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- data/E1_base/manifest.json +2188 -0
- data/E1_base/private_records/episode000000.json +370 -0
- data/E1_base/private_records/episode000001.json +370 -0
- data/E1_base/private_records/episode000002.json +370 -0
- data/E1_base/private_records/episode000003.json +370 -0
- data/E1_base/private_records/episode000004.json +370 -0
- data/E1_base/private_records/episode000005.json +370 -0
- data/E1_base/private_records/episode000006.json +370 -0
- data/E1_base/private_records/episode000007.json +370 -0
- data/E1_base/private_records/episode000008.json +370 -0
- data/E1_base/private_records/episode000009.json +370 -0
- data/E1_base/private_records/episode000010.json +370 -0
- data/E1_base/private_records/episode000011.json +340 -0
- data/E1_base/private_records/episode000012.json +340 -0
- data/E1_base/private_records/episode000013.json +370 -0
- data/E1_base/private_records/episode000014.json +370 -0
- data/E1_base/private_records/episode000015.json +370 -0
- data/E1_base/private_records/episode000016.json +370 -0
- data/E1_base/private_records/episode000017.json +370 -0
- data/E1_base/private_records/episode000018.json +340 -0
- data/E1_base/private_records/episode000019.json +370 -0
- data/E1_base/private_records/episode000020.json +340 -0
- data/E1_base/private_records/episode000021.json +370 -0
- data/E1_base/private_records/episode000022.json +370 -0
- data/E1_base/private_records/episode000023.json +370 -0
- data/E1_base/private_records/episode000024.json +370 -0
- data/E1_base/private_records/episode000025.json +340 -0
- data/E1_base/private_records/episode000026.json +370 -0
- data/E1_base/private_records/episode000027.json +340 -0
- data/E1_base/private_records/episode000028.json +340 -0
- data/E1_base/private_records/episode000029.json +340 -0
- data/E1_base/private_records/episode000030.json +340 -0
- data/E1_base/private_records/episode000031.json +340 -0
- data/E1_base/private_records/episode000032.json +340 -0
- data/E1_base/private_records/episode000033.json +340 -0
- data/E1_base/private_records/episode000034.json +340 -0
- data/E1_base/private_records/episode000035.json +340 -0
- data/E1_base/private_records/episode000036.json +340 -0
- data/E1_base/private_records/episode000037.json +340 -0
- data/E1_base/private_records/episode000038.json +340 -0
- data/E1_base/private_records/episode000039.json +340 -0
- data/E1_base/private_records/episode000040.json +340 -0
- data/E1_base/private_records/episode000041.json +340 -0
- data/E1_base/private_records/episode000042.json +340 -0
- data/E1_base/private_records/episode000043.json +340 -0
- data/E1_base/private_records/episode000044.json +340 -0
- data/E1_base/private_records/episode000045.json +340 -0
- data/E1_base/private_records/episode000046.json +370 -0
- data/E1_base/private_records/episode000047.json +340 -0
- data/E1_base/private_records/episode000048.json +370 -0
data/E1_base/manifest.json
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"benchmark": "MemBench36_v1",
|
| 4 |
+
"task": "E1_base",
|
| 5 |
+
"episodes": 50,
|
| 6 |
+
"counterfactual_pairs": 25,
|
| 7 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 8 |
+
"layout_locked": true,
|
| 9 |
+
"position_jitter_m": 0.0,
|
| 10 |
+
"yaw_jitter_degrees": 0.0,
|
| 11 |
+
"entries": [
|
| 12 |
+
{
|
| 13 |
+
"task_id": "E1_base",
|
| 14 |
+
"difficulty": "base",
|
| 15 |
+
"counterfactual_pair_id": 20,
|
| 16 |
+
"counterfactual_pair_member": "A",
|
| 17 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 18 |
+
"values": {
|
| 19 |
+
"_runtime_task_id": "E1",
|
| 20 |
+
"difficulty": "base",
|
| 21 |
+
"switch_count": 3,
|
| 22 |
+
"initial_on": [
|
| 23 |
+
"A",
|
| 24 |
+
"C"
|
| 25 |
+
],
|
| 26 |
+
"pre_actions": [],
|
| 27 |
+
"switch_colors": [
|
| 28 |
+
"red",
|
| 29 |
+
"red",
|
| 30 |
+
"blue"
|
| 31 |
+
],
|
| 32 |
+
"switch_sizes": [
|
| 33 |
+
"medium",
|
| 34 |
+
"medium",
|
| 35 |
+
"medium"
|
| 36 |
+
],
|
| 37 |
+
"restore_labels": [
|
| 38 |
+
"A",
|
| 39 |
+
"B",
|
| 40 |
+
"C"
|
| 41 |
+
]
|
| 42 |
+
},
|
| 43 |
+
"strata": {
|
| 44 |
+
"initial_on_count": 2,
