Add LeRobot v3 warm_two_pots/fine_tuning

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+          0.04000000000000048
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+          -4.84
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+      "floor_rectangles": [
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+          -4.84,
+          5.540000000000001,
+          0.04000000000000048
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+      ],
+      "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": [
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+        -11.291612903225804,
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+        -11.291612903225804,
+        5.540000000000001,
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+      "flexible_furniture": true,
+      "center": [
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+          -4.84
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+          -4.84
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+        [
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+      "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"
+      ]
+    }
+  ],
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+        "dining"
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+      "door": "room_door_0",
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+    "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": "036a0c2dfb175a5681007b745d5342252d4f583d3f3ff707d3b7e5ef51402816"
+}

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

@@ -0,0 +1,151 @@
+{
+  "schema_version": 1,
+  "episode_id": "warm_two_pots_000162",
+  "task": "warm_two_pots",
+  "variant": "sampled",
+  "instruction": "Keep the two cookware items on separate switched-on burners for at least 30 seconds. Finish with both burners off and both items remaining on the stove. Finish with an empty gripper.",
+  "procedure": "start_first_before_placing_second",
+  "scene": {
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+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
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+    "forbidden_object_categories": [
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+      "flat_object"
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+    "minimum_heating_seconds": 30.0,
+    "appearance": {
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+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 457607101,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "both_pots_heated_long_enough",
+    "both_burners_off",
+    "pots_on_separate_burners",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "pot_grasps",
+    "independent_burner_controls",
+    "private_duration_tracking"
+  ],
+  "catalog_version": "fixed-atomic-v1",
+  "video_speedup": 1.0,
+  "dataset_role": "pilot_unassigned",
+  "motion": {
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+    "smooth_action": true,
+    "record_action_replay": true
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+  "initial_state_policy": "deterministic_setup_from_scene_config",
+  "validation_status": "not_executed",
+  "scene_spec_sha256": "4f58b5c9addcc448efd8293755acb44067f9347bd9ae3b67f13efb4d5d52074c",
+  "sampling": {
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+    "specification": {
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+      "count": 1,
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+      "controls": {
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+        "appearance_theme": {
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+      "randomize_controls": {
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+        "max_active": 4
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+    },
+    "active_controls": [
+      "appearance_theme",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "procedure": "start_first_before_placing_second",
+      "scene.furniture.dining_set.yaw_deg": 4.24706267844655,
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+      "scene.furniture.dining_set.dy": 0.08216245892730098
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+    "attempt_index": 162,
+    "procedure_schedule": "start_first_before_placing_second",
+    "route_schedule": "default"
+  }
+}

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

@@ -0,0 +1,466 @@
+[
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+      "status": "over_target"
+    }
+  }
+]

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

@@ -0,0 +1,50 @@
+{
+  "unavailable": [
+    {
+      "key": "robocasa__lightwheel__pot__Pot057",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Kettle_1",
+      "reason": "not verified as a non-electric stovetop kettle"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan002__Saucepan002_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan004__Saucepan004_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan005__Saucepan005_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan009__Saucepan009_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan013__Saucepan013_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "molmo__Pan_28",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Pan_8",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Pot_24",
+      "reason": "pot exceeds paired burner clearance",
+      "footprint_span_m": 0.3510847975611746,
+      "maximum_span_m": 0.33738566982518114
+    }
+  ],
+  "selected": {
+    "pot_01": "molmo__Pot_19",
+    "pot_02": "molmo__Pot_19"
+  }
+}

lerobot/warm_two_pots/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": 2037910008,
+  "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
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+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -11.291612903225804
+        ],
+        [
+          5.540000000000001,
+          -4.84
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+          -0.04000000000000048,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -11.291612903225804
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+      "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,
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+        -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
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+      [
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+        -4.84
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+      [
+        -0.04000000000000048,
+        0.04000000000000048
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+      [
+        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": "7ef3888fe7cac6bb0618fd685494e54aad3f45eaaf6726e2534883b8fc107e2f"
+}

