sha256": "7c51a2a2bb859fbd3e46c3741dd187c92d186415b6ea09c346e7c03529d8b2f2",
+  "room_route": "closed_direct",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/prepare_and_serve_meal.yaml",
+    "specification": {
+      "task": "prepare_and_serve_meal",
+      "seed": 20292,
+      "count": 1,
+      "base_layout": {
+        "profile": "two_rooms",
+        "rooms": [
+          2,
+          2
+        ],
+        "max_attempts": 100,
+        "loop_probability": 0.8
+      },
+      "fixed": {
+        "scene.people": 2,
+        "scene.kitchen_layout": 1,
+        "scene.asset_instance_set": "baseline"
+      },
+      "controls": {
+        "execution_order": {
+          "procedure": {
+            "choices": [
+              "heat_while_retrieving",
+              "retrieve_before_heating"
+            ]
+          }
+        },
+        "furniture_translation": {
+          "scene.furniture.dining_set.dx": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          },
+          "scene.furniture.dining_set.dy": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          }
+        },
+        "furniture_rotation": {
+          "scene.furniture.dining_set.yaw_deg": {
+            "uniform": [
+              -5,
+              5
+            ]
+          }
+        },
+        "appearance_theme": {
+          "scene.appearance.preset": {
+            "choices": [
+              "warm_home",
+              "cool_daylight"
+            ]
+          }
+        },
+        "door_route": {
+          "room_route": {
+            "choices": [
+              "default",
+              "closed_direct"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 5,
+        "max_active": 5
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "door_route",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "room_route": "closed_direct",
+      "procedure": "retrieve_before_heating",
+      "scene.furniture.dining_set.yaw_deg": 4.186937485305837,
+      "scene.furniture.dining_set.dx": -0.037552435576079214,
+      "scene.furniture.dining_set.dy": 0.07823539744699906
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 20292,
+    "attempt_index": 169,
+    "procedure_schedule": "retrieve_before_heating",
+    "route_schedule": "closed_direct"
+  }
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000002/skill_calls.json

@@ -0,0 +1,895 @@
+[
+  {
+    "index": 0,
+    "skill": "navigate",
+    "arguments": {
+      "target": "room_door_0_left"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 2.0000000000000013,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 12.620000000000884,
+    "wall_seconds": 11.051737294066697,
+    "motion_timing": {
+      "simulated_seconds": 10.620000000000882,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 1,
+    "skill": "open_door",
+    "arguments": {
+      "target": "room_door_0_left"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 12.620000000000884,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 72.36400000001275,
+    "wall_seconds": 201.86676092189737,
+    "motion_timing": {
+      "simulated_seconds": 59.744000000011866,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 2,
+    "skill": "navigate",
+    "arguments": {
+      "target": "room_door_0_right"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 72.36400000001275,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 78.97199999999735,
+    "wall_seconds": 21.221522443927824,
+    "motion_timing": {
+      "simulated_seconds": 6.6079999999845995,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 3,
+    "skill": "open_door",
+    "arguments": {
+      "target": "room_door_0_right"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 78.97199999999735,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 138.10399999993132,
+    "wall_seconds": 195.72547245002352,
+    "motion_timing": {
+      "simulated_seconds": 59.13199999993397,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 4,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 138.10399999993132,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 149.0559999999836,
+    "wall_seconds": 23.986983262002468,
+    "motion_timing": {
+      "simulated_seconds": 10.952000000052294,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 5,
+    "skill": "open_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 149.0559999999836,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 193.6600000001966,
+    "wall_seconds": 141.32693042582832,
+    "motion_timing": {
+      "simulated_seconds": 44.60400000021298,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 6,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 193.6600000001966,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 199.41800000022408,
+    "wall_seconds": 15.870188386877999,
+    "motion_timing": {
+      "simulated_seconds": 5.758000000027494,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 7,
+    "skill": "pick",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 199.41800000022408,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 207.90000000026458,
+    "wall_seconds": 46.928610519040376,
+    "motion_timing": {
+      "simulated_seconds": 8.4820000000405,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 8,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 207.90000000026458,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 222.440000000334,
+    "wall_seconds": 35.21275892201811,
+    "motion_timing": {
+      "simulated_seconds": 14.540000000069426,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 9,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 222.440000000334,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 227.53400000035833,
+    "wall_seconds": 22.206781483022496,
+    "motion_timing": {
+      "simulated_seconds": 5.094000000024323,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 10,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 227.53400000035833,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 241.2660000004239,
+    "wall_seconds": 23.32726975600235,
+    "motion_timing": {
+      "simulated_seconds": 13.732000000065568,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 11,
+    "skill": "close_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 241.2660000004239,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 253.78600000048368,
+    "wall_seconds": 53.17602603090927,
+    "motion_timing": {
+      "simulated_seconds": 12.520000000059781,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 12,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 253.78600000048368,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 263.14200000052836,
+    "wall_seconds": 20.11757590691559,
+    "motion_timing": {
+      "simulated_seconds": 9.356000000044673,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 13,
+    "skill": "open_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 263.14200000052836,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 301.9740000007138,
+    "wall_seconds": 144.05725358007476,
+    "motion_timing": {
+      "simulated_seconds": 38.83200000018542,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 14,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 301.9740000007138,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 312.0140000007617,
+    "wall_seconds": 20.528002300998196,
+    "motion_timing": {
+      "simulated_seconds": 10.04000000004794,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 15,
+    "skill": "pick",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 312.0140000007617,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 319.4860000007974,
+    "wall_seconds": 23.761852873954922,
+    "motion_timing": {
+      "simulated_seconds": 7.472000000035678,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 16,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 319.4860000007974,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 332.92600000086156,
+    "wall_seconds": 16.781678941100836,
+    "motion_timing": {
+      "simulated_seconds": 13.440000000064174,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 17,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "microwave",
+      "region": "interior"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 332.92600000086156,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 340.81800000089925,
+    "wall_seconds": 27.64774298109114,
+    "motion_timing": {
+      "simulated_seconds": 7.892000000037683,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 18,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 340.81800000089925,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 352.52600000095515,
+    "wall_seconds": 23.018005824880674,
+    "motion_timing": {
+      "simulated_seconds": 11.708000000055904,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 19,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 352.52600000095515,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 404.9360000012054,
+    "wall_seconds": 208.00892805098556,
+    "motion_timing": {
+      "simulated_seconds": 52.41000000025025,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 20,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave_start"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 404.9360000012054,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 413.5880000012467,
+    "wall_seconds": 22.64977092994377,
+    "motion_timing": {
+      "simulated_seconds": 8.652000000041312,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 21,
+    "skill": "push_button",
+    "arguments": {
+      "target": "microwave_start"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 413.5880000012467,
+    "preconditions": {
+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 422.1920000012878,
+    "wall_seconds": 42.223906334955245,
+    "motion_timing": {
+      "simulated_seconds": 8.604000000041083,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 22,
+    "skill": "wait",
+    "arguments": {
+      "duration_seconds": 30.0
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 422.1920000012878,
+    "preconditions": {
+      "ready": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 452.19200000143104,
+    "wall_seconds": 29.847716150106862,
+    "motion_timing": {
+      "simulated_seconds": 30.000000000143245,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "explicit_wait"
+    }
+  },
+  {
+    "index": 23,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 452.19200000143104,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 462.234000001479,
+    "wall_seconds": 25.78390046302229,
+    "motion_timing": {
+      "simulated_seconds": 10.042000000047949,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 24,
+    "skill": "push_button",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 462.234000001479,
+    "preconditions": {
+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 470.2380000015172,
+    "wall_seconds": 42.46494600782171,
+    "motion_timing": {
+      "simulated_seconds": 8.004000000038218,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 25,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 470.2380000015172,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 479.96600000156366,
+    "wall_seconds": 28.231128494022414,
+    "motion_timing": {
+      "simulated_seconds": 9.72800000004645,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 26,
+    "skill": "open_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 479.96600000156366,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 519.4420000015406,
+    "wall_seconds": 146.08054285892285,
+    "motion_timing": {
+      "simulated_seconds": 39.47599999997692,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 27,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 519.4420000015406,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 526.5360000013728,
+    "wall_seconds": 18.462370797991753,
+    "motion_timing": {
+      "simulated_seconds": 7.093999999832249,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 28,
+    "skill": "pick",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 526.5360000013728,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 534.0760000011945,
+    "wall_seconds": 226.16755873896182,
+    "motion_timing": {
+      "simulated_seconds": 7.539999999821703,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 29,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 534.0760000011945,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 551.438000000784,
+    "wall_seconds": 22.524704655166715,
+    "motion_timing": {
+      "simulated_seconds": 17.361999999589443,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 30,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 551.438000000784,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 558.6540000006133,
+    "wall_seconds": 24.280194780090824,
+    "motion_timing": {
+      "simulated_seconds": 7.215999999829364,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 31,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 558.6540000006133,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 572.6960000002813,
+    "wall_seconds": 22.45103711192496,
+    "motion_timing": {
+      "simulated_seconds": 14.04199999966795,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 32,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 572.6960000002813,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 624.7799999990497,
+    "wall_seconds": 203.98334895796143,
+    "motion_timing": {
+      "simulated_seconds": 52.08399999876838,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  }
+]

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000003/asset_selection.json

@@ -0,0 +1,7 @@
+{
+  "unavailable": [],
+  "selected": {
+    "food_container_01": "robocasa__lightwheel__tupperware__Tupperware039",
+    "drink_bottle_01": "robocasa__lightwheel__juice__Juice006"
+  }
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000003/base_layout.json