|
| 45 |
+
"pre_action_count": 0,
|
| 46 |
+
"red_count": 2,
|
| 47 |
+
"blue_count": 1,
|
| 48 |
+
"large_count": 0,
|
| 49 |
+
"small_count": 0,
|
| 50 |
+
"restore_count": 3
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "65b3face17b44fd5d62cfde66ceecc438a01ab09aa4731b20bf4ff987a3d77ce",
|
| 53 |
+
"episode_id": 0,
|
| 54 |
+
"seed": 1011680087
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"task_id": "E1_base",
|
| 58 |
+
"difficulty": "base",
|
| 59 |
+
"counterfactual_pair_id": 13,
|
| 60 |
+
"counterfactual_pair_member": "A",
|
| 61 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 62 |
+
"values": {
|
| 63 |
+
"_runtime_task_id": "E1",
|
| 64 |
+
"difficulty": "base",
|
| 65 |
+
"switch_count": 3,
|
| 66 |
+
"initial_on": [
|
| 67 |
+
"A",
|
| 68 |
+
"B"
|
| 69 |
+
],
|
| 70 |
+
"pre_actions": [],
|
| 71 |
+
"switch_colors": [
|
| 72 |
+
"blue",
|
| 73 |
+
"neutral",
|
| 74 |
+
"neutral"
|
| 75 |
+
],
|
| 76 |
+
"switch_sizes": [
|
| 77 |
+
"medium",
|
| 78 |
+
"medium",
|
| 79 |
+
"medium"
|
| 80 |
+
],
|
| 81 |
+
"restore_labels": [
|
| 82 |
+
"A",
|
| 83 |
+
"B",
|
| 84 |
+
"C"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"strata": {
|
| 88 |
+
"initial_on_count": 2,
|
| 89 |
+
"pre_action_count": 0,
|
| 90 |
+
"red_count": 0,
|
| 91 |
+
"blue_count": 1,
|
| 92 |
+
"large_count": 0,
|
| 93 |
+
"small_count": 0,
|
| 94 |
+
"restore_count": 3
|
| 95 |
+
},
|
| 96 |
+
"configuration_signature": "b4567d3c74dfebb39246a4b67c58a2519f89d26d32a3501ef3fea2c9aca65033",
|
| 97 |
+
"episode_id": 1,
|
| 98 |
+
"seed": 697098971
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"task_id": "E1_base",
|
| 102 |
+
"difficulty": "base",
|
| 103 |
+
"counterfactual_pair_id": 4,
|
| 104 |
+
"counterfactual_pair_member": "A",
|
| 105 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 106 |
+
"values": {
|
| 107 |
+
"_runtime_task_id": "E1",
|
| 108 |
+
"difficulty": "base",
|
| 109 |
+
"switch_count": 3,
|
| 110 |
+
"initial_on": [
|
| 111 |
+
"A",
|
| 112 |
+
"B"
|
| 113 |
+
],
|
| 114 |
+
"pre_actions": [],
|
| 115 |
+
"switch_colors": [
|
| 116 |
+
"neutral",
|
| 117 |
+
"blue",
|
| 118 |
+
"red"
|
| 119 |
+
],
|
| 120 |
+
"switch_sizes": [
|
| 121 |
+
"medium",
|
| 122 |
+
"medium",
|
| 123 |
+
"medium"
|
| 124 |
+
],
|
| 125 |
+
"restore_labels": [
|
| 126 |
+
"A",
|
| 127 |
+
"B",
|
| 128 |
+
"C"
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
+
"strata": {
|
| 132 |
+
"initial_on_count": 2,
|
| 133 |
+
"pre_action_count": 0,
|
| 134 |
+
"red_count": 1,
|
| 135 |
+
"blue_count": 1,
|
| 136 |
+
"large_count": 0,
|
| 137 |
+
"small_count": 0,
|
| 138 |
+
"restore_count": 3
|
| 139 |
+
},
|
| 140 |
+
"configuration_signature": "bde2f932f50bd3a9118c02d1ba920d701d1028c182a0f2bba7291ba7fd8b934b",
|
| 141 |
+
"episode_id": 2,
|
| 142 |
+
"seed": 1143179210
|
| 143 |
+
},
|
| 144 |
+
{
|
| 145 |
+
"task_id": "E1_base",
|
| 146 |
+
"difficulty": "base",
|
| 147 |
+
"counterfactual_pair_id": 9,
|
| 148 |
+
"counterfactual_pair_member": "A",
|
| 149 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 150 |
+
"values": {
|
| 151 |
+
"_runtime_task_id": "E1",
|
| 152 |
+
"difficulty": "base",
|
| 153 |
+
"switch_count": 3,
|
| 154 |
+
"initial_on": [
|
| 155 |
+
"B",
|
| 156 |
+
"C"
|
| 157 |
+
],
|
| 158 |
+
"pre_actions": [],
|
| 159 |
+
"switch_colors": [
|
| 160 |
+
"blue",
|
| 161 |
+
"blue",
|
| 162 |
+
"red"
|
| 163 |
+
],
|
| 164 |
+
"switch_sizes": [
|
| 165 |
+
"medium",
|
| 166 |
+
"medium",
|
| 167 |
+
"medium"
|
| 168 |
+
],
|
| 169 |
+
"restore_labels": [
|
| 170 |
+
"A",
|
| 171 |
+
"B",
|
| 172 |
+
"C"
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
"strata": {
|
| 176 |
+
"initial_on_count": 2,
|
| 177 |
+
"pre_action_count": 0,
|
| 178 |
+
"red_count": 1,
|
| 179 |
+
"blue_count": 2,
|
| 180 |
+
"large_count": 0,
|
| 181 |
+
"small_count": 0,
|
| 182 |
+
"restore_count": 3
|
| 183 |
+
},
|
| 184 |
+
"configuration_signature": "18f4d99a426a32d0a0ee2c4872a89f52ac9221f742ea9bfe4ed2582a01e23e84",
|
| 185 |
+
"episode_id": 3,
|
| 186 |
+
"seed": 161783976
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"task_id": "E1_base",