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

@@ -0,0 +1,151 @@
+{
+  "schema_version": 1,
+  "episode_id": "warm_two_pots_000163",
+  "task": "warm_two_pots",
+  "variant": "sampled",
+  "instruction": "Keep the two cookware items on separate switched-on burners for at least 30 seconds. Finish with both burners off and both items remaining on the stove. Finish with an empty gripper.",
+  "procedure": "place_both_then_start",
+  "scene": {
+    "seed": 2229788,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "pot": 2
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
+        "yaw_deg": -3.9492853149400196,
+        "dx": -0.08650504238410822,
+        "dy": -0.06396146845035514
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 2229788,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "both_pots_heated_long_enough",
+    "both_burners_off",
+    "pots_on_separate_burners",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "pot_grasps",
+    "independent_burner_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": "0e34e6330c2598dacee9f00b926d9533e5499674a94253e9c849f4a2f6d80d76",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/warm_two_pots.yaml",
+    "specification": {
+      "task": "warm_two_pots",
+      "seed": 40286,
+      "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": [
+              "start_first_before_placing_second",
+              "place_both_then_start"
+            ]
+          }
+        },
+        "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"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 4,
+        "max_active": 4
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "procedure": "place_both_then_start",
+      "scene.furniture.dining_set.yaw_deg": -3.9492853149400196,
+      "scene.furniture.dining_set.dx": -0.08650504238410822,
+      "scene.furniture.dining_set.dy": -0.06396146845035514
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 40286,
+    "attempt_index": 163,
+    "procedure_schedule": "place_both_then_start",
+    "route_schedule": "default"
+  }
+}

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

@@ -0,0 +1,466 @@
+[
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+  {
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+    "arguments": {
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+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 14,
+    "skill": "rotate_knob",
+    "arguments": {
+      "target": "burner_1_knob",
+      "state": "off"
+    },
+    "success": true,
+    "status": "completed",
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+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 15,
+    "skill": "navigate",
+    "arguments": {
+      "target": "burner_2_knob"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 163.47800000005248,
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+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 16,
+    "skill": "rotate_knob",
+    "arguments": {
+      "target": "burner_2_knob",
+      "state": "off"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 173.55200000010058,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 183.1920000001466,
+    "wall_seconds": 77.2636859009508,
+    "motion_timing": {
+      "simulated_seconds": 9.64000000004603,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  }
+]

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

@@ -0,0 +1,50 @@
+{
+  "unavailable": [
+    {
+      "key": "robocasa__lightwheel__pot__Pot057",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Kettle_1",
+      "reason": "not verified as a non-electric stovetop kettle"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan002__Saucepan002_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan004__Saucepan004_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan005__Saucepan005_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan009__Saucepan009_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan013__Saucepan013_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "molmo__Pan_28",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Pan_8",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Pot_24",
+      "reason": "pot exceeds paired burner clearance",
+      "footprint_span_m": 0.3510847975611746,
+      "maximum_span_m": 0.33738566982518114
+    }
+  ],
+  "selected": {
+    "pot_01": "molmo__Pot_19",
+    "pot_02": "molmo__Pot_19"
+  }
+}

lerobot/warm_two_pots/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": 513469862,
+  "rooms": [
+    {
+      "name": "kitchen",
+      "room_type": "kitchen",
+      "bounds": [
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+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
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+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -2.3999999999999995
+      ],
+      "size": [
+        5.580000000000002,
+        4.880000000000001
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+      "floor_polygon": [
+        [
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+          -4.84
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+        [
+          5.540000000000001,
+          0.04000000000000048
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+          -0.04000000000000048,
+          0.04000000000000048
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+        [
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+          -4.84
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+      ],
+      "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
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+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "flexible_furniture": true,
+      "center": [
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+        -8.065806451612902
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+      "size": [
+        5.580000000000002,
+        6.451612903225804
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+      "floor_polygon": [
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+          5.540000000000001,
+          -11.291612903225804
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+        [
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+          -4.84
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+          -4.84
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+        [
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+          -11.291612903225804
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+      "floor_rectangles": [
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+          -11.291612903225804,
+          5.540000000000001,
+          -4.84
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+      ],
+      "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": [
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+        -0.04000000000000048,
+        5.540000000000001
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+      "center": [
+        3.029000000000001,
+        -4.84
+      ],
+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
+    }
+  ],
+  "footprint": {
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+      [
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+        -4.84
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+      [
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+    ],
+    "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": "a9b4a6c5edac14f5013f2b99f8db03f2dc8e3e74114093ab2a08f1c93fd85871"
+}