@@ -0,0 +1,210 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 501890267,
+  "rooms": [
+    {
+      "name": "kitchen",
+      "room_type": "kitchen",
+      "bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -2.3999999999999995
+      ],
+      "size": [
+        5.580000000000002,
+        4.880000000000001
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          5.540000000000001,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -4.84,
+          5.540000000000001,
+          0.04000000000000048
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_room_main",
+      "furniture": []
+    },
+    {
+      "name": "dining",
+      "room_type": "dining",
+      "bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -8.065806451612902
+      ],
+      "size": [
+        5.580000000000002,
+        6.451612903225804
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -11.291612903225804
+        ],
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -11.291612903225804
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -11.291612903225804,
+          5.540000000000001,
+          -4.84
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_dining_room_main",
+      "furniture": [
+        "dining_table_dining_room_main",
+        "table_leg_0_dining_room_main",
+        "table_leg_1_dining_room_main",
+        "table_leg_2_dining_room_main",
+        "table_leg_3_dining_room_main",
+        "chair_0_seat_dining_room_main",
+        "chair_0_back_dining_room_main",
+        "chair_0_leg_0_dining_room_main",
+        "chair_0_leg_1_dining_room_main",
+        "chair_0_leg_2_dining_room_main",
+        "chair_0_leg_3_dining_room_main",
+        "chair_1_seat_dining_room_main",
+        "chair_1_back_dining_room_main",
+        "chair_1_leg_0_dining_room_main",
+        "chair_1_leg_1_dining_room_main",
+        "chair_1_leg_2_dining_room_main",
+        "chair_1_leg_3_dining_room_main",
+        "chair_2_seat_dining_room_main",
+        "chair_2_back_dining_room_main",
+        "chair_2_leg_0_dining_room_main",
+        "chair_2_leg_1_dining_room_main",
+        "chair_2_leg_2_dining_room_main",
+        "chair_2_leg_3_dining_room_main"
+      ]
+    }
+  ],
+  "connections": [
+    {
+      "rooms": [
+        "kitchen",
+        "dining"
+      ],
+      "wall": [
+        1,
+        -4.84,
+        -0.04000000000000048,
+        5.540000000000001
+      ],
+      "center": [
+        3.029000000000001,
+        -4.84
+      ],
+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
+    }
+  ],
+  "footprint": {
+    "outline": [
+      [
+        5.540000000000001,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -4.84
+      ],
+      [
+        -0.04000000000000048,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        -4.84
+      ]
+    ],
+    "corner_count": 6,
+    "bounding_box_fill_ratio": 1.0
+  },
+  "kitchen_dining_paths": [
+    [
+      "kitchen",
+      "dining"
+    ]
+  ],
+  "parameters": {
+    "room_count": 2,
+    "room_area": 36.0,
+    "bedroom_requirement": "explicit two-room profile exception"
+  },
+  "furniture_instance_seed": null,
+  "source_scene_sha256": "ef995b74e71abcb4cca7fc7e43f317c7df96e1ea84cbe9218cc2f1cf006bd2d7"
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000003/config.json

@@ -0,0 +1,166 @@
+{
+  "schema_version": 1,
+  "episode_id": "prepare_and_serve_meal_000170",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
+  "procedure": "heat_while_retrieving",
+  "scene": {
+    "seed": 1913539485,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "food_container": 1,
+      "drink_bottle": 1
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
+        "yaw_deg": 3.846702982547459,
+        "dx": 0.09118925508706549,
+        "dy": -0.0970128269375516
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 1913539485,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "food_heated_long_enough",
+    "all_meal_items_served",
+    "microwave_off",
+    "microwave_closed",
+    "fridge_closed",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "fridge_retrieval",
+    "microwave_loading",
+    "microwave_controls",
+    "private_duration_tracking"
+  ],
+  "catalog_version": "fixed-atomic-v1",
+  "video_speedup": 1.0,
+  "dataset_role": "pilot_unassigned",
+  "motion": {
+    "optimize_motion_components": true,
+    "smooth_action": true,
+    "record_action_replay": true
+  },
+  "initial_state_policy": "deterministic_setup_from_scene_config",
+  "validation_status": "not_executed",
+  "scene_spec_sha256": "e3efa419af3792b2f40363493fa64a56515cb7a37dde946e6529b3823739a091",
+  "room_route": "default",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/prepare_and_serve_meal.yaml",
+    "specification": {
+      "task": "prepare_and_serve_meal",
+      "seed": 20293,
+      "count": 1,
+      "base_layout": {
+        "profile": "two_rooms",
+        "rooms": [
+          2,
+          2
+        ],
+        "max_attempts": 100,
+        "loop_probability": 0.8
+      },
+      "fixed": {
+        "scene.people": 2,
+        "scene.kitchen_layout": 1,
+        "scene.asset_instance_set": "baseline"
+      },
+      "controls": {
+        "execution_order": {
+          "procedure": {
+            "choices": [
+              "heat_while_retrieving",
+              "retrieve_before_heating"
+            ]
+          }
+        },
+        "furniture_translation": {
+          "scene.furniture.dining_set.dx": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          },
+          "scene.furniture.dining_set.dy": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          }
+        },
+        "furniture_rotation": {
+          "scene.furniture.dining_set.yaw_deg": {
+            "uniform": [
+              -5,
+              5
+            ]
+          }
+        },
+        "appearance_theme": {
+          "scene.appearance.preset": {
+            "choices": [
+              "warm_home",
+              "cool_daylight"
+            ]
+          }
+        },
+        "door_route": {
+          "room_route": {
+            "choices": [
+              "default",
+              "closed_direct"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 5,
+        "max_active": 5
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "door_route",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "room_route": "default",
+      "procedure": "heat_while_retrieving",
+      "scene.furniture.dining_set.yaw_deg": 3.846702982547459,
+      "scene.furniture.dining_set.dx": 0.09118925508706549,
+      "scene.furniture.dining_set.dy": -0.0970128269375516
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 20293,
+    "attempt_index": 170,
+    "procedure_schedule": "heat_while_retrieving",
+    "route_schedule": "default"
+  }
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000003/skill_calls.json

@@ -0,0 +1,787 @@
+[
+  {
+    "index": 0,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 2.0000000000000013,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 8.619999999999548,
+    "wall_seconds": 6.822667370084673,
+    "motion_timing": {
+      "simulated_seconds": 6.619999999999546,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 1,
+    "skill": "open_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 8.619999999999548,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 47.868000000012536,
+    "wall_seconds": 152.77653335104696,
+    "motion_timing": {
+      "simulated_seconds": 39.248000000012986,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 2,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 47.868000000012536,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 58.128000000025075,
+    "wall_seconds": 21.91413337783888,
+    "motion_timing": {
+      "simulated_seconds": 10.260000000012539,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 3,
+    "skill": "pick",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 58.128000000025075,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 65.9060000000278,
+    "wall_seconds": 24.20425011892803,
+    "motion_timing": {
+      "simulated_seconds": 7.778000000002727,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 4,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 65.9060000000278,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 79.34599999999648,
+    "wall_seconds": 18.89617269206792,
+    "motion_timing": {
+      "simulated_seconds": 13.439999999968677,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 5,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "microwave",
+      "region": "interior"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 79.34599999999648,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 87.23799999997809,
+    "wall_seconds": 28.635053002042696,
+    "motion_timing": {
+      "simulated_seconds": 7.891999999981607,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 6,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 87.23799999997809,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 98.93599999995082,
+    "wall_seconds": 24.304049050901085,
+    "motion_timing": {
+      "simulated_seconds": 11.697999999972737,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 7,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 98.93599999995082,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 150.96399999999272,
+    "wall_seconds": 207.7100628381595,
+    "motion_timing": {
+      "simulated_seconds": 52.0280000000419,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 8,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave_start"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 150.96399999999272,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 159.60000000003396,
+    "wall_seconds": 23.830044149188325,
+    "motion_timing": {
+      "simulated_seconds": 8.636000000041236,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 9,
+    "skill": "push_button",
+    "arguments": {
+      "target": "microwave_start"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 159.60000000003396,
+    "preconditions": {
+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 168.24400000007523,
+    "wall_seconds": 40.34364960389212,
+    "motion_timing": {
+      "simulated_seconds": 8.644000000041274,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 10,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 168.24400000007523,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 181.48600000013846,
+    "wall_seconds": 30.30730816605501,
+    "motion_timing": {
+      "simulated_seconds": 13.242000000063229,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 11,
+    "skill": "open_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 181.48600000013846,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 226.28200000035235,
+    "wall_seconds": 149.94065054296516,
+    "motion_timing": {
+      "simulated_seconds": 44.796000000213894,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 12,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 226.28200000035235,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 232.03800000037984,
+    "wall_seconds": 16.428853860124946,
+    "motion_timing": {
+      "simulated_seconds": 5.756000000027484,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 13,
+    "skill": "pick",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 232.03800000037984,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 239.87800000041727,
+    "wall_seconds": 54.57528493902646,
+    "motion_timing": {
+      "simulated_seconds": 7.840000000037435,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 14,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 239.87800000041727,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 254.53800000048727,
+    "wall_seconds": 30.392035773023963,
+    "motion_timing": {
+      "simulated_seconds": 14.66000000007,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 15,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 254.53800000048727,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 258.5860000005066,
+    "wall_seconds": 22.07124311896041,
+    "motion_timing": {
+      "simulated_seconds": 4.048000000019329,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "faster_than_target"
+    }
+  },
+  {
+    "index": 16,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 258.5860000005066,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 272.1620000005714,
+    "wall_seconds": 24.832990906201303,
+    "motion_timing": {
+      "simulated_seconds": 13.576000000064823,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 17,
+    "skill": "close_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 272.1620000005714,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 284.71000000063134,
+    "wall_seconds": 53.088576186914,
+    "motion_timing": {
+      "simulated_seconds": 12.548000000059915,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 18,
+    "skill": "wait",
+    "arguments": {
+      "duration_seconds": 30.0
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 284.71000000063134,
+    "preconditions": {
+      "ready": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 314.7100000007746,
+    "wall_seconds": 26.824675898067653,
+    "motion_timing": {
+      "simulated_seconds": 30.000000000143245,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "explicit_wait"
+    }
+  },
+  {
+    "index": 19,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 314.7100000007746,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 325.1600000008245,
+    "wall_seconds": 21.522662993054837,
+    "motion_timing": {
+      "simulated_seconds": 10.450000000049897,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 20,
+    "skill": "push_button",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 325.1600000008245,
+    "preconditions": {
+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 333.80000000086574,
+    "wall_seconds": 42.673517014831305,
+    "motion_timing": {
+      "simulated_seconds": 8.640000000041255,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 21,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 333.80000000086574,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 343.0880000009101,
+    "wall_seconds": 25.715853109955788,
+    "motion_timing": {
+      "simulated_seconds": 9.288000000044349,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 22,
+    "skill": "open_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 343.0880000009101,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 382.440000001098,
+    "wall_seconds": 146.29701531189494,
+    "motion_timing": {
+      "simulated_seconds": 39.3520000001879,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 23,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 382.440000001098,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 389.2540000011305,
+    "wall_seconds": 18.011610026005656,
+    "motion_timing": {
+      "simulated_seconds": 6.814000000032536,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 24,
+    "skill": "pick",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 389.2540000011305,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 396.7480000011663,
+    "wall_seconds": 107.34665493108332,
+    "motion_timing": {
+      "simulated_seconds": 7.494000000035783,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 25,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 396.7480000011663,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 450.4480000014227,
+    "wall_seconds": 62.00783363496885,
+    "motion_timing": {
+      "simulated_seconds": 53.70000000025641,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 26,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 450.4480000014227,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 472.29800000152704,
+    "wall_seconds": 34.54429411701858,
+    "motion_timing": {
+      "simulated_seconds": 21.85000000010433,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 27,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 472.29800000152704,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 505.4780000016855,
+    "wall_seconds": 37.34783358615823,
+    "motion_timing": {
+      "simulated_seconds": 33.18000000015843,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 28,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 505.4780000016855,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 557.6660000006367,
+    "wall_seconds": 199.81155807012692,
+    "motion_timing": {
+      "simulated_seconds": 52.18799999895123,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  }
+]