|
| 190 |
+
"difficulty": "base",
|
| 191 |
+
"counterfactual_pair_id": 22,
|
| 192 |
+
"counterfactual_pair_member": "A",
|
| 193 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 194 |
+
"values": {
|
| 195 |
+
"_runtime_task_id": "E1",
|
| 196 |
+
"difficulty": "base",
|
| 197 |
+
"switch_count": 3,
|
| 198 |
+
"initial_on": [
|
| 199 |
+
"B",
|
| 200 |
+
"C"
|
| 201 |
+
],
|
| 202 |
+
"pre_actions": [],
|
| 203 |
+
"switch_colors": [
|
| 204 |
+
"blue",
|
| 205 |
+
"neutral",
|
| 206 |
+
"blue"
|
| 207 |
+
],
|
| 208 |
+
"switch_sizes": [
|
| 209 |
+
"medium",
|
| 210 |
+
"medium",
|
| 211 |
+
"medium"
|
| 212 |
+
],
|
| 213 |
+
"restore_labels": [
|
| 214 |
+
"A",
|
| 215 |
+
"B",
|
| 216 |
+
"C"
|
| 217 |
+
]
|
| 218 |
+
},
|
| 219 |
+
"strata": {
|
| 220 |
+
"initial_on_count": 2,
|
| 221 |
+
"pre_action_count": 0,
|
| 222 |
+
"red_count": 0,
|
| 223 |
+
"blue_count": 2,
|
| 224 |
+
"large_count": 0,
|
| 225 |
+
"small_count": 0,
|
| 226 |
+
"restore_count": 3
|
| 227 |
+
},
|
| 228 |
+
"configuration_signature": "f67d38a8a21d388c6b6a8490aeb9c23d6f2872795cce04c2efae5b488330f718",
|
| 229 |
+
"episode_id": 4,
|
| 230 |
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"seed": 1637134298
|
| 231 |
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},
|
| 232 |
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{
|
| 233 |
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"task_id": "E1_base",
|
| 234 |
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"difficulty": "base",
|
| 235 |
+
"counterfactual_pair_id": 14,
|
| 236 |
+
"counterfactual_pair_member": "A",
|
| 237 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 238 |
+
"values": {
|
| 239 |
+
"_runtime_task_id": "E1",
|
| 240 |
+
"difficulty": "base",
|
| 241 |
+
"switch_count": 3,
|
| 242 |
+
"initial_on": [
|
| 243 |
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"B",
|
| 244 |
+
"C"
|
| 245 |
+
],
|
| 246 |
+
"pre_actions": [],
|
| 247 |
+
"switch_colors": [
|
| 248 |
+
"neutral",
|
| 249 |
+
"blue",
|
| 250 |
+
"neutral"
|
| 251 |
+
],
|
| 252 |
+
"switch_sizes": [
|
| 253 |
+
"medium",
|
| 254 |
+
"medium",
|
| 255 |
+
"medium"
|
| 256 |
+
],
|
| 257 |
+
"restore_labels": [
|
| 258 |
+
"A",
|
| 259 |
+
"B",
|
| 260 |
+
"C"
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
"strata": {
|
| 264 |
+
"initial_on_count": 2,
|
| 265 |
+
"pre_action_count": 0,
|
| 266 |
+
"red_count": 0,
|
| 267 |
+
"blue_count": 1,
|
| 268 |
+
"large_count": 0,
|
| 269 |
+
"small_count": 0,
|
| 270 |
+
"restore_count": 3
|
| 271 |
+
},
|
| 272 |
+
"configuration_signature": "34ef220f90cb03c33f98ccc214f83a4d038e15125b113a84dd16e34e36ed1afe",
|
| 273 |
+
"episode_id": 5,
|
| 274 |
+
"seed": 1012273226
|
| 275 |
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},
|
| 276 |
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{
|
| 277 |
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"task_id": "E1_base",
|
| 278 |
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"difficulty": "base",
|
| 279 |
+
"counterfactual_pair_id": 16,
|
| 280 |
+
"counterfactual_pair_member": "A",
|
| 281 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 282 |
+
"values": {
|
| 283 |
+
"_runtime_task_id": "E1",
|
| 284 |
+
"difficulty": "base",
|
| 285 |
+
"switch_count": 3,
|
| 286 |
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"initial_on": [
|
| 287 |
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"A",
|
| 288 |
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"B"
|
| 289 |
+
],
|
| 290 |
+
"pre_actions": [],
|
| 291 |
+
"switch_colors": [
|
| 292 |
+
"red",
|
| 293 |
+
"neutral",
|
| 294 |
+
"blue"
|
| 295 |
+
],
|
| 296 |
+
"switch_sizes": [
|
| 297 |
+
"medium",
|
| 298 |
+
"medium",
|
| 299 |
+
"medium"
|
| 300 |
+
],
|
| 301 |
+
"restore_labels": [
|
| 302 |
+
"A",
|
| 303 |
+
"B",
|
| 304 |
+
"C"
|
| 305 |
+
]
|
| 306 |
+
},
|
| 307 |
+
"strata": {
|
| 308 |
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"initial_on_count": 2,
|
| 309 |
+
"pre_action_count": 0,
|
| 310 |
+
"red_count": 1,
|
| 311 |
+
"blue_count": 1,
|
| 312 |
+