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

@@ -0,0 +1,151 @@
+{
+  "schema_version": 1,
+  "episode_id": "warm_two_pots_000164",
+  "task": "warm_two_pots",
+  "variant": "sampled",
+  "instruction": "Keep the two cookware items on separate switched-on burners for at least 30 seconds. Finish with both burners off and both items remaining on the stove. Finish with an empty gripper.",
+  "procedure": "start_first_before_placing_second",
+  "scene": {
+    "seed": 984382847,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "pot": 2
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
+        "yaw_deg": 2.1225559410368184,
+        "dx": -0.09227254737856708,
+        "dy": 0.09949145226122025
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+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "warm_home"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 984382847,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "both_pots_heated_long_enough",
+    "both_burners_off",
+    "pots_on_separate_burners",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "pot_grasps",
+    "independent_burner_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": "20b00169e53760d27f03e545a26bdbbff2d718476dfa80eea95afaa6db274078",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/warm_two_pots.yaml",
+    "specification": {
+      "task": "warm_two_pots",
+      "seed": 40287,
+      "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": [
+              "start_first_before_placing_second",
+              "place_both_then_start"
+            ]
+          }
+        },
+        "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"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 4,
+        "max_active": 4
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "warm_home",
+      "procedure": "start_first_before_placing_second",
+      "scene.furniture.dining_set.yaw_deg": 2.1225559410368184,
+      "scene.furniture.dining_set.dx": -0.09227254737856708,
+      "scene.furniture.dining_set.dy": 0.09949145226122025
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 40287,
+    "attempt_index": 164,
+    "procedure_schedule": "start_first_before_placing_second",
+    "route_schedule": "default"
+  }
+}

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

@@ -0,0 +1,466 @@
+[
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+    "skill": "navigate",
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+  {
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+    "skill": "rotate_knob",
+    "arguments": {
+      "target": "burner_2_knob",
+      "state": "off"
+    },
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+    "status": "completed",
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+    "preconditions": {
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+    }
+  }
+]

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

@@ -0,0 +1,50 @@
+{
+  "unavailable": [
+    {
+      "key": "robocasa__lightwheel__pot__Pot057",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Kettle_1",
+      "reason": "not verified as a non-electric stovetop kettle"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan002__Saucepan002_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan004__Saucepan004_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan005__Saucepan005_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan009__Saucepan009_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan013__Saucepan013_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "molmo__Pan_28",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Pan_8",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Pot_24",
+      "reason": "pot exceeds paired burner clearance",
+      "footprint_span_m": 0.3510847975611746,
+      "maximum_span_m": 0.33738566982518114
+    }
+  ],
+  "selected": {
+    "pot_01": "molmo__Pot_19",
+    "pot_02": "molmo__Pot_19"
+  }
+}

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

@@ -0,0 +1,204 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 401252392,
+  "rooms": [
+    {
+      "name": "kitchen",
+      "room_type": "kitchen",
+      "bounds": [
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+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
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+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "flexible_furniture": true,
+      "center": [
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+        -2.3999999999999995
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+      "size": [
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+        4.880000000000001
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+      "floor_polygon": [
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+          -4.84
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+        [
+          5.540000000000001,
+          0.04000000000000048
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+          0.04000000000000048
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+      "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
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+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "flexible_furniture": true,
+      "center": [
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+        -8.065806451612902
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+      "size": [
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+        6.451612903225804
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+          5.540000000000001,
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+      "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,
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+        -0.04000000000000048,
+        5.540000000000001
+      ],
+      "center": [
+        3.029000000000001,
+        -4.84
+      ],
+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
+    }
+  ],
+  "footprint": {
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+        0.04000000000000048
+      ],
+      [
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+    ],
+    "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": "0adc3678785c64b8b78367ae049478bfb4c180b480b7602158249db495e154c6"
+}