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/asset_selection.json

@@ -0,0 +1,7 @@
+{
+  "unavailable": [],
+  "selected": {
+    "food_container_01": "robocasa__lightwheel__tupperware__Tupperware039",
+    "drink_bottle_01": "robocasa__lightwheel__juice__Juice006"
+  }
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/base_layout.json

@@ -0,0 +1,216 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 1234701233,
+  "rooms": [
+    {
+      "name": "kitchen",
+      "room_type": "kitchen",
+      "bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -2.3999999999999995
+      ],
+      "size": [
+        5.580000000000002,
+        4.880000000000001
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          5.540000000000001,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -4.84,
+          5.540000000000001,
+          0.04000000000000048
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_room_main",
+      "furniture": []
+    },
+    {
+      "name": "dining",
+      "room_type": "dining",
+      "bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -8.065806451612902
+      ],
+      "size": [
+        5.580000000000002,
+        6.451612903225804
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -11.291612903225804
+        ],
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -11.291612903225804
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -11.291612903225804,
+          5.540000000000001,
+          -4.84
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_dining_room_main",
+      "furniture": [
+        "dining_table_dining_room_main",
+        "table_leg_0_dining_room_main",
+        "table_leg_1_dining_room_main",
+        "table_leg_2_dining_room_main",
+        "table_leg_3_dining_room_main",
+        "chair_0_seat_dining_room_main",
+        "chair_0_back_dining_room_main",
+        "chair_0_leg_0_dining_room_main",
+        "chair_0_leg_1_dining_room_main",
+        "chair_0_leg_2_dining_room_main",
+        "chair_0_leg_3_dining_room_main",
+        "chair_1_seat_dining_room_main",
+        "chair_1_back_dining_room_main",
+        "chair_1_leg_0_dining_room_main",
+        "chair_1_leg_1_dining_room_main",
+        "chair_1_leg_2_dining_room_main",
+        "chair_1_leg_3_dining_room_main",
+        "chair_2_seat_dining_room_main",
+        "chair_2_back_dining_room_main",
+        "chair_2_leg_0_dining_room_main",
+        "chair_2_leg_1_dining_room_main",
+        "chair_2_leg_2_dining_room_main",
+        "chair_2_leg_3_dining_room_main",
+        "chair_3_seat_dining_room_main",
+        "chair_3_back_dining_room_main",
+        "chair_3_leg_0_dining_room_main",
+        "chair_3_leg_1_dining_room_main",
+        "chair_3_leg_2_dining_room_main",
+        "chair_3_leg_3_dining_room_main"
+      ]
+    }
+  ],
+  "connections": [
+    {
+      "rooms": [
+        "kitchen",
+        "dining"
+      ],
+      "wall": [
+        1,
+        -4.84,
+        -0.04000000000000048,
+        5.540000000000001
+      ],
+      "center": [
+        3.029000000000001,
+        -4.84
+      ],
+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
+    }
+  ],
+  "footprint": {
+    "outline": [
+      [
+        5.540000000000001,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -4.84
+      ],
+      [
+        -0.04000000000000048,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        -4.84
+      ]
+    ],
+    "corner_count": 6,
+    "bounding_box_fill_ratio": 1.0
+  },
+  "kitchen_dining_paths": [
+    [
+      "kitchen",
+      "dining"
+    ]
+  ],
+  "parameters": {
+    "room_count": 2,
+    "room_area": 36.0,
+    "bedroom_requirement": "explicit two-room profile exception"
+  },
+  "furniture_instance_seed": null,
+  "source_scene_sha256": "a95ba445e4fa3d6fad228ed2966ffee7797c83a8219806d4f506c13050f5b4eb"
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/config.json

@@ -0,0 +1,166 @@
+{
+  "schema_version": 1,
+  "episode_id": "prepare_and_serve_meal_000171",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
+  "procedure": "retrieve_before_heating",
+  "scene": {
+    "seed": 1328989047,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "food_container": 1,
+      "drink_bottle": 1
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
+        "yaw_deg": -2.029666103873918,
+        "dx": 0.07990308927720532,
+        "dy": -0.002433199094842478
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 1328989047,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "food_heated_long_enough",
+    "all_meal_items_served",
+    "microwave_off",
+    "microwave_closed",
+    "fridge_closed",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "fridge_retrieval",
+    "microwave_loading",
+    "microwave_controls",
+    "private_duration_tracking"
+  ],
+  "catalog_version": "fixed-atomic-v1",
+  "video_speedup": 1.0,
+  "dataset_role": "pilot_unassigned",
+  "motion": {
+    "optimize_motion_components": true,
+    "smooth_action": true,
+    "record_action_replay": true
+  },
+  "initial_state_policy": "deterministic_setup_from_scene_config",
+  "validation_status": "not_executed",
+  "scene_spec_sha256": "d377eaad00ed2f9e238a79a0480242e768d7969e7679646d7481bc7faf30b3e5",
+  "room_route": "default",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/prepare_and_serve_meal.yaml",
+    "specification": {
+      "task": "prepare_and_serve_meal",
+      "seed": 20294,
+      "count": 1,
+      "base_layout": {
+        "profile": "two_rooms",
+        "rooms": [
+          2,
+          2
+        ],
+        "max_attempts": 100,
+        "loop_probability": 0.8
+      },
+      "fixed": {
+        "scene.people": 2,
+        "scene.kitchen_layout": 1,
+        "scene.asset_instance_set": "baseline"
+      },
+      "controls": {
+        "execution_order": {
+          "procedure": {
+            "choices": [
+              "heat_while_retrieving",
+              "retrieve_before_heating"
+            ]
+          }
+        },
+        "furniture_translation": {
+          "scene.furniture.dining_set.dx": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          },
+          "scene.furniture.dining_set.dy": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          }
+        },
+        "furniture_rotation": {
+          "scene.furniture.dining_set.yaw_deg": {
+            "uniform": [
+              -5,
+              5
+            ]
+          }
+        },
+        "appearance_theme": {
+          "scene.appearance.preset": {
+            "choices": [
+              "warm_home",
+              "cool_daylight"
+            ]
+          }
+        },
+        "door_route": {
+          "room_route": {
+            "choices": [
+              "default",
+              "closed_direct"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 5,
+        "max_active": 5
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "door_route",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "room_route": "default",
+      "procedure": "retrieve_before_heating",
+      "scene.furniture.dining_set.yaw_deg": -2.029666103873918,
+      "scene.furniture.dining_set.dx": 0.07990308927720532,
+      "scene.furniture.dining_set.dy": -0.002433199094842478
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 20294,
+    "attempt_index": 171,
+    "procedure_schedule": "retrieve_before_heating",
+    "route_schedule": "default"
+  }
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/skill_calls.json