"large_count": 0,
|
| 313 |
+
"small_count": 0,
|
| 314 |
+
"restore_count": 3
|
| 315 |
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},
|
| 316 |
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"configuration_signature": "f9b54ad48b054c80caa8beb0d3ce7dd2939ec77a1db85678180c27e5c283ac31",
|
| 317 |
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"episode_id": 6,
|
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"seed": 1701196464
|
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},
|
| 320 |
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{
|
| 321 |
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"task_id": "E1_base",
|
| 322 |
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"difficulty": "base",
|
| 323 |
+
"counterfactual_pair_id": 21,
|
| 324 |
+
"counterfactual_pair_member": "A",
|
| 325 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 326 |
+
"values": {
|
| 327 |
+
"_runtime_task_id": "E1",
|
| 328 |
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"difficulty": "base",
|
| 329 |
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"switch_count": 3,
|
| 330 |
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"initial_on": [
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| 331 |
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"A",
|
| 332 |
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"B"
|
| 333 |
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],
|
| 334 |
+
"pre_actions": [],
|
| 335 |
+
"switch_colors": [
|
| 336 |
+
"blue",
|
| 337 |
+
"blue",
|
| 338 |
+
"neutral"
|
| 339 |
+
],
|
| 340 |
+
"switch_sizes": [
|
| 341 |
+
"medium",
|
| 342 |
+
"medium",
|
| 343 |
+
"medium"
|
| 344 |
+
],
|
| 345 |
+
"restore_labels": [
|
| 346 |
+
"A",
|
| 347 |
+
"B",
|
| 348 |
+
"C"
|
| 349 |
+
]
|
| 350 |
+
},
|
| 351 |
+
"strata": {
|
| 352 |
+
"initial_on_count": 2,
|
| 353 |
+
"pre_action_count": 0,
|
| 354 |
+
"red_count": 0,
|
| 355 |
+
"blue_count": 2,
|
| 356 |
+
"large_count": 0,
|
| 357 |
+
"small_count": 0,
|
| 358 |
+
"restore_count": 3
|
| 359 |
+
},
|
| 360 |
+
"configuration_signature": "c020539f2da46e728525b010a647822383becfc5dd50138225f02e4b7bda1f13",
|
| 361 |
+
"episode_id": 7,
|
| 362 |
+
"seed": 1503335716
|
| 363 |
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},
|
| 364 |
+
{
|
| 365 |
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"task_id": "E1_base",
|
| 366 |
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"difficulty": "base",
|
| 367 |
+
"counterfactual_pair_id": 1,
|
| 368 |
+
"counterfactual_pair_member": "A",
|
| 369 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 370 |
+
"values": {
|
| 371 |
+
"_runtime_task_id": "E1",
|
| 372 |
+
"difficulty": "base",
|
| 373 |
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"switch_count": 3,
|
| 374 |
+
"initial_on": [
|
| 375 |
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"B",
|
| 376 |
+
"C"
|
| 377 |
+
],
|
| 378 |
+
"pre_actions": [],
|
| 379 |
+
"switch_colors": [
|
| 380 |
+
"red",
|
| 381 |
+
"neutral",
|
| 382 |
+
"red"
|
| 383 |
+
],
|
| 384 |
+
"switch_sizes": [
|
| 385 |
+
"medium",
|
| 386 |
+
"medium",
|
| 387 |
+
"medium"
|
| 388 |
+
],
|
| 389 |
+
"restore_labels": [
|
| 390 |
+
"A",
|
| 391 |
+
"B",
|
| 392 |
+
"C"
|
| 393 |
+
]
|
| 394 |
+
},
|
| 395 |
+
"strata": {
|
| 396 |
+
"initial_on_count": 2,
|
| 397 |
+
"pre_action_count": 0,
|
| 398 |
+
"red_count": 2,
|
| 399 |
+
"blue_count": 0,
|
| 400 |
+
"large_count": 0,
|
| 401 |
+
"small_count": 0,
|
| 402 |
+
"restore_count": 3
|
| 403 |
+
},
|
| 404 |
+
"configuration_signature": "cddb49cdbcdb611fed51e31549a4754f75657138ef239c27b578ab85a41d6dcf",
|
| 405 |
+
"episode_id": 8,
|
| 406 |
+
"seed": 2059528565
|
| 407 |
+
},
|
| 408 |
+
{
|
| 409 |
+
"task_id": "E1_base",
|
| 410 |
+
"difficulty": "base",
|
| 411 |
+
"counterfactual_pair_id": 24,
|
| 412 |
+
"counterfactual_pair_member": "A",
|
| 413 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 414 |
+
"values": {
|
| 415 |
+
"_runtime_task_id": "E1",
|
| 416 |
+
"difficulty": "base",
|
| 417 |
+
"switch_count": 3,
|
| 418 |
+
"initial_on": [
|
| 419 |