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

@@ -0,0 +1,151 @@
+{
+  "schema_version": 1,
+  "episode_id": "warm_two_pots_000165",
+  "task": "warm_two_pots",
+  "variant": "sampled",
+  "instruction": "Keep the two cookware items on separate switched-on burners for at least 30 seconds. Finish with both burners off and both items remaining on the stove. Finish with an empty gripper.",
+  "procedure": "place_both_then_start",
+  "scene": {
+    "seed": 316313854,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "pot": 2
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
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+        "dx": 0.025393197008873797,
+        "dy": -0.09826646040335883
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "warm_home"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 316313854,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "both_pots_heated_long_enough",
+    "both_burners_off",
+    "pots_on_separate_burners",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "pot_grasps",
+    "independent_burner_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": "a94830885b6884db6d446d13cd0ea800574f14be866ae1f65631fcbdc36901f9",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/warm_two_pots.yaml",
+    "specification": {
+      "task": "warm_two_pots",
+      "seed": 40288,
+      "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": [
+              "start_first_before_placing_second",
+              "place_both_then_start"
+            ]
+          }
+        },
+        "furniture_translation": {
+          "scene.furniture.dining_set.dx": {
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+              0.1
+            ]
+          },
+          "scene.furniture.dining_set.dy": {
+            "uniform": [
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+              0.1
+            ]
+          }
+        },
+        "furniture_rotation": {
+          "scene.furniture.dining_set.yaw_deg": {
+            "uniform": [
+              -5,
+              5
+            ]
+          }
+        },
+        "appearance_theme": {
+          "scene.appearance.preset": {
+            "choices": [
+              "warm_home",
+              "cool_daylight"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 4,
+        "max_active": 4
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "warm_home",
+      "procedure": "place_both_then_start",
+      "scene.furniture.dining_set.yaw_deg": 3.4826254000598293,
+      "scene.furniture.dining_set.dx": 0.025393197008873797,
+      "scene.furniture.dining_set.dy": -0.09826646040335883
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 40288,
+    "attempt_index": 165,
+    "procedure_schedule": "place_both_then_start",
+    "route_schedule": "default"
+  }
+}

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

@@ -0,0 +1,466 @@
+[
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+    "skill": "navigate",
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+  },
+  {
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+      "region": "default"
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+  {
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+    "skill": "pick",
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+    "skill": "rotate_knob",
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+      "state": "off"
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+    }
+  }
+]

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

@@ -0,0 +1,50 @@
+{
+  "unavailable": [
+    {
+      "key": "robocasa__lightwheel__pot__Pot057",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Kettle_1",
+      "reason": "not verified as a non-electric stovetop kettle"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan002__Saucepan002_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan004__Saucepan004_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan005__Saucepan005_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan009__Saucepan009_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan013__Saucepan013_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "molmo__Pan_28",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Pan_8",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Pot_24",
+      "reason": "pot exceeds paired burner clearance",
+      "footprint_span_m": 0.3510847975611746,
+      "maximum_span_m": 0.33738566982518114
+    }
+  ],
+  "selected": {
+    "pot_01": "molmo__Pot_19",
+    "pot_02": "molmo__Pot_19"
+  }
+}

lerobot/warm_two_pots/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": 1038755008,
+  "rooms": [
+    {
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+      "room_type": "kitchen",
+      "bounds": [
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+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
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+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
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+      "flexible_furniture": true,
+      "center": [
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+      "size": [
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+        4.880000000000001
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+      "floor_polygon": [
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+          -4.84
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+        [
+          5.540000000000001,
+          0.04000000000000048
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+        [
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+          -4.84
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+      "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
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+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
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+      "flexible_furniture": true,
+      "center": [
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+        -8.065806451612902
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+      "size": [
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+        6.451612903225804
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+          5.540000000000001,
+          -11.291612903225804
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+        [
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+          -4.84
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+        [
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+          -11.291612903225804
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+      "floor_rectangles": [
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+          -11.291612903225804,
+          5.540000000000001,
+          -4.84
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+      "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": [
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+        -0.04000000000000048,
+        5.540000000000001
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+      "center": [
+        3.029000000000001,
+        -4.84
+      ],
+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
+    }
+  ],
+  "footprint": {
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+      [
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+        -11.291612903225804
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+        -11.291612903225804
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+        -4.84
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+      ],
+      [
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+        -4.84
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+    ],
+    "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": "9b8a7b9d7bc125129f2db2d7b5e7eec04801a389ffb0413a68ad37a361dc7cdb"
+}