@@ -0,0 +1,787 @@
+[
+  {
+    "index": 0,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 2.0000000000000013,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 8.899999999999642,
+    "wall_seconds": 7.112419330049306,
+    "motion_timing": {
+      "simulated_seconds": 6.89999999999964,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 1,
+    "skill": "open_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 8.899999999999642,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 52.96200000001876,
+    "wall_seconds": 144.56892115110531,
+    "motion_timing": {
+      "simulated_seconds": 44.06200000001912,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 2,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 52.96200000001876,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 58.73200000002581,
+    "wall_seconds": 15.863901726901531,
+    "motion_timing": {
+      "simulated_seconds": 5.770000000007052,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 3,
+    "skill": "pick",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 58.73200000002581,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 67.21600000002475,
+    "wall_seconds": 47.59583735303022,
+    "motion_timing": {
+      "simulated_seconds": 8.483999999998936,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 4,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 67.21600000002475,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 81.75599999999086,
+    "wall_seconds": 28.192321144975722,
+    "motion_timing": {
+      "simulated_seconds": 14.539999999966113,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 5,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 81.75599999999086,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 86.16599999998058,
+    "wall_seconds": 22.111245499923825,
+    "motion_timing": {
+      "simulated_seconds": 4.409999999989722,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "faster_than_target"
+    }
+  },
+  {
+    "index": 6,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 86.16599999998058,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 99.72799999994898,
+    "wall_seconds": 23.393968432908878,
+    "motion_timing": {
+      "simulated_seconds": 13.561999999968393,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 7,
+    "skill": "close_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 99.72799999994898,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 112.28399999991971,
+    "wall_seconds": 50.879947904031724,
+    "motion_timing": {
+      "simulated_seconds": 12.555999999970737,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 8,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 112.28399999991971,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 121.66599999989785,
+    "wall_seconds": 20.048804110847414,
+    "motion_timing": {
+      "simulated_seconds": 9.381999999978134,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 9,
+    "skill": "open_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 121.66599999989785,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 160.48400000003818,
+    "wall_seconds": 138.4268774089869,
+    "motion_timing": {
+      "simulated_seconds": 38.81800000014033,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 10,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 160.48400000003818,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 170.28200000008496,
+    "wall_seconds": 19.77304302714765,
+    "motion_timing": {
+      "simulated_seconds": 9.798000000046784,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 11,
+    "skill": "pick",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 170.28200000008496,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 178.0600000001221,
+    "wall_seconds": 23.06745737697929,
+    "motion_timing": {
+      "simulated_seconds": 7.778000000037139,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 12,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 178.0600000001221,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 191.50000000018628,
+    "wall_seconds": 16.787774784024805,
+    "motion_timing": {
+      "simulated_seconds": 13.440000000064174,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 13,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "microwave",
+      "region": "interior"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 191.50000000018628,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 199.39200000022396,
+    "wall_seconds": 27.28553157602437,
+    "motion_timing": {
+      "simulated_seconds": 7.892000000037683,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 14,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 199.39200000022396,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 211.0880000002798,
+    "wall_seconds": 23.03616969799623,
+    "motion_timing": {
+      "simulated_seconds": 11.696000000055847,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 15,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 211.0880000002798,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 262.90600000052723,
+    "wall_seconds": 203.1052255751565,
+    "motion_timing": {
+      "simulated_seconds": 51.81800000024742,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 16,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave_start"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 262.90600000052723,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 271.55600000056853,
+    "wall_seconds": 22.823546157917008,
+    "motion_timing": {
+      "simulated_seconds": 8.650000000041302,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 17,
+    "skill": "push_button",
+    "arguments": {
+      "target": "microwave_start"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 271.55600000056853,
+    "preconditions": {
+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 279.7400000006076,
+    "wall_seconds": 39.68217568797991,
+    "motion_timing": {
+      "simulated_seconds": 8.184000000039077,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 18,
+    "skill": "wait",
+    "arguments": {
+      "duration_seconds": 30.0
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 279.7400000006076,
+    "preconditions": {
+      "ready": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 309.74000000075085,
+    "wall_seconds": 29.953107301844284,
+    "motion_timing": {
+      "simulated_seconds": 30.000000000143245,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "explicit_wait"
+    }
+  },
+  {
+    "index": 19,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 309.74000000075085,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 319.83600000079906,
+    "wall_seconds": 25.267307630972937,
+    "motion_timing": {
+      "simulated_seconds": 10.096000000048207,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 20,
+    "skill": "push_button",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 319.83600000079906,
+    "preconditions": {
+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 327.43600000083535,
+    "wall_seconds": 39.94850037386641,
+    "motion_timing": {
+      "simulated_seconds": 7.600000000036289,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 21,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 327.43600000083535,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 336.75400000087984,
+    "wall_seconds": 25.940285986987874,
+    "motion_timing": {
+      "simulated_seconds": 9.318000000044492,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 22,
+    "skill": "open_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 336.75400000087984,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 376.1400000010679,
+    "wall_seconds": 146.745421850821,
+    "motion_timing": {
+      "simulated_seconds": 39.38600000018806,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 23,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 376.1400000010679,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 382.78600000109964,
+    "wall_seconds": 18.042425711872056,
+    "motion_timing": {
+      "simulated_seconds": 6.646000000031734,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 24,
+    "skill": "pick",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 382.78600000109964,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 390.3640000011358,
+    "wall_seconds": 226.30273912195116,
+    "motion_timing": {
+      "simulated_seconds": 7.578000000036184,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 25,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 390.3640000011358,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 406.9660000012151,
+    "wall_seconds": 24.65900631202385,
+    "motion_timing": {
+      "simulated_seconds": 16.602000000079272,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 26,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 406.9660000012151,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 413.82400000124784,
+    "wall_seconds": 23.391997017199174,
+    "motion_timing": {
+      "simulated_seconds": 6.858000000032746,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 27,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 413.82400000124784,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 427.3240000013123,
+    "wall_seconds": 22.766843837918714,
+    "motion_timing": {
+      "simulated_seconds": 13.50000000006446,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 28,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 427.3240000013123,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 479.55000000156167,
+    "wall_seconds": 205.29761814302765,
+    "motion_timing": {
+      "simulated_seconds": 52.22600000024937,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  }
+]

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000005/asset_selection.json

@@ -0,0 +1,7 @@
+{
+  "unavailable": [],
+  "selected": {
+    "food_container_01": "robocasa__lightwheel__tupperware__Tupperware039",
+    "drink_bottle_01": "robocasa__lightwheel__juice__Juice006"
+  }
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000005/base_layout.json

@@ -0,0 +1,204 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 2077644461,
+  "rooms": [
+    {
+      "name": "kitchen",
+      "room_type": "kitchen",
+      "bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -2.3999999999999995
+      ],
+      "size": [
+        5.580000000000002,
+        4.880000000000001
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          5.540000000000001,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -4.84,
+          5.540000000000001,
+          0.04000000000000048
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_room_main",
+      "furniture": []
+    },
+    {
+      "name": "dining",
+      "room_type": "dining",
+      "bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -8.065806451612902
+      ],
+      "size": [
+        5.580000000000002,
+        6.451612903225804
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -11.291612903225804
+        ],
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -11.291612903225804
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -11.291612903225804,
+          5.540000000000001,
+          -4.84
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_dining_room_main",
+      "furniture": [
+        "dining_table_dining_room_main",
+        "table_leg_0_dining_room_main",
+        "table_leg_1_dining_room_main",
+        "table_leg_2_dining_room_main",
+        "table_leg_3_dining_room_main",
+        "chair_0_seat_dining_room_main",
+        "chair_0_back_dining_room_main",
+        "chair_0_leg_0_dining_room_main",
+        "chair_0_leg_1_dining_room_main",
+        "chair_0_leg_2_dining_room_main",
+        "chair_0_leg_3_dining_room_main",
+        "chair_1_seat_dining_room_main",
+        "chair_1_back_dining_room_main",
+        "chair_1_leg_0_dining_room_main",
+        "chair_1_leg_1_dining_room_main",
+        "chair_1_leg_2_dining_room_main",
+        "chair_1_leg_3_dining_room_main"
+      ]
+    }
+  ],
+  "connections": [
+    {
+      "rooms": [
+        "kitchen",
+        "dining"
+      ],
+      "wall": [
+        1,
+        -4.84,
+        -0.04000000000000048,
+        5.540000000000001
+      ],
+      "center": [
+        3.029000000000001,
+        -4.84
+      ],
+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
+    }
+  ],
+  "footprint": {
+    "outline": [
+      [
+        5.540000000000001,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -4.84
+      ],
+      [
+        -0.04000000000000048,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        -4.84
+      ]
+    ],
+    "corner_count": 6,
+    "bounding_box_fill_ratio": 1.0
+  },
+  "kitchen_dining_paths": [
+    [
+      "kitchen",
+      "dining"
+    ]
+  ],
+  "parameters": {
+    "room_count": 2,
+    "room_area": 36.0,
+    "bedroom_requirement": "explicit two-room profile exception"
+  },
+  "furniture_instance_seed": null,
+  "source_scene_sha256": "c95e6eb77c092b5e71d9def7fc55d0f7d9ced6a5014891f11df39ce30338a1d0"
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000005/config.json

@@ -0,0 +1,166 @@
+{
+  "schema_version": 1,
+  "episode_id": "prepare_and_serve_meal_000172",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
+  "procedure": "heat_while_retrieving",
+  "scene": {
+    "seed": 720957945,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "food_container": 1,
+      "drink_bottle": 1
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
+        "yaw_deg": 4.346528095536932,
+        "dx": 0.03652843293753896,
+        "dy": 0.0024725923969275004
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "warm_home"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 720957945,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "closed_direct"
+    }
+  },
+  "goal_keys": [
+    "food_heated_long_enough",
+    "all_meal_items_served",
+    "microwave_off",
+    "microwave_closed",
+    "fridge_closed",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "fridge_retrieval",
+    "microwave_loading",
+    "microwave_controls",
+    "private_duration_tracking"
+  ],
+  "catalog_version": "fixed-atomic-v1",
+  "video_speedup": 1.0,
+  "dataset_role": "pilot_unassigned",
+  "motion": {
+    "optimize_motion_components": true,
+    "smooth_action": true,
+    "record_action_replay": true
+  },
+  "initial_state_policy": "deterministic_setup_from_scene_config",
+  "validation_status": "not_executed",
+  "scene_spec_sha256": "a3a4aa9d46a92b65012b7a3af37da3113ac8125b58f1975feb9bd7e43ca96217",
+  "room_route": "closed_direct",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/prepare_and_serve_meal.yaml",
+    "specification": {
+      "task": "prepare_and_serve_meal",
+      "seed": 20295,
+      "count": 1,
+      "base_layout": {
+        "profile": "two_rooms",
+        "rooms": [
+          2,
+          2
+        ],
+        "max_attempts": 100,
+        "loop_probability": 0.8
+      },
+      "fixed": {
+        "scene.people": 2,
+        "scene.kitchen_layout": 1,
+        "scene.asset_instance_set": "baseline"
+      },
+      "controls": {
+        "execution_order": {
+          "procedure": {
+            "choices": [
+              "heat_while_retrieving",
+              "retrieve_before_heating"
+            ]
+          }
+        },
+        "furniture_translation": {
+          "scene.furniture.dining_set.dx": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          },
+          "scene.furniture.dining_set.dy": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          }
+        },
+        "furniture_rotation": {
+          "scene.furniture.dining_set.yaw_deg": {
+            "uniform": [
+              -5,
+              5
+            ]
+          }
+        },
+        "appearance_theme": {
+          "scene.appearance.preset": {
+            "choices": [
+              "warm_home",
+              "cool_daylight"
+            ]
+          }
+        },
+        "door_route": {
+          "room_route": {
+            "choices": [
+              "default",
+              "closed_direct"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 5,
+        "max_active": 5
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "door_route",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "warm_home",
+      "room_route": "closed_direct",
+      "procedure": "heat_while_retrieving",
+      "scene.furniture.dining_set.yaw_deg": 4.346528095536932,
+      "scene.furniture.dining_set.dx": 0.03652843293753896,
+      "scene.furniture.dining_set.dy": 0.0024725923969275004
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 20295,
+    "attempt_index": 172,
+    "procedure_schedule": "heat_while_retrieving",
+    "route_schedule": "closed_direct"
+  }
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000005/skill_calls.json