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"A",
|
| 420 |
+
"B"
|
| 421 |
+
],
|
| 422 |
+
"pre_actions": [],
|
| 423 |
+
"switch_colors": [
|
| 424 |
+
"red",
|
| 425 |
+
"red",
|
| 426 |
+
"blue"
|
| 427 |
+
],
|
| 428 |
+
"switch_sizes": [
|
| 429 |
+
"medium",
|
| 430 |
+
"medium",
|
| 431 |
+
"medium"
|
| 432 |
+
],
|
| 433 |
+
"restore_labels": [
|
| 434 |
+
"A",
|
| 435 |
+
"B",
|
| 436 |
+
"C"
|
| 437 |
+
]
|
| 438 |
+
},
|
| 439 |
+
"strata": {
|
| 440 |
+
"initial_on_count": 2,
|
| 441 |
+
"pre_action_count": 0,
|
| 442 |
+
"red_count": 2,
|
| 443 |
+
"blue_count": 1,
|
| 444 |
+
"large_count": 0,
|
| 445 |
+
"small_count": 0,
|
| 446 |
+
"restore_count": 3
|
| 447 |
+
},
|
| 448 |
+
"configuration_signature": "70cba9fe354f49e5669ae605399a3c94d7697505e0839911dc317d899244979f",
|
| 449 |
+
"episode_id": 9,
|
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+
"seed": 2104387867
|
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+
},
|
| 452 |
+
{
|
| 453 |
+
"task_id": "E1_base",
|
| 454 |
+
"difficulty": "base",
|
| 455 |
+
"counterfactual_pair_id": 7,
|
| 456 |
+
"counterfactual_pair_member": "A",
|
| 457 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 458 |
+
"values": {
|
| 459 |
+
"_runtime_task_id": "E1",
|
| 460 |
+
"difficulty": "base",
|
| 461 |
+
"switch_count": 3,
|
| 462 |
+
"initial_on": [
|
| 463 |
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"B",
|
| 464 |
+
"C"
|
| 465 |
+
],
|
| 466 |
+
"pre_actions": [],
|
| 467 |
+
"switch_colors": [
|
| 468 |
+
"blue",
|
| 469 |
+
"neutral",
|
| 470 |
+
"neutral"
|
| 471 |
+
],
|
| 472 |
+
"switch_sizes": [
|
| 473 |
+
"medium",
|
| 474 |
+
"medium",
|
| 475 |
+
"medium"
|
| 476 |
+
],
|
| 477 |
+
"restore_labels": [
|
| 478 |
+
"A",
|
| 479 |
+
"B",
|
| 480 |
+
"C"
|
| 481 |
+
]
|
| 482 |
+
},
|
| 483 |
+
"strata": {
|
| 484 |
+
"initial_on_count": 2,
|
| 485 |
+
"pre_action_count": 0,
|
| 486 |
+
"red_count": 0,
|
| 487 |
+
"blue_count": 1,
|
| 488 |
+
"large_count": 0,
|
| 489 |
+
"small_count": 0,
|
| 490 |
+
"restore_count": 3
|
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+
},
|
| 492 |
+
"configuration_signature": "82a694ad42d00dd52eae65c71d6594a20ab4f9ebdf913c39ac009fbf3d6f43d2",
|
| 493 |
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"episode_id": 10,
|
| 494 |
+
"seed": 1887643838
|
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+
},
|
| 496 |
+
{
|
| 497 |
+
"task_id": "E1_base",
|
| 498 |
+
"difficulty": "base",
|
| 499 |
+
"counterfactual_pair_id": 12,
|
| 500 |
+
"counterfactual_pair_member": "A",
|
| 501 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 502 |
+
"values": {
|
| 503 |
+
"_runtime_task_id": "E1",
|
| 504 |
+
"difficulty": "base",
|
| 505 |
+
"switch_count": 3,
|
| 506 |
+
"initial_on": [
|
| 507 |
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"B"
|
| 508 |
+
],
|
| 509 |
+
"pre_actions": [],
|
| 510 |
+
"switch_colors": [
|
| 511 |
+
"red",
|
| 512 |
+
"neutral",
|
| 513 |
+
"neutral"
|
| 514 |
+
],
|
| 515 |
+
"switch_sizes": [
|
| 516 |
+
"medium",
|
| 517 |
+
"medium",
|
| 518 |
+
"medium"
|
| 519 |
+
],
|
| 520 |
+
"restore_labels": [
|
| 521 |
+
"A",
|
| 522 |
+
"B",
|
| 523 |
+
"C"
|
| 524 |
+
]
|
| 525 |
+
},
|
| 526 |
+
"strata": {
|
| 527 |
+
"initial_on_count": 1,
|
| 528 |
+
"pre_action_count": 0,
|
| 529 |
+
"red_count": 1,
|
| 530 |
+
"blue_count": 0,
|
| 531 |
+
"large_count": 0,
|
| 532 |
+
"small_count": 0,
|
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+
"restore_count": 3
|
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+
},
|
| 535 |
+
"configuration_signature": "713a207fc793861bed369afe03f1e13c16476d76ed07374c68e0d8e8c04d82ae",
|
| 536 |
+
"episode_id": 11,
|
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+
"seed": 1411045610
|
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},
|
| 539 |
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{
|
| 540 |
+
"task_id": "E1_base",
|
| 541 |
+
"difficulty": "base",
|
| 542 |
+
"counterfactual_pair_id": 10,
|
| 543 |
+
"counterfactual_pair_member": "A",
|
| 544 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 545 |