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

@@ -0,0 +1,151 @@
+{
+  "schema_version": 1,
+  "episode_id": "warm_two_pots_000167",
+  "task": "warm_two_pots",
+  "variant": "sampled",
+  "instruction": "Keep the two cookware items on separate switched-on burners for at least 30 seconds. Finish with both burners off and both items remaining on the stove. Finish with an empty gripper.",
+  "procedure": "place_both_then_start",
+  "scene": {
+    "seed": 184021423,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "pot": 2
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
+        "yaw_deg": -0.1434743966503067,
+        "dx": -0.030771222011643617,
+        "dy": 0.08412345009931463
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 184021423,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "both_pots_heated_long_enough",
+    "both_burners_off",
+    "pots_on_separate_burners",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "pot_grasps",
+    "independent_burner_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": "edc51d8cdc94cdcb68a85c946ecd4737e399bcfcd17bb624bbe4a31abcbc8b9f",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/warm_two_pots.yaml",
+    "specification": {
+      "task": "warm_two_pots",
+      "seed": 40290,
+      "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": [
+              "start_first_before_placing_second",
+              "place_both_then_start"
+            ]
+          }
+        },
+        "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"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 4,
+        "max_active": 4
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "procedure": "place_both_then_start",
+      "scene.furniture.dining_set.yaw_deg": -0.1434743966503067,
+      "scene.furniture.dining_set.dx": -0.030771222011643617,
+      "scene.furniture.dining_set.dy": 0.08412345009931463
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 40290,
+    "attempt_index": 167,
+    "procedure_schedule": "place_both_then_start",
+    "route_schedule": "default"
+  }
+}

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

@@ -0,0 +1,466 @@
+[
+  {
+    "index": 0,
+    "skill": "navigate",
+    "arguments": {
+      "target": "pot_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 2.0000000000000013,
+    "preconditions": {
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+      "hand_state": true
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+    "postconditions": {
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+    "end_time": 3.91999999999979,
+    "wall_seconds": 1.1029145291540772,
+    "motion_timing": {
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+      "target_seconds": [
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+      ],
+      "status": "faster_than_target"
+    }
+  },
+  {
+    "index": 1,
+    "skill": "pick",
+    "arguments": {
+      "target": "pot_01"
+    },
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+  }
+]

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

@@ -0,0 +1,50 @@
+{
+  "unavailable": [
+    {
+      "key": "robocasa__lightwheel__pot__Pot057",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Kettle_1",
+      "reason": "not verified as a non-electric stovetop kettle"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan002__Saucepan002_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan004__Saucepan004_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan005__Saucepan005_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan009__Saucepan009_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan013__Saucepan013_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "molmo__Pan_28",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Pan_8",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Pot_24",
+      "reason": "pot exceeds paired burner clearance",
+      "footprint_span_m": 0.3510847975611746,
+      "maximum_span_m": 0.33738566982518114
+    }
+  ],
+  "selected": {
+    "pot_01": "molmo__Pot_19",
+    "pot_02": "molmo__Pot_19"
+  }
+}

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

@@ -0,0 +1,210 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 2000469741,
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+      "room_type": "kitchen",
+      "bounds": [
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+          -4.84
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+          -4.84,
+          5.540000000000001,
+          0.04000000000000048
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+      "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
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+      "furnishing_bounds": [
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+        -11.291612903225804,
+        5.540000000000001,
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+      "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": [
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+        "dining"
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+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
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+  ],
+  "footprint": {
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+    "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": "c3d8b669e3736ca05cadcb7b2ded073c57b5cebb45040ac0bc8bf07d34c42187"
+}

