| { | |
| "version": "0.3.0", | |
| "suite": "libero_rp", | |
| "task_order_index": 0, | |
| "task_ids": [ | |
| 0, | |
| 1, | |
| 2, | |
| 3, | |
| 4, | |
| 5, | |
| 6, | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16, | |
| 17, | |
| 18, | |
| 19, | |
| 20, | |
| 21, | |
| 22, | |
| 23, | |
| 24, | |
| 25, | |
| 26, | |
| 27, | |
| 28, | |
| 29, | |
| 30, | |
| 31, | |
| 32, | |
| 33, | |
| 34, | |
| 35 | |
| ], | |
| "initial_state_indices": [ | |
| 0 | |
| ], | |
| "control_frequency_hz": 20, | |
| "max_episode_steps": 4000, | |
| "robots": [ | |
| "Panda" | |
| ], | |
| "controller": "OSC_POSE", | |
| "action_dimension": 7, | |
| "action_range": [ | |
| -1, | |
| 1 | |
| ], | |
| "camera_names": [ | |
| "agentview", | |
| "robot0_eye_in_hand" | |
| ], | |
| "camera_resolution": [ | |
| 256, | |
| 256 | |
| ], | |
| "policy_inputs": [ | |
| "task language", | |
| "agentview RGB", | |
| "wrist RGB", | |
| "robot proprioception" | |
| ], | |
| "excluded_policy_inputs": [ | |
| "scene geometry truth", | |
| "object poses", | |
| "expert controller internals", | |
| "success-predicate internal state" | |
| ], | |
| "success": "env.check_success(), including stable placement and sticky process/safety rules", | |
| "report": [ | |
| "per-instance success", | |
| "per-task-type success", | |
| "overall instance mean" | |
| ], | |
| "reference_max_steps": 3519, | |
| "note": "Fixed-instance initial benchmark; no empirically calibrated difficulty labels. Expert actions can include conservative holds and are not time-optimal.", | |
| "ignore_done": true, | |
| "episode_termination": "External evaluation loop: stop on env.check_success() or max_episode_steps." | |
| } | |