@@ -0,0 +1,895 @@
+[
+  {
+    "index": 0,
+    "skill": "navigate",
+    "arguments": {
+      "target": "room_door_0_left"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 2.0000000000000013,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 12.620000000000884,
+    "wall_seconds": 10.937363650882617,
+    "motion_timing": {
+      "simulated_seconds": 10.620000000000882,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 1,
+    "skill": "open_door",
+    "arguments": {
+      "target": "room_door_0_left"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 12.620000000000884,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 72.36400000001275,
+    "wall_seconds": 200.0130472718738,
+    "motion_timing": {
+      "simulated_seconds": 59.744000000011866,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 2,
+    "skill": "navigate",
+    "arguments": {
+      "target": "room_door_0_right"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 72.36400000001275,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 78.97199999999735,
+    "wall_seconds": 20.91949319303967,
+    "motion_timing": {
+      "simulated_seconds": 6.6079999999845995,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 3,
+    "skill": "open_door",
+    "arguments": {
+      "target": "room_door_0_right"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 78.97199999999735,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 138.10399999993132,
+    "wall_seconds": 195.94138157903217,
+    "motion_timing": {
+      "simulated_seconds": 59.13199999993397,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 4,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 138.10399999993132,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 150.0559999999884,
+    "wall_seconds": 25.14651455101557,
+    "motion_timing": {
+      "simulated_seconds": 11.952000000057069,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 5,
+    "skill": "open_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 150.0559999999884,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 189.35200000017602,
+    "wall_seconds": 146.03841284895316,
+    "motion_timing": {
+      "simulated_seconds": 39.29600000018763,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 6,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 189.35200000017602,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 199.402000000224,
+    "wall_seconds": 21.825135679915547,
+    "motion_timing": {
+      "simulated_seconds": 10.050000000047987,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 7,
+    "skill": "pick",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 199.402000000224,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 207.18000000026115,
+    "wall_seconds": 25.838631510036066,
+    "motion_timing": {
+      "simulated_seconds": 7.778000000037139,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 8,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 207.18000000026115,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 220.62000000032532,
+    "wall_seconds": 19.138458953006193,
+    "motion_timing": {
+      "simulated_seconds": 13.440000000064174,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 9,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "microwave",
+      "region": "interior"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 220.62000000032532,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 228.64400000036363,
+    "wall_seconds": 28.625139420153573,
+    "motion_timing": {
+      "simulated_seconds": 8.024000000038313,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 10,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 228.64400000036363,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 240.34000000041948,
+    "wall_seconds": 24.72759868693538,
+    "motion_timing": {
+      "simulated_seconds": 11.696000000055847,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 11,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 240.34000000041948,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 292.9780000006708,
+    "wall_seconds": 215.43576079793274,
+    "motion_timing": {
+      "simulated_seconds": 52.63800000025134,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 12,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave_start"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 292.9780000006708,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 301.6260000007121,
+    "wall_seconds": 24.095567889977247,
+    "motion_timing": {
+      "simulated_seconds": 8.648000000041293,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 13,
+    "skill": "push_button",
+    "arguments": {
+      "target": "microwave_start"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 301.6260000007121,
+    "preconditions": {
+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 310.1700000007529,
+    "wall_seconds": 43.30577043094672,
+    "motion_timing": {
+      "simulated_seconds": 8.544000000040796,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 14,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 310.1700000007529,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 323.83400000081815,
+    "wall_seconds": 30.964045477099717,
+    "motion_timing": {
+      "simulated_seconds": 13.664000000065244,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 15,
+    "skill": "open_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 323.83400000081815,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 368.61000000103195,
+    "wall_seconds": 147.18844988406636,
+    "motion_timing": {
+      "simulated_seconds": 44.7760000002138,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 16,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 368.61000000103195,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 374.3780000010595,
+    "wall_seconds": 16.662140692118555,
+    "motion_timing": {
+      "simulated_seconds": 5.768000000027541,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 17,
+    "skill": "pick",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 374.3780000010595,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 382.8600000011,
+    "wall_seconds": 48.68994355015457,
+    "motion_timing": {
+      "simulated_seconds": 8.4820000000405,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 18,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 382.8600000011,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 397.5000000011699,
+    "wall_seconds": 30.205642065033317,
+    "motion_timing": {
+      "simulated_seconds": 14.640000000069904,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 19,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 397.5000000011699,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 402.24800000119257,
+    "wall_seconds": 22.906191903864965,
+    "motion_timing": {
+      "simulated_seconds": 4.748000000022671,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "faster_than_target"
+    }
+  },
+  {
+    "index": 20,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 402.24800000119257,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 415.79600000125726,
+    "wall_seconds": 25.298671860946342,
+    "motion_timing": {
+      "simulated_seconds": 13.54800000006469,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 21,
+    "skill": "close_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 415.79600000125726,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 428.36000000131725,
+    "wall_seconds": 57.3167036480736,
+    "motion_timing": {
+      "simulated_seconds": 12.564000000059991,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 22,
+    "skill": "wait",
+    "arguments": {
+      "duration_seconds": 30.0
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 428.36000000131725,
+    "preconditions": {
+      "ready": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 458.3600000014605,
+    "wall_seconds": 27.0822725398466,
+    "motion_timing": {
+      "simulated_seconds": 30.000000000143245,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "explicit_wait"
+    }
+  },
+  {
+    "index": 23,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 458.3600000014605,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 468.8100000015104,
+    "wall_seconds": 21.764140120940283,
+    "motion_timing": {
+      "simulated_seconds": 10.450000000049897,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 24,
+    "skill": "push_button",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 468.8100000015104,
+    "preconditions": {
+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 476.9980000015495,
+    "wall_seconds": 39.52609335305169,
+    "motion_timing": {
+      "simulated_seconds": 8.188000000039096,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 25,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 476.9980000015495,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 486.79000000159624,
+    "wall_seconds": 25.03223456419073,
+    "motion_timing": {
+      "simulated_seconds": 9.792000000046755,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 26,
+    "skill": "open_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 486.79000000159624,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 526.3260000013778,
+    "wall_seconds": 148.8469299741555,
+    "motion_timing": {
+      "simulated_seconds": 39.53599999978155,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 27,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 526.3260000013778,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 533.1580000012162,
+    "wall_seconds": 18.30982499802485,
+    "motion_timing": {
+      "simulated_seconds": 6.831999999838445,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 28,
+    "skill": "pick",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 533.1580000012162,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 540.7300000010372,
+    "wall_seconds": 110.96777214901522,
+    "motion_timing": {
+      "simulated_seconds": 7.571999999820946,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 29,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 540.7300000010372,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 558.3060000006216,
+    "wall_seconds": 23.81267978087999,
+    "motion_timing": {
+      "simulated_seconds": 17.575999999584383,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 30,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 558.3060000006216,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 560.9700000005586,
+    "wall_seconds": 25.35563066904433,
+    "motion_timing": {
+      "simulated_seconds": 2.6639999999370048,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "faster_than_target"
+    }
+  },
+  {
+    "index": 31,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 560.9700000005586,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 574.738000000233,
+    "wall_seconds": 23.195006222929806,
+    "motion_timing": {
+      "simulated_seconds": 13.76799999967443,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 32,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 574.738000000233,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 626.9899999989974,
+    "wall_seconds": 199.9573168300558,
+    "motion_timing": {
+      "simulated_seconds": 52.251999998764404,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  }
+]

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/asset_selection.json

@@ -0,0 +1,7 @@
+{
+  "unavailable": [],
+  "selected": {
+    "food_container_01": "robocasa__lightwheel__tupperware__Tupperware039",
+    "drink_bottle_01": "robocasa__lightwheel__juice__Juice006"
+  }
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/base_layout.json

@@ -0,0 +1,210 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 1105828146,
+  "rooms": [
+    {
+      "name": "kitchen",
+      "room_type": "kitchen",
+      "bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -2.3999999999999995
+      ],
+      "size": [
+        5.580000000000002,
+        4.880000000000001
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          5.540000000000001,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -4.84,
+          5.540000000000001,
+          0.04000000000000048
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_room_main",
+      "furniture": []
+    },
+    {
+      "name": "dining",
+      "room_type": "dining",
+      "bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -8.065806451612902
+      ],
+      "size": [
+        5.580000000000002,
+        6.451612903225804
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -11.291612903225804
+        ],
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -11.291612903225804
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -11.291612903225804,
+          5.540000000000001,
+          -4.84
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_dining_room_main",
+      "furniture": [
+        "dining_table_dining_room_main",
+        "table_leg_0_dining_room_main",
+        "table_leg_1_dining_room_main",
+        "table_leg_2_dining_room_main",
+        "table_leg_3_dining_room_main",
+        "chair_0_seat_dining_room_main",
+        "chair_0_back_dining_room_main",
+        "chair_0_leg_0_dining_room_main",
+        "chair_0_leg_1_dining_room_main",
+        "chair_0_leg_2_dining_room_main",
+        "chair_0_leg_3_dining_room_main",
+        "chair_1_seat_dining_room_main",
+        "chair_1_back_dining_room_main",
+        "chair_1_leg_0_dining_room_main",
+        "chair_1_leg_1_dining_room_main",
+        "chair_1_leg_2_dining_room_main",
+        "chair_1_leg_3_dining_room_main",
+        "chair_2_seat_dining_room_main",
+        "chair_2_back_dining_room_main",
+        "chair_2_leg_0_dining_room_main",
+        "chair_2_leg_1_dining_room_main",
+        "chair_2_leg_2_dining_room_main",
+        "chair_2_leg_3_dining_room_main"
+      ]
+    }
+  ],
+  "connections": [
+    {
+      "rooms": [
+        "kitchen",
+        "dining"
+      ],
+      "wall": [
+        1,
+        -4.84,
+        -0.04000000000000048,
+        5.540000000000001
+      ],
+      "center": [
+        3.029000000000001,
+        -4.84
+      ],
+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
+    }
+  ],
+  "footprint": {
+    "outline": [
+      [
+        5.540000000000001,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -4.84
+      ],
+      [
+        -0.04000000000000048,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        -4.84
+      ]
+    ],
+    "corner_count": 6,
+    "bounding_box_fill_ratio": 1.0
+  },
+  "kitchen_dining_paths": [
+    [
+      "kitchen",
+      "dining"
+    ]
+  ],
+  "parameters": {
+    "room_count": 2,
+    "room_area": 36.0,
+    "bedroom_requirement": "explicit two-room profile exception"
+  },
+  "furniture_instance_seed": null,
+  "source_scene_sha256": "834a5ee3258eb1a4ddfd390b167f51026a1847ce85fece516036771683dc8880"
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/config.json