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

@@ -0,0 +1,151 @@
+{
+  "schema_version": 1,
+  "episode_id": "warm_two_pots_000168",
+  "task": "warm_two_pots",
+  "variant": "sampled",
+  "instruction": "Keep the two cookware items on separate switched-on burners for at least 30 seconds. Finish with both burners off and both items remaining on the stove. Finish with an empty gripper.",
+  "procedure": "start_first_before_placing_second",
+  "scene": {
+    "seed": 1972657500,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "pot": 2
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
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+        "dx": -0.05755983019224156,
+        "dy": -0.011972951347955174
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "warm_home"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 1972657500,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "both_pots_heated_long_enough",
+    "both_burners_off",
+    "pots_on_separate_burners",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "pot_grasps",
+    "independent_burner_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": "9eef178d14f36baf158f213f765d2149c7f39782ebdd148712a58947e78a20ee",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/warm_two_pots.yaml",
+    "specification": {
+      "task": "warm_two_pots",
+      "seed": 40291,
+      "count": 1,
+      "base_layout": {
+        "profile": "two_rooms",
+        "rooms": [
+          2,
+          2
+        ],
+        "max_attempts": 100,
+        "loop_probability": 0.8
+      },
+      "fixed": {
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+        "scene.kitchen_layout": 1,
+        "scene.asset_instance_set": "baseline"
+      },
+      "controls": {
+        "execution_order": {
+          "procedure": {
+            "choices": [
+              "start_first_before_placing_second",
+              "place_both_then_start"
+            ]
+          }
+        },
+        "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"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 4,
+        "max_active": 4
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "warm_home",
+      "procedure": "start_first_before_placing_second",
+      "scene.furniture.dining_set.yaw_deg": 0.8105065416808035,
+      "scene.furniture.dining_set.dx": -0.05755983019224156,
+      "scene.furniture.dining_set.dy": -0.011972951347955174
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 40291,
+    "attempt_index": 168,
+    "procedure_schedule": "start_first_before_placing_second",
+    "route_schedule": "default"
+  }
+}

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

@@ -0,0 +1,466 @@
+[
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+      "destination": "burner_2"
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+  {
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+    "arguments": {
+      "target": "burner_2_knob",
+      "state": "off"
+    },
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+    }
+  }
+]

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

@@ -0,0 +1,50 @@
+{
+  "unavailable": [
+    {
+      "key": "robocasa__lightwheel__pot__Pot057",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Kettle_1",
+      "reason": "not verified as a non-electric stovetop kettle"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan002__Saucepan002_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan004__Saucepan004_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan005__Saucepan005_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan009__Saucepan009_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan013__Saucepan013_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "molmo__Pan_28",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Pan_8",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Pot_24",
+      "reason": "pot exceeds paired burner clearance",
+      "footprint_span_m": 0.3510847975611746,
+      "maximum_span_m": 0.33738566982518114
+    }
+  ],
+  "selected": {
+    "pot_01": "molmo__Pot_19",
+    "pot_02": "molmo__Pot_19"
+  }
+}

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

@@ -0,0 +1,216 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 707144762,
+  "rooms": [
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+      "furnishing_bounds": [
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+      "center": [
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+      "size": [
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+      "floor_polygon": [
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+          -4.84
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+        [
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+      "floor_rectangles": [
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+          -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
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+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
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+      "flexible_furniture": true,
+      "center": [
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+          -11.291612903225804,
+          5.540000000000001,
+          -4.84
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+      "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": [
+    {
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+        "kitchen",
+        "dining"
+      ],
+      "wall": [
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+        -0.04000000000000048,
+        5.540000000000001
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+      "center": [
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+        -4.84
+      ],
+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
+    }
+  ],
+  "footprint": {
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+        -11.291612903225804
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+      [
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+    ],
+    "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": "a6aa2458ff25bc189f2d72bebba81ce5b691fb7c18919f50860f3a5b324dcdb2"
+}

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

@@ -0,0 +1,151 @@
+{
+  "schema_version": 1,
+  "episode_id": "warm_two_pots_000169",
+  "task": "warm_two_pots",
+  "variant": "sampled",
+  "instruction": "Keep the two cookware items on separate switched-on burners for at least 30 seconds. Finish with both burners off and both items remaining on the stove. Finish with an empty gripper.",
+  "procedure": "place_both_then_start",
+  "scene": {
+    "seed": 1662028340,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "pot": 2
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
+        "yaw_deg": 1.706010678886103,
+        "dx": -0.04667537522007832,
+        "dy": -0.003628602398764086
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 1662028340,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "both_pots_heated_long_enough",
+    "both_burners_off",
+    "pots_on_separate_burners",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "pot_grasps",
+    "independent_burner_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": "05b84c4609570f1e8c94bb76b736dc7ef482dd8be116ce9b8bc96b9478878f08",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/warm_two_pots.yaml",
+    "specification": {
+      "task": "warm_two_pots",
+      "seed": 40292,
+      "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": [
+              "start_first_before_placing_second",
+              "place_both_then_start"
+            ]
+          }
+        },
+        "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"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 4,
+        "max_active": 4
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "procedure": "place_both_then_start",
+      "scene.furniture.dining_set.yaw_deg": 1.706010678886103,
+      "scene.furniture.dining_set.dx": -0.04667537522007832,
+      "scene.furniture.dining_set.dy": -0.003628602398764086
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 40292,
+    "attempt_index": 169,
+    "procedure_schedule": "place_both_then_start",
+    "route_schedule": "default"
+  }
+}