+
"values": {
|
| 546 |
+
"_runtime_task_id": "E1",
|
| 547 |
+
"difficulty": "base",
|
| 548 |
+
"switch_count": 3,
|
| 549 |
+
"initial_on": [
|
| 550 |
+
"C"
|
| 551 |
+
],
|
| 552 |
+
"pre_actions": [],
|
| 553 |
+
"switch_colors": [
|
| 554 |
+
"blue",
|
| 555 |
+
"blue",
|
| 556 |
+
"neutral"
|
| 557 |
+
],
|
| 558 |
+
"switch_sizes": [
|
| 559 |
+
"medium",
|
| 560 |
+
"medium",
|
| 561 |
+
"medium"
|
| 562 |
+
],
|
| 563 |
+
"restore_labels": [
|
| 564 |
+
"A",
|
| 565 |
+
"B",
|
| 566 |
+
"C"
|
| 567 |
+
]
|
| 568 |
+
},
|
| 569 |
+
"strata": {
|
| 570 |
+
"initial_on_count": 1,
|
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+
"pre_action_count": 0,
|
| 572 |
+
"red_count": 0,
|
| 573 |
+
"blue_count": 2,
|
| 574 |
+
"large_count": 0,
|
| 575 |
+
"small_count": 0,
|
| 576 |
+
"restore_count": 3
|
| 577 |
+
},
|
| 578 |
+
"configuration_signature": "14087f5c1b0e5d1b050b482cbcddf0366a398a10bfa87d93d885fc63adb42848",
|
| 579 |
+
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|
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+
"seed": 660945095
|
| 581 |
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},
|
| 582 |
+
{
|
| 583 |
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"task_id": "E1_base",
|
| 584 |
+
"difficulty": "base",
|
| 585 |
+
"counterfactual_pair_id": 15,
|
| 586 |
+
"counterfactual_pair_member": "A",
|
| 587 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 588 |
+
"values": {
|
| 589 |
+
"_runtime_task_id": "E1",
|
| 590 |
+
"difficulty": "base",
|
| 591 |
+
"switch_count": 3,
|
| 592 |
+
"initial_on": [
|
| 593 |
+
"A",
|
| 594 |
+
"C"
|
| 595 |
+
],
|
| 596 |
+
"pre_actions": [],
|
| 597 |
+
"switch_colors": [
|
| 598 |
+
"red",
|
| 599 |
+
"red",
|
| 600 |
+
"neutral"
|
| 601 |
+
],
|
| 602 |
+
"switch_sizes": [
|
| 603 |
+
"medium",
|
| 604 |
+
"medium",
|
| 605 |
+
"medium"
|
| 606 |
+
],
|
| 607 |
+
"restore_labels": [
|
| 608 |
+
"A",
|
| 609 |
+
"B",
|
| 610 |
+
"C"
|
| 611 |
+
]
|
| 612 |
+
},
|
| 613 |
+
"strata": {
|
| 614 |
+
"initial_on_count": 2,
|
| 615 |
+
"pre_action_count": 0,
|
| 616 |
+
"red_count": 2,
|
| 617 |
+
"blue_count": 0,
|
| 618 |
+
"large_count": 0,
|
| 619 |
+
"small_count": 0,
|
| 620 |
+
"restore_count": 3
|
| 621 |
+
},
|
| 622 |
+
"configuration_signature": "50cd9364fb51959febee2f4682f5645e559b0c311aac8b8a10faa42ce5168926",
|
| 623 |
+
"episode_id": 13,
|
| 624 |
+
"seed": 298957712
|
| 625 |
+
},
|
| 626 |
+
{
|
| 627 |
+
"task_id": "E1_base",
|
| 628 |
+
"difficulty": "base",
|
| 629 |
+
"counterfactual_pair_id": 8,
|
| 630 |
+
"counterfactual_pair_member": "A",
|
| 631 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 632 |
+
"values": {
|
| 633 |
+
"_runtime_task_id": "E1",
|
| 634 |
+
"difficulty": "base",
|
| 635 |
+
"switch_count": 3,
|
| 636 |
+
"initial_on": [
|
| 637 |
+
"A",
|
| 638 |
+
"B"
|
| 639 |
+
],
|
| 640 |
+
"pre_actions": [],
|
| 641 |
+
"switch_colors": [
|
| 642 |
+
"blue",
|
| 643 |
+
"neutral",
|
| 644 |
+
"blue"
|
| 645 |
+
],
|
| 646 |
+
"switch_sizes": [
|
| 647 |
+
"medium",
|
| 648 |
+
"medium",
|
| 649 |
+
"medium"
|
| 650 |
+
],
|
| 651 |
+
"restore_labels": [
|
| 652 |
+
"A",
|
| 653 |
+
"B",
|
| 654 |
+
"C"
|
| 655 |
+
]
|
| 656 |
+
},
|
| 657 |
+
"strata": {
|
| 658 |
+
"initial_on_count": 2,
|
| 659 |
+
"pre_action_count": 0,
|
| 660 |
+
"red_count": 0,
|
| 661 |
+
"blue_count": 2,
|
| 662 |
+
"large_count": 0,
|
| 663 |
+
"small_count": 0,
|
| 664 |
+
"restore_count": 3
|
| 665 |
+
},
|
| 666 |
+
"configuration_signature": "5da6f4b4b05bdff34fd6d53626bbb055b142f8ba7f189ea62c50ed9cd0f0bc92",
|
| 667 |
+
"episode_id": 14,
|
| 668 |
+
"seed": 1340048122
|
| 669 |
+
},
|
| 670 |
+
{
|
| 671 |
+
"task_id": "E1_base",
|
| 672 |
+
"difficulty": "base",
|
| 673 |
+
"counterfactual_pair_id": 11,
|
| 674 |
+
"counterfactual_pair_member": "A",
|
| 675 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 676 |
+
"values": {
|
| 677 |
+
"_runtime_task_id": "E1",
|
| 678 |
+
"difficulty": "base",
|
| 679 |
+
"switch_count": 3,
|
| 680 |
+
"initial_on": [
|
| 681 |
+
"A",
|
| 682 |
+
"C"
|
| 683 |
+
],
|
| 684 |
+
"pre_actions": [],