@@ -0,0 +1,166 @@
+{
+  "schema_version": 1,
+  "episode_id": "prepare_and_serve_meal_000173",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
+  "procedure": "retrieve_before_heating",
+  "scene": {
+    "seed": 848247856,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "food_container": 1,
+      "drink_bottle": 1
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
+        "yaw_deg": 3.035641980657168,
+        "dx": 0.09904789373724643,
+        "dy": 0.06333389649763219
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 848247856,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "closed_direct"
+    }
+  },
+  "goal_keys": [
+    "food_heated_long_enough",
+    "all_meal_items_served",
+    "microwave_off",
+    "microwave_closed",
+    "fridge_closed",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "fridge_retrieval",
+    "microwave_loading",
+    "microwave_controls",
+    "private_duration_tracking"
+  ],
+  "catalog_version": "fixed-atomic-v1",
+  "video_speedup": 1.0,
+  "dataset_role": "pilot_unassigned",
+  "motion": {
+    "optimize_motion_components": true,
+    "smooth_action": true,
+    "record_action_replay": true
+  },
+  "initial_state_policy": "deterministic_setup_from_scene_config",
+  "validation_status": "not_executed",
+  "scene_spec_sha256": "5f9cd984d83b940dc68d6a175f0684f49cb94e7b05ed514ccad184584a1375dc",
+  "room_route": "closed_direct",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/prepare_and_serve_meal.yaml",
+    "specification": {
+      "task": "prepare_and_serve_meal",
+      "seed": 20296,
+      "count": 1,
+      "base_layout": {
+        "profile": "two_rooms",
+        "rooms": [
+          2,
+          2
+        ],
+        "max_attempts": 100,
+        "loop_probability": 0.8
+      },
+      "fixed": {
+        "scene.people": 2,
+        "scene.kitchen_layout": 1,
+        "scene.asset_instance_set": "baseline"
+      },
+      "controls": {
+        "execution_order": {
+          "procedure": {
+            "choices": [
+              "heat_while_retrieving",
+              "retrieve_before_heating"
+            ]
+          }
+        },
+        "furniture_translation": {
+          "scene.furniture.dining_set.dx": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          },
+          "scene.furniture.dining_set.dy": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          }
+        },
+        "furniture_rotation": {
+          "scene.furniture.dining_set.yaw_deg": {
+            "uniform": [
+              -5,
+              5
+            ]
+          }
+        },
+        "appearance_theme": {
+          "scene.appearance.preset": {
+            "choices": [
+              "warm_home",
+              "cool_daylight"
+            ]
+          }
+        },
+        "door_route": {
+          "room_route": {
+            "choices": [
+              "default",
+              "closed_direct"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 5,
+        "max_active": 5
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "door_route",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "room_route": "closed_direct",
+      "procedure": "retrieve_before_heating",
+      "scene.furniture.dining_set.yaw_deg": 3.035641980657168,
+      "scene.furniture.dining_set.dx": 0.09904789373724643,
+      "scene.furniture.dining_set.dy": 0.06333389649763219
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 20296,
+    "attempt_index": 173,
+    "procedure_schedule": "retrieve_before_heating",
+    "route_schedule": "closed_direct"
+  }
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/skill_calls.json

@@ -0,0 +1,895 @@
+[
+  {
+    "index": 0,
+    "skill": "navigate",
+    "arguments": {
+      "target": "room_door_0_left"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 2.0000000000000013,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 12.620000000000884,
+    "wall_seconds": 10.84105704515241,
+    "motion_timing": {
+      "simulated_seconds": 10.620000000000882,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 1,
+    "skill": "open_door",
+    "arguments": {
+      "target": "room_door_0_left"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 12.620000000000884,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 72.36400000001275,
+    "wall_seconds": 198.60782688693143,
+    "motion_timing": {
+      "simulated_seconds": 59.744000000011866,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 2,
+    "skill": "navigate",
+    "arguments": {
+      "target": "room_door_0_right"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 72.36400000001275,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 78.97199999999735,
+    "wall_seconds": 20.930324082961306,
+    "motion_timing": {
+      "simulated_seconds": 6.6079999999845995,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 3,
+    "skill": "open_door",
+    "arguments": {
+      "target": "room_door_0_right"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 78.97199999999735,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 138.10399999993132,
+    "wall_seconds": 195.33439771085978,
+    "motion_timing": {
+      "simulated_seconds": 59.13199999993397,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 4,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 138.10399999993132,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 149.0559999999836,
+    "wall_seconds": 23.84377152705565,
+    "motion_timing": {
+      "simulated_seconds": 10.952000000052294,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 5,
+    "skill": "open_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 149.0559999999836,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 193.6600000001966,
+    "wall_seconds": 141.10646487609483,
+    "motion_timing": {
+      "simulated_seconds": 44.60400000021298,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 6,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 193.6600000001966,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 199.41800000022408,
+    "wall_seconds": 15.923611904960126,
+    "motion_timing": {
+      "simulated_seconds": 5.758000000027494,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 7,
+    "skill": "pick",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 199.41800000022408,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 207.90000000026458,
+    "wall_seconds": 47.0782231008634,
+    "motion_timing": {
+      "simulated_seconds": 8.4820000000405,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 8,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 207.90000000026458,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 222.4600000003341,
+    "wall_seconds": 36.0546711741481,
+    "motion_timing": {
+      "simulated_seconds": 14.560000000069522,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 9,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 222.4600000003341,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 227.88000000035998,
+    "wall_seconds": 22.723398795817047,
+    "motion_timing": {
+      "simulated_seconds": 5.42000000002588,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 10,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 227.88000000035998,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 241.61400000042556,
+    "wall_seconds": 23.401308057829738,
+    "motion_timing": {
+      "simulated_seconds": 13.734000000065578,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 11,
+    "skill": "close_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 241.61400000042556,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 254.16000000048547,
+    "wall_seconds": 52.0229955019895,
+    "motion_timing": {
+      "simulated_seconds": 12.546000000059905,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 12,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 254.16000000048547,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 263.53600000053024,
+    "wall_seconds": 19.633491596905515,
+    "motion_timing": {
+      "simulated_seconds": 9.376000000044769,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 13,
+    "skill": "open_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 263.53600000053024,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 302.3340000007155,
+    "wall_seconds": 140.7560239250306,
+    "motion_timing": {
+      "simulated_seconds": 38.798000000185255,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 14,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 302.3340000007155,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 312.1320000007623,
+    "wall_seconds": 19.89436228806153,
+    "motion_timing": {
+      "simulated_seconds": 9.798000000046784,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 15,
+    "skill": "pick",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 312.1320000007623,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 319.60400000079795,
+    "wall_seconds": 23.07237067585811,
+    "motion_timing": {
+      "simulated_seconds": 7.472000000035678,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 16,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 319.60400000079795,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 333.0440000008621,
+    "wall_seconds": 16.667181845987216,
+    "motion_timing": {
+      "simulated_seconds": 13.440000000064174,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 17,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "microwave",
+      "region": "interior"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 333.0440000008621,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 340.9360000008998,
+    "wall_seconds": 27.267742523923516,
+    "motion_timing": {
+      "simulated_seconds": 7.892000000037683,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 18,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 340.9360000008998,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 352.6460000009557,
+    "wall_seconds": 22.781732933828607,
+    "motion_timing": {
+      "simulated_seconds": 11.710000000055913,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 19,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 352.6460000009557,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 404.5400000012035,
+    "wall_seconds": 204.09546885988675,
+    "motion_timing": {
+      "simulated_seconds": 51.894000000247786,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 20,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave_start"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 404.5400000012035,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 413.1640000012447,
+    "wall_seconds": 22.856075800023973,
+    "motion_timing": {
+      "simulated_seconds": 8.624000000041178,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 21,
+    "skill": "push_button",
+    "arguments": {
+      "target": "microwave_start"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 413.1640000012447,
+    "preconditions": {
+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 421.70000000128545,
+    "wall_seconds": 39.68434973200783,
+    "motion_timing": {
+      "simulated_seconds": 8.536000000040758,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 22,
+    "skill": "wait",
+    "arguments": {
+      "duration_seconds": 30.0
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 421.70000000128545,
+    "preconditions": {
+      "ready": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 451.7000000014287,
+    "wall_seconds": 29.73115048906766,
+    "motion_timing": {
+      "simulated_seconds": 30.000000000143245,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "explicit_wait"
+    }
+  },
+  {
+    "index": 23,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 451.7000000014287,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 461.39000000147496,
+    "wall_seconds": 27.338458696147427,
+    "motion_timing": {
+      "simulated_seconds": 9.690000000046268,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 24,
+    "skill": "push_button",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 461.39000000147496,
+    "preconditions": {
+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 469.38400000151313,
+    "wall_seconds": 41.45021176896989,
+    "motion_timing": {
+      "simulated_seconds": 7.99400000003817,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 25,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 469.38400000151313,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 478.69000000155756,
+    "wall_seconds": 24.555134458001703,
+    "motion_timing": {
+      "simulated_seconds": 9.306000000044435,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 26,
+    "skill": "open_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 478.69000000155756,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 518.0500000015735,
+    "wall_seconds": 147.90661934902892,
+    "motion_timing": {
+      "simulated_seconds": 39.36000000001593,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 27,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 518.0500000015735,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 524.8820000014119,
+    "wall_seconds": 18.371367878979072,
+    "motion_timing": {
+      "simulated_seconds": 6.831999999838445,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 28,
+    "skill": "pick",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 524.8820000014119,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 532.3940000012343,
+    "wall_seconds": 107.50243591493927,
+    "motion_timing": {
+      "simulated_seconds": 7.511999999822365,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 29,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 532.3940000012343,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 585.773999999972,
+    "wall_seconds": 62.67882077395916,
+    "motion_timing": {
+      "simulated_seconds": 53.37999999873773,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 30,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 585.773999999972,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 607.721999999453,
+    "wall_seconds": 35.034794070059434,
+    "motion_timing": {
+      "simulated_seconds": 21.947999999481,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 31,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 607.721999999453,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 621.7659999991209,
+    "wall_seconds": 22.773947771871462,
+    "motion_timing": {
+      "simulated_seconds": 14.043999999667903,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 32,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 621.7659999991209,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 674.1379999978825,
+    "wall_seconds": 200.16992732300423,
+    "motion_timing": {
+      "simulated_seconds": 52.37199999876157,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  }
+]