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

@@ -0,0 +1,466 @@
+[
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+    "skill": "navigate",
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+    "skill": "navigate",
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+      "destination": "burner_1"
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+    "skill": "rotate_knob",
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+  },
+  {
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+    "skill": "rotate_knob",
+    "arguments": {
+      "target": "burner_2_knob",
+      "state": "off"
+    },
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+    "status": "completed",
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+      ],
+      "status": "within_target"
+    }
+  }
+]

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

@@ -0,0 +1,50 @@
+{
+  "unavailable": [
+    {
+      "key": "robocasa__lightwheel__pot__Pot057",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Kettle_1",
+      "reason": "not verified as a non-electric stovetop kettle"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan002__Saucepan002_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan004__Saucepan004_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan005__Saucepan005_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan009__Saucepan009_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan013__Saucepan013_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "molmo__Pan_28",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Pan_8",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Pot_24",
+      "reason": "pot exceeds paired burner clearance",
+      "footprint_span_m": 0.3510847975611746,
+      "maximum_span_m": 0.33738566982518114
+    }
+  ],
+  "selected": {
+    "pot_01": "molmo__Pot_19",
+    "pot_02": "molmo__Pot_19"
+  }
+}

lerobot/warm_two_pots/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": 1681931835,
+  "rooms": [
+    {
+      "name": "kitchen",
+      "room_type": "kitchen",
+      "bounds": [
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+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
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+      "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": [
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+          -4.84
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+        [
+          5.540000000000001,
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+        [
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+          -4.84
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+      ],
+      "floor_rectangles": [
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+          -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": [
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+        -8.065806451612902
+      ],
+      "size": [
+        5.580000000000002,
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+      "floor_polygon": [
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+          5.540000000000001,
+          -11.291612903225804
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+        [
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+          -4.84
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+        ],
+        [
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+          -11.291612903225804
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+      "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": "08ce87e9efc736e4ae13da23da51dc40e1b7d4e6c803f956ce23d61c37fa2822"
+}

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

@@ -0,0 +1,151 @@
+{
+  "schema_version": 1,
+  "episode_id": "warm_two_pots_000170",
+  "task": "warm_two_pots",
+  "variant": "sampled",
+  "instruction": "Keep the two cookware items on separate switched-on burners for at least 30 seconds. Finish with both burners off and both items remaining on the stove. Finish with an empty gripper.",
+  "procedure": "start_first_before_placing_second",
+  "scene": {
+    "seed": 103941827,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "pot": 2
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
+        "yaw_deg": 3.7898820511860922,
+        "dx": -0.007720707978547764,
+        "dy": 0.021065320411824406
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 103941827,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "both_pots_heated_long_enough",
+    "both_burners_off",
+    "pots_on_separate_burners",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "pot_grasps",
+    "independent_burner_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": "d1cd9dc5dd9d8d12d51944795a7086b40b451235104304b5dab1555d3ad611e2",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/warm_two_pots.yaml",
+    "specification": {
+      "task": "warm_two_pots",
+      "seed": 40293,
+      "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": [
+              "start_first_before_placing_second",
+              "place_both_then_start"
+            ]
+          }
+        },
+        "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"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 4,
+        "max_active": 4
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "procedure": "start_first_before_placing_second",
+      "scene.furniture.dining_set.yaw_deg": 3.7898820511860922,
+      "scene.furniture.dining_set.dx": -0.007720707978547764,
+      "scene.furniture.dining_set.dy": 0.021065320411824406
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 40293,
+    "attempt_index": 170,
+    "procedure_schedule": "start_first_before_placing_second",
+    "route_schedule": "default"
+  }
+}