|
| 685 |
+
"switch_colors": [
|
| 686 |
+
"neutral",
|
| 687 |
+
"blue",
|
| 688 |
+
"blue"
|
| 689 |
+
],
|
| 690 |
+
"switch_sizes": [
|
| 691 |
+
"medium",
|
| 692 |
+
"medium",
|
| 693 |
+
"medium"
|
| 694 |
+
],
|
| 695 |
+
"restore_labels": [
|
| 696 |
+
"A",
|
| 697 |
+
"B",
|
| 698 |
+
"C"
|
| 699 |
+
]
|
| 700 |
+
},
|
| 701 |
+
"strata": {
|
| 702 |
+
"initial_on_count": 2,
|
| 703 |
+
"pre_action_count": 0,
|
| 704 |
+
"red_count": 0,
|
| 705 |
+
"blue_count": 2,
|
| 706 |
+
"large_count": 0,
|
| 707 |
+
"small_count": 0,
|
| 708 |
+
"restore_count": 3
|
| 709 |
+
},
|
| 710 |
+
"configuration_signature": "9d5e76e383ba53a38d53d85613bc893668bbc14205955f49a1fe4856e7282531",
|
| 711 |
+
"episode_id": 15,
|
| 712 |
+
"seed": 1702918536
|
| 713 |
+
},
|
| 714 |
+
{
|
| 715 |
+
"task_id": "E1_base",
|
| 716 |
+
"difficulty": "base",
|
| 717 |
+
"counterfactual_pair_id": 23,
|
| 718 |
+
"counterfactual_pair_member": "A",
|
| 719 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 720 |
+
"values": {
|
| 721 |
+
"_runtime_task_id": "E1",
|
| 722 |
+
"difficulty": "base",
|
| 723 |
+
"switch_count": 3,
|
| 724 |
+
"initial_on": [
|
| 725 |
+
"A",
|
| 726 |
+
"C"
|
| 727 |
+
],
|
| 728 |
+
"pre_actions": [],
|
| 729 |
+
"switch_colors": [
|
| 730 |
+
"neutral",
|
| 731 |
+
"blue",
|
| 732 |
+
"red"
|
| 733 |
+
],
|
| 734 |
+
"switch_sizes": [
|
| 735 |
+
"medium",
|
| 736 |
+
"medium",
|
| 737 |
+
"medium"
|
| 738 |
+
],
|
| 739 |
+
"restore_labels": [
|
| 740 |
+
"A",
|
| 741 |
+
"B",
|
| 742 |
+
"C"
|
| 743 |
+
]
|
| 744 |
+
},
|
| 745 |
+
"strata": {
|
| 746 |
+
"initial_on_count": 2,
|
| 747 |
+
"pre_action_count": 0,
|
| 748 |
+
"red_count": 1,
|
| 749 |
+
"blue_count": 1,
|
| 750 |
+
"large_count": 0,
|
| 751 |
+
"small_count": 0,
|
| 752 |
+
"restore_count": 3
|
| 753 |
+
},
|
| 754 |
+
"configuration_signature": "dae5ac2bfa22c268b0791ff6899964096c4cbf13ff118734492ba68978bd7f88",
|
| 755 |
+
"episode_id": 16,
|
| 756 |
+
"seed": 356146
|
| 757 |
+
},
|
| 758 |
+
{
|
| 759 |
+
"task_id": "E1_base",
|
| 760 |
+
"difficulty": "base",
|
| 761 |
+
"counterfactual_pair_id": 18,
|
| 762 |
+
"counterfactual_pair_member": "A",
|
| 763 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 764 |
+
"values": {
|
| 765 |
+
"_runtime_task_id": "E1",
|
| 766 |
+
"difficulty": "base",
|
| 767 |
+
"switch_count": 3,
|
| 768 |
+
"initial_on": [
|
| 769 |
+
"B",
|
| 770 |
+
"C"
|
| 771 |
+
],
|
| 772 |
+
"pre_actions": [],
|
| 773 |
+
"switch_colors": [
|
| 774 |
+
"neutral",
|
| 775 |
+
"blue",
|
| 776 |
+
"blue"
|
| 777 |
+
],
|
| 778 |
+
"switch_sizes": [
|
| 779 |
+
"medium",
|
| 780 |
+
"medium",
|
| 781 |
+
"medium"
|
| 782 |
+
],
|
| 783 |
+
"restore_labels": [
|
| 784 |
+
"A",
|
| 785 |
+
"B",
|
| 786 |
+
"C"
|
| 787 |
+
]
|
| 788 |
+
},
|
| 789 |
+
"strata": {
|
| 790 |
+
"initial_on_count": 2,
|
| 791 |
+
"pre_action_count": 0,
|
| 792 |
+
"red_count": 0,
|
| 793 |
+
"blue_count": 2,
|
| 794 |
+
"large_count": 0,
|
| 795 |
+
"small_count": 0,
|
| 796 |
+
"restore_count": 3
|
| 797 |
+
},
|
| 798 |
+
"configuration_signature": "82dc83740c27cd09e4e7deef24d829036aa1e7f8429d0d044daea2002719f02a",
|
| 799 |
+
"episode_id": 17,
|
| 800 |
+
"seed": 497033108
|
| 801 |
+
},
|
| 802 |
+
{
|
| 803 |
+
"task_id": "E1_base",
|
| 804 |
+
"difficulty": "base",
|
| 805 |
+
"counterfactual_pair_id": 6,
|
| 806 |
+
"counterfactual_pair_member": "A",
|
| 807 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 808 |
+
"values": {
|
| 809 |
+
"_runtime_task_id": "E1",
|
| 810 |
+
"difficulty": "base",
|
| 811 |
+
"switch_count": 3,
|
| 812 |
+
"initial_on": [
|
| 813 |
+
"A"
|
| 814 |
+
],
|
| 815 |
+
"pre_actions": [],
|
| 816 |
+
"switch_colors": [
|
| 817 |
+
"red",
|
| 818 |
+
"red",
|
| 819 |
+
"neutral"
|
| 820 |
+
],
|
| 821 |
+
"switch_sizes": [
|
| 822 |
+
"medium",
|
| 823 |
+
"medium",
|
| 824 |
+
"medium"
|
| 825 |
+
],
|
| 826 |
+
"restore_labels": [
|
| 827 |
+
"A",
|
| 828 |
+
"B",
|
| 829 |
+
"C"
|
| 830 |
+
]
|
| 831 |
+
},
|
| 832 |
+
"strata": {
|
| 833 |
+
"initial_on_count": 1,
|
| 834 |
+
"pre_action_count": 0,
|
| 835 |
+
"red_count": 2,
|