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/asset_selection.json

@@ -0,0 +1,7 @@
+{
+  "unavailable": [],
+  "selected": {
+    "food_container_01": "robocasa__lightwheel__tupperware__Tupperware039",
+    "drink_bottle_01": "robocasa__lightwheel__juice__Juice006"
+  }
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/base_layout.json

@@ -0,0 +1,204 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 473100111,
+  "rooms": [
+    {
+      "name": "kitchen",
+      "room_type": "kitchen",
+      "bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -2.3999999999999995
+      ],
+      "size": [
+        5.580000000000002,
+        4.880000000000001
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          5.540000000000001,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -4.84,
+          5.540000000000001,
+          0.04000000000000048
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_room_main",
+      "furniture": []
+    },
+    {
+      "name": "dining",
+      "room_type": "dining",
+      "bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -8.065806451612902
+      ],
+      "size": [
+        5.580000000000002,
+        6.451612903225804
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -11.291612903225804
+        ],
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -11.291612903225804
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -11.291612903225804,
+          5.540000000000001,
+          -4.84
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_dining_room_main",
+      "furniture": [
+        "dining_table_dining_room_main",
+        "table_leg_0_dining_room_main",
+        "table_leg_1_dining_room_main",
+        "table_leg_2_dining_room_main",
+        "table_leg_3_dining_room_main",
+        "chair_0_seat_dining_room_main",
+        "chair_0_back_dining_room_main",
+        "chair_0_leg_0_dining_room_main",
+        "chair_0_leg_1_dining_room_main",
+        "chair_0_leg_2_dining_room_main",
+        "chair_0_leg_3_dining_room_main",
+        "chair_1_seat_dining_room_main",
+        "chair_1_back_dining_room_main",
+        "chair_1_leg_0_dining_room_main",
+        "chair_1_leg_1_dining_room_main",
+        "chair_1_leg_2_dining_room_main",
+        "chair_1_leg_3_dining_room_main"
+      ]
+    }
+  ],
+  "connections": [
+    {
+      "rooms": [
+        "kitchen",
+        "dining"
+      ],
+      "wall": [
+        1,
+        -4.84,
+        -0.04000000000000048,
+        5.540000000000001
+      ],
+      "center": [
+        3.029000000000001,
+        -4.84
+      ],
+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
+    }
+  ],
+  "footprint": {
+    "outline": [
+      [
+        5.540000000000001,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -4.84
+      ],
+      [
+        -0.04000000000000048,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        -4.84
+      ]
+    ],
+    "corner_count": 6,
+    "bounding_box_fill_ratio": 1.0
+  },
+  "kitchen_dining_paths": [
+    [
+      "kitchen",
+      "dining"
+    ]
+  ],
+  "parameters": {
+    "room_count": 2,
+    "room_area": 36.0,
+    "bedroom_requirement": "explicit two-room profile exception"
+  },
+  "furniture_instance_seed": null,
+  "source_scene_sha256": "6fb4e3acaf0ee3d35b70b393f386b1d6a1cd7c640ec6c45142329311383c0666"
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/config.json

@@ -0,0 +1,166 @@
+{
+  "schema_version": 1,
+  "episode_id": "prepare_and_serve_meal_000174",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
+  "procedure": "heat_while_retrieving",
+  "scene": {
+    "seed": 410591645,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "food_container": 1,
+      "drink_bottle": 1
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
+        "yaw_deg": -1.8795902139982101,
+        "dx": 0.05816120795509139,
+        "dy": 0.09390054277613433
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 410591645,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "food_heated_long_enough",
+    "all_meal_items_served",
+    "microwave_off",
+    "microwave_closed",
+    "fridge_closed",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "fridge_retrieval",
+    "microwave_loading",
+    "microwave_controls",
+    "private_duration_tracking"
+  ],
+  "catalog_version": "fixed-atomic-v1",
+  "video_speedup": 1.0,
+  "dataset_role": "pilot_unassigned",
+  "motion": {
+    "optimize_motion_components": true,
+    "smooth_action": true,
+    "record_action_replay": true
+  },
+  "initial_state_policy": "deterministic_setup_from_scene_config",
+  "validation_status": "not_executed",
+  "scene_spec_sha256": "9f1f2810b5724177ce403d36a2357ffa8e47586afb7706369a6aee8d9b51465b",
+  "room_route": "default",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/prepare_and_serve_meal.yaml",
+    "specification": {
+      "task": "prepare_and_serve_meal",
+      "seed": 20297,
+      "count": 1,
+      "base_layout": {
+        "profile": "two_rooms",
+        "rooms": [
+          2,
+          2
+        ],
+        "max_attempts": 100,
+        "loop_probability": 0.8
+      },
+      "fixed": {
+        "scene.people": 2,
+        "scene.kitchen_layout": 1,
+        "scene.asset_instance_set": "baseline"
+      },
+      "controls": {
+        "execution_order": {
+          "procedure": {
+            "choices": [
+              "heat_while_retrieving",
+              "retrieve_before_heating"
+            ]
+          }
+        },
+        "furniture_translation": {
+          "scene.furniture.dining_set.dx": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          },
+          "scene.furniture.dining_set.dy": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          }
+        },
+        "furniture_rotation": {
+          "scene.furniture.dining_set.yaw_deg": {
+            "uniform": [
+              -5,
+              5
+            ]
+          }
+        },
+        "appearance_theme": {
+          "scene.appearance.preset": {
+            "choices": [
+              "warm_home",
+              "cool_daylight"
+            ]
+          }
+        },
+        "door_route": {
+          "room_route": {
+            "choices": [
+              "default",
+              "closed_direct"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 5,
+        "max_active": 5
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "door_route",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "room_route": "default",
+      "procedure": "heat_while_retrieving",
+      "scene.furniture.dining_set.yaw_deg": -1.8795902139982101,
+      "scene.furniture.dining_set.dx": 0.05816120795509139,
+      "scene.furniture.dining_set.dy": 0.09390054277613433
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 20297,
+    "attempt_index": 174,
+    "procedure_schedule": "heat_while_retrieving",
+    "route_schedule": "default"
+  }
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/skill_calls.json