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

@@ -0,0 +1,466 @@
+[
+  {
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+    "skill": "navigate",
+    "arguments": {
+      "target": "pot_01"
+    },
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+    }
+  },
+  {
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+    "skill": "pick",
+    "arguments": {
+      "target": "pot_01"
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+    "success": true,
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+    }
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+    "skill": "navigate",
+    "arguments": {
+      "target": "pot_01",
+      "destination": "burner_1"
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+  {
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+    "skill": "place",
+    "arguments": {
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+      "region": "default"
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+      "state": "on"
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+  {
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+    "skill": "navigate",
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+      "destination": "burner_2"
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+  },
+  {
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+    "skill": "place",
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+      "region": "default"
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+  {
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+    "skill": "navigate",
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+      "state": "on"
+    },
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+  },
+  {
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+    "skill": "wait",
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+    },
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+      ],
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+    }
+  },
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+    "skill": "navigate",
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+    },
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+    }
+  },
+  {
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+    "skill": "rotate_knob",
+    "arguments": {
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+      "state": "off"
+    },
+    "success": true,
+    "status": "completed",
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+    "preconditions": {
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+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 15,
+    "skill": "navigate",
+    "arguments": {
+      "target": "burner_2_knob"
+    },
+    "success": true,
+    "status": "completed",
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+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 16,
+    "skill": "rotate_knob",
+    "arguments": {
+      "target": "burner_2_knob",
+      "state": "off"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 175.05800000010777,
+    "preconditions": {
+      "empty_hand": true,
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+    },
+    "end_time": 196.2200000002088,
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+      "target_seconds": [
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+        15.0
+      ],
+      "status": "over_target"
+    }
+  }
+]

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

@@ -0,0 +1,50 @@
+{
+  "unavailable": [
+    {
+      "key": "robocasa__lightwheel__pot__Pot057",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Kettle_1",
+      "reason": "not verified as a non-electric stovetop kettle"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan002__Saucepan002_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan004__Saucepan004_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan005__Saucepan005_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan009__Saucepan009_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "robocasa__lightwheel__saucepan__Saucepan013__Saucepan013_Lid",
+      "reason": "lid is not stovetop cookware"
+    },
+    {
+      "key": "molmo__Pan_28",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Pan_8",
+      "reason": "failed stove grasp or loaded transport qualification"
+    },
+    {
+      "key": "molmo__Pot_24",
+      "reason": "pot exceeds paired burner clearance",
+      "footprint_span_m": 0.3510847975611746,
+      "maximum_span_m": 0.33738566982518114
+    }
+  ],
+  "selected": {
+    "pot_01": "molmo__Pot_19",
+    "pot_02": "molmo__Pot_19"
+  }
+}

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

@@ -0,0 +1,210 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 1544009960,
+  "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": "b780c8699ff1b41614266084250fcabfaa49279f84487d2d13a7597f72170db5"
+}

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

@@ -0,0 +1,151 @@
+{
+  "schema_version": 1,
+  "episode_id": "warm_two_pots_000171",
+  "task": "warm_two_pots",
+  "variant": "sampled",
+  "instruction": "Keep the two cookware items on separate switched-on burners for at least 30 seconds. Finish with both burners off and both items remaining on the stove. Finish with an empty gripper.",
+  "procedure": "place_both_then_start",
+  "scene": {
+    "seed": 34946468,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "pot": 2
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
+        "yaw_deg": 3.7458606721247403,
+        "dx": -0.017623938347279974,
+        "dy": -0.07436798800687312
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 34946468,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "both_pots_heated_long_enough",
+    "both_burners_off",
+    "pots_on_separate_burners",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "pot_grasps",
+    "independent_burner_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": "9d53e53c571e22d573bd9a7683bc86f3dda502fe3c9942195efc050519309085",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/warm_two_pots.yaml",
+    "specification": {
+      "task": "warm_two_pots",
+      "seed": 40294,
+      "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": [
+              "start_first_before_placing_second",
+              "place_both_then_start"
+            ]
+          }
+        },
+        "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"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 4,
+        "max_active": 4
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "procedure": "place_both_then_start",
+      "scene.furniture.dining_set.yaw_deg": 3.7458606721247403,
+      "scene.furniture.dining_set.dx": -0.017623938347279974,
+      "scene.furniture.dining_set.dy": -0.07436798800687312
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 40294,
+    "attempt_index": 171,
+    "procedure_schedule": "place_both_then_start",
+    "route_schedule": "default"
+  }
+}