@@ -0,0 +1,787 @@
+[
+  {
+    "index": 0,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 2.0000000000000013,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 8.619999999999548,
+    "wall_seconds": 6.962168898899108,
+    "motion_timing": {
+      "simulated_seconds": 6.619999999999546,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 1,
+    "skill": "open_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 8.619999999999548,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 47.868000000012536,
+    "wall_seconds": 146.9932766421698,
+    "motion_timing": {
+      "simulated_seconds": 39.248000000012986,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 2,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 47.868000000012536,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 58.128000000025075,
+    "wall_seconds": 21.69176100892946,
+    "motion_timing": {
+      "simulated_seconds": 10.260000000012539,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 3,
+    "skill": "pick",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 58.128000000025075,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 65.9060000000278,
+    "wall_seconds": 24.142873720033094,
+    "motion_timing": {
+      "simulated_seconds": 7.778000000002727,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 4,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 65.9060000000278,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 79.34599999999648,
+    "wall_seconds": 18.94370326702483,
+    "motion_timing": {
+      "simulated_seconds": 13.439999999968677,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 5,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "microwave",
+      "region": "interior"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 79.34599999999648,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 87.23799999997809,
+    "wall_seconds": 29.142484748037532,
+    "motion_timing": {
+      "simulated_seconds": 7.891999999981607,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 6,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 87.23799999997809,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 98.93599999995082,
+    "wall_seconds": 24.453127902001143,
+    "motion_timing": {
+      "simulated_seconds": 11.697999999972737,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 7,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 98.93599999995082,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 150.96399999999272,
+    "wall_seconds": 206.94934469810687,
+    "motion_timing": {
+      "simulated_seconds": 52.0280000000419,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 8,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave_start"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 150.96399999999272,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 159.60000000003396,
+    "wall_seconds": 23.399859915021807,
+    "motion_timing": {
+      "simulated_seconds": 8.636000000041236,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 9,
+    "skill": "push_button",
+    "arguments": {
+      "target": "microwave_start"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 159.60000000003396,
+    "preconditions": {
+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 167.81000000007316,
+    "wall_seconds": 39.56534476694651,
+    "motion_timing": {
+      "simulated_seconds": 8.210000000039201,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 10,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 167.81000000007316,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 181.0540000001364,
+    "wall_seconds": 30.08457038900815,
+    "motion_timing": {
+      "simulated_seconds": 13.244000000063238,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 11,
+    "skill": "open_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 181.0540000001364,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 225.87600000035042,
+    "wall_seconds": 142.71256550983526,
+    "motion_timing": {
+      "simulated_seconds": 44.82200000021402,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 12,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 225.87600000035042,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 231.6340000003779,
+    "wall_seconds": 16.204388728830963,
+    "motion_timing": {
+      "simulated_seconds": 5.758000000027494,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 13,
+    "skill": "pick",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 231.6340000003779,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 239.48000000041537,
+    "wall_seconds": 53.47743494901806,
+    "motion_timing": {
+      "simulated_seconds": 7.8460000000374635,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 14,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 239.48000000041537,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 253.92000000048432,
+    "wall_seconds": 30.747624936979264,
+    "motion_timing": {
+      "simulated_seconds": 14.440000000068949,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 15,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 253.92000000048432,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 258.47200000050606,
+    "wall_seconds": 22.783483194885775,
+    "motion_timing": {
+      "simulated_seconds": 4.552000000021735,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "faster_than_target"
+    }
+  },
+  {
+    "index": 16,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 258.47200000050606,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 272.0560000005709,
+    "wall_seconds": 25.13367238896899,
+    "motion_timing": {
+      "simulated_seconds": 13.584000000064862,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 17,
+    "skill": "close_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 272.0560000005709,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 284.67200000063116,
+    "wall_seconds": 54.27690065302886,
+    "motion_timing": {
+      "simulated_seconds": 12.61600000006024,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 18,
+    "skill": "wait",
+    "arguments": {
+      "duration_seconds": 30.0
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 284.67200000063116,
+    "preconditions": {
+      "ready": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 314.6720000007744,
+    "wall_seconds": 26.868511885171756,
+    "motion_timing": {
+      "simulated_seconds": 30.000000000143245,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "explicit_wait"
+    }
+  },
+  {
+    "index": 19,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 314.6720000007744,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 325.1220000008243,
+    "wall_seconds": 21.478483150014654,
+    "motion_timing": {
+      "simulated_seconds": 10.450000000049897,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 20,
+    "skill": "push_button",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 325.1220000008243,
+    "preconditions": {
+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 333.73600000086543,
+    "wall_seconds": 39.714549952885136,
+    "motion_timing": {
+      "simulated_seconds": 8.61400000004113,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 21,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 333.73600000086543,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 343.49800000091204,
+    "wall_seconds": 24.87770015397109,
+    "motion_timing": {
+      "simulated_seconds": 9.762000000046612,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 22,
+    "skill": "open_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 343.49800000091204,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 382.79200000109967,
+    "wall_seconds": 147.6197340390645,
+    "motion_timing": {
+      "simulated_seconds": 39.29400000018762,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 23,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 382.79200000109967,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 389.64000000113236,
+    "wall_seconds": 18.733547013020143,
+    "motion_timing": {
+      "simulated_seconds": 6.848000000032698,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 24,
+    "skill": "pick",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 389.64000000113236,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 397.21400000116853,
+    "wall_seconds": 224.54928510007448,
+    "motion_timing": {
+      "simulated_seconds": 7.574000000036165,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 25,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 397.21400000116853,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 413.8360000012479,
+    "wall_seconds": 24.79688591696322,
+    "motion_timing": {
+      "simulated_seconds": 16.622000000079368,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 26,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 413.8360000012479,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 421.07400000128246,
+    "wall_seconds": 25.35204852791503,
+    "motion_timing": {
+      "simulated_seconds": 7.23800000003456,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 27,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 421.07400000128246,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 434.596000001347,
+    "wall_seconds": 22.60257983300835,
+    "motion_timing": {
+      "simulated_seconds": 13.522000000064565,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 28,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 434.596000001347,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 487.02600000159737,
+    "wall_seconds": 205.72786294994876,
+    "motion_timing": {
+      "simulated_seconds": 52.430000000250345,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  }
+]

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000008/asset_selection.json

@@ -0,0 +1,7 @@
+{
+  "unavailable": [],
+  "selected": {
+    "food_container_01": "robocasa__lightwheel__tupperware__Tupperware039",
+    "drink_bottle_01": "robocasa__lightwheel__juice__Juice006"
+  }
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000008/base_layout.json

@@ -0,0 +1,216 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 1179561385,
+  "rooms": [
+    {
+      "name": "kitchen",
+      "room_type": "kitchen",
+      "bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -2.3999999999999995
+      ],
+      "size": [
+        5.580000000000002,
+        4.880000000000001
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          5.540000000000001,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -4.84,
+          5.540000000000001,
+          0.04000000000000048
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_room_main",
+      "furniture": []
+    },
+    {
+      "name": "dining",
+      "room_type": "dining",
+      "bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -8.065806451612902
+      ],
+      "size": [
+        5.580000000000002,
+        6.451612903225804
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -11.291612903225804
+        ],
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -11.291612903225804
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -11.291612903225804,
+          5.540000000000001,
+          -4.84
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_dining_room_main",
+      "furniture": [
+        "dining_table_dining_room_main",
+        "table_leg_0_dining_room_main",
+        "table_leg_1_dining_room_main",
+        "table_leg_2_dining_room_main",
+        "table_leg_3_dining_room_main",
+        "chair_0_seat_dining_room_main",
+        "chair_0_back_dining_room_main",
+        "chair_0_leg_0_dining_room_main",
+        "chair_0_leg_1_dining_room_main",
+        "chair_0_leg_2_dining_room_main",
+        "chair_0_leg_3_dining_room_main",
+        "chair_1_seat_dining_room_main",
+        "chair_1_back_dining_room_main",
+        "chair_1_leg_0_dining_room_main",
+        "chair_1_leg_1_dining_room_main",
+        "chair_1_leg_2_dining_room_main",
+        "chair_1_leg_3_dining_room_main",
+        "chair_2_seat_dining_room_main",
+        "chair_2_back_dining_room_main",
+        "chair_2_leg_0_dining_room_main",
+        "chair_2_leg_1_dining_room_main",
+        "chair_2_leg_2_dining_room_main",
+        "chair_2_leg_3_dining_room_main",
+        "chair_3_seat_dining_room_main",
+        "chair_3_back_dining_room_main",
+        "chair_3_leg_0_dining_room_main",
+        "chair_3_leg_1_dining_room_main",
+        "chair_3_leg_2_dining_room_main",
+        "chair_3_leg_3_dining_room_main"
+      ]
+    }
+  ],
+  "connections": [
+    {
+      "rooms": [
+        "kitchen",
+        "dining"
+      ],
+      "wall": [
+        1,
+        -4.84,
+        -0.04000000000000048,
+        5.540000000000001
+      ],
+      "center": [
+        3.029000000000001,
+        -4.84
+      ],
+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
+    }
+  ],
+  "footprint": {
+    "outline": [
+      [
+        5.540000000000001,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -4.84
+      ],
+      [
+        -0.04000000000000048,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        -4.84
+      ]
+    ],
+    "corner_count": 6,
+    "bounding_box_fill_ratio": 1.0
+  },
+  "kitchen_dining_paths": [
+    [
+      "kitchen",
+      "dining"
+    ]
+  ],
+  "parameters": {
+    "room_count": 2,
+    "room_area": 36.0,
+    "bedroom_requirement": "explicit two-room profile exception"
+  },
+  "furniture_instance_seed": null,
+  "source_scene_sha256": "8bdba6293bcaebc8414f332ae19b71bccb4f17b73d8db5a420c5ca65fede0060"
+}

lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000008/config.json

@@ -0,0 +1,166 @@
+{
+  "schema_version": 1,
+  "episode_id": "prepare_and_serve_meal_000175",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
+  "procedure": "retrieve_before_heating",
+  "scene": {
+    "seed": 1080694684,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "food_container": 1,
+      "drink_bottle": 1
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
+        "yaw_deg": 2.4128080061974444,
+        "dx": 0.020080689452429176,
+        "dy": 0.00792295010405289
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 1080694684,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "food_heated_long_enough",
+    "all_meal_items_served",
+    "microwave_off",
+    "microwave_closed",
+    "fridge_closed",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "fridge_retrieval",
+    "microwave_loading",
+    "microwave_controls",
+    "private_duration_tracking"
+  ],
+  "catalog_version": "fixed-atomic-v1",
+  "video_speedup": 1.0,
+  "dataset_role": "pilot_unassigned",
+  "motion": {
+    "optimize_motion_components": true,
+    "smooth_action": true,
+    "record_action_replay": true
+  },
+  "initial_state_policy": "deterministic_setup_from_scene_config",
+  "validation_status": "not_executed",
+  "scene_spec_sha256": "421fcb4fbba568b13653b57729874294bae0f8f90e39c05207537b5f7300909e",
+  "room_route": "default",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/prepare_and_serve_meal.yaml",
+    "specification": {
+      "task": "prepare_and_serve_meal",
+      "seed": 20298,
+      "count": 1,
+      "base_layout": {
+        "profile": "two_rooms",
+        "rooms": [
+          2,
+          2
+        ],
+        "max_attempts": 100,
+        "loop_probability": 0.8
+      },
+      "fixed": {
+        "scene.people": 2,
+        "scene.kitchen_layout": 1,
+        "scene.asset_instance_set": "baseline"
+      },
+      "controls": {
+        "execution_order": {
+          "procedure": {
+            "choices": [
+              "heat_while_retrieving",
+              "retrieve_before_heating"
+            ]
+          }
+        },
+        "furniture_translation": {
+          "scene.furniture.dining_set.dx": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          },
+          "scene.furniture.dining_set.dy": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          }
+        },
+        "furniture_rotation": {
+          "scene.furniture.dining_set.yaw_deg": {
+            "uniform": [
+              -5,
+              5
+            ]
+          }
+        },
+        "appearance_theme": {
+          "scene.appearance.preset": {
+            "choices": [
+              "warm_home",
+              "cool_daylight"
+            ]
+          }
+        },
+        "door_route": {
+          "room_route": {
+            "choices": [
+              "default",
+              "closed_direct"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 5,
+        "max_active": 5
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "door_route",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "room_route": "default",
+      "procedure": "retrieve_before_heating",
+      "scene.furniture.dining_set.yaw_deg": 2.4128080061974444,
+      "scene.furniture.dining_set.dx": 0.020080689452429176,
+      "scene.furniture.dining_set.dy": 0.00792295010405289
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 20298,
+    "attempt_index": 175,
+    "procedure_schedule": "retrieve_before_heating",
+    "route_schedule": "default"
+  }
+}