| 836 |
+
"blue_count": 0,
|
| 837 |
+
"large_count": 0,
|
| 838 |
+
"small_count": 0,
|
| 839 |
+
"restore_count": 3
|
| 840 |
+
},
|
| 841 |
+
"configuration_signature": "c37cbb49e22005625b7a0d68981168d59f333f1ec6e3e1be25fecc88b5149877",
|
| 842 |
+
"episode_id": 18,
|
| 843 |
+
"seed": 138471827
|
| 844 |
+
},
|
| 845 |
+
{
|
| 846 |
+
"task_id": "E1_base",
|
| 847 |
+
"difficulty": "base",
|
| 848 |
+
"counterfactual_pair_id": 17,
|
| 849 |
+
"counterfactual_pair_member": "A",
|
| 850 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 851 |
+
"values": {
|
| 852 |
+
"_runtime_task_id": "E1",
|
| 853 |
+
"difficulty": "base",
|
| 854 |
+
"switch_count": 3,
|
| 855 |
+
"initial_on": [
|
| 856 |
+
"A",
|
| 857 |
+
"C"
|
| 858 |
+
],
|
| 859 |
+
"pre_actions": [],
|
| 860 |
+
"switch_colors": [
|
| 861 |
+
"red",
|
| 862 |
+
"neutral",
|
| 863 |
+
"red"
|
| 864 |
+
],
|
| 865 |
+
"switch_sizes": [
|
| 866 |
+
"medium",
|
| 867 |
+
"medium",
|
| 868 |
+
"medium"
|
| 869 |
+
],
|
| 870 |
+
"restore_labels": [
|
| 871 |
+
"A",
|
| 872 |
+
"B",
|
| 873 |
+
"C"
|
| 874 |
+
]
|
| 875 |
+
},
|
| 876 |
+
"strata": {
|
| 877 |
+
"initial_on_count": 2,
|
| 878 |
+
"pre_action_count": 0,
|
| 879 |
+
"red_count": 2,
|
| 880 |
+
"blue_count": 0,
|
| 881 |
+
"large_count": 0,
|
| 882 |
+
"small_count": 0,
|
| 883 |
+
"restore_count": 3
|
| 884 |
+
},
|
| 885 |
+
"configuration_signature": "c27ddd54c21ddebd5b16d4f3d4bc7db0db40c7b00b9fb0f31a2e49de0731ae8c",
|
| 886 |
+
"episode_id": 19,
|
| 887 |
+
"seed": 362958659
|
| 888 |
+
},
|
| 889 |
+
{
|
| 890 |
+
"task_id": "E1_base",
|
| 891 |
+
"difficulty": "base",
|
| 892 |
+
"counterfactual_pair_id": 5,
|
| 893 |
+
"counterfactual_pair_member": "A",
|
| 894 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 895 |
+
"values": {
|
| 896 |
+
"_runtime_task_id": "E1",
|
| 897 |
+
"difficulty": "base",
|
| 898 |
+
"switch_count": 3,
|
| 899 |
+
"initial_on": [
|
| 900 |
+
"C"
|
| 901 |
+
],
|
| 902 |
+
"pre_actions": [],
|
| 903 |
+
"switch_colors": [
|
| 904 |
+
"red",
|
| 905 |
+
"neutral",
|
| 906 |
+
"neutral"
|
| 907 |
+
],
|
| 908 |
+
"switch_sizes": [
|
| 909 |
+
"medium",
|
| 910 |
+
"medium",
|
| 911 |
+
"medium"
|
| 912 |
+
],
|
| 913 |
+
"restore_labels": [
|
| 914 |
+
"A",
|
| 915 |
+
"B",
|
| 916 |
+
"C"
|
| 917 |
+
]
|
| 918 |
+
},
|
| 919 |
+
"strata": {
|
| 920 |
+
"initial_on_count": 1,
|
| 921 |
+
"pre_action_count": 0,
|
| 922 |
+
"red_count": 1,
|
| 923 |
+
"blue_count": 0,
|
| 924 |
+
"large_count": 0,
|
| 925 |
+
"small_count": 0,
|
| 926 |
+
"restore_count": 3
|
| 927 |
+
},
|
| 928 |
+
"configuration_signature": "a84f0247e139aac896c97692f652d9605f64f3fa7551ec3e6fe998f157c8ddd5",
|
| 929 |
+
"episode_id": 20,
|
| 930 |
+
"seed": 1898128794
|
| 931 |
+
},
|
| 932 |
+
{
|
| 933 |
+
"task_id": "E1_base",
|
| 934 |
+
"difficulty": "base",
|
| 935 |
+
"counterfactual_pair_id": 19,
|
| 936 |
+
"counterfactual_pair_member": "A",
|
| 937 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 938 |
+
"values": {
|
| 939 |
+
"_runtime_task_id": "E1",
|
| 940 |
+
"difficulty": "base",
|
| 941 |
+
"switch_count": 3,
|
| 942 |
+
"initial_on": [
|
| 943 |
+
"A",
|
| 944 |
+
"B"
|
| 945 |
+
],
|
| 946 |
+
"pre_actions": [],
|
| 947 |
+
"switch_colors": [
|
| 948 |
+
"red",
|
| 949 |
+
"blue",
|
| 950 |
+
"red"
|
| 951 |
+
],
|
| 952 |
+
"switch_sizes": [
|
| 953 |
+
"medium",
|
| 954 |
+
"medium",
|
| 955 |
+
"medium"
|
| 956 |
+
],
|
| 957 |
+
"restore_labels": [
|
| 958 |
+
"A",
|
| 959 |
+
"B",
|
| 960 |
+
"C"
|
| 961 |
+
]
|
| 962 |
+
},
|
| 963 |
+
"strata": {
|
| 964 |
+
"initial_on_count": 2,
|
| 965 |
+
"pre_action_count": 0,
|
| 966 |
+
"red_count": 2,
|
| 967 |
+
"blue_count": 1,
|
| 968 |
+
"large_count": 0,
|
| 969 |
+
"small_count": 0,
|
| 970 |
+
"restore_count": 3
|
| 971 |
+
},
|
| 972 |
+
"configuration_signature": "fab113ab796dc92886fc427729a915fa8d3ab4250b95e4c5634ace4f37f8d6fb",
|
| 973 |
+
"episode_id": 21,
|
| 974 |
+
"seed": 1770584883
|
| 975 |
+
},
|
| 976 |
+
{
|
| 977 |
+
"task_id": "E1_base",
|
| 978 |
+
"difficulty": "base",
|
| 979 |
+
"counterfactual_pair_id": 3,
|
| 980 |
+
"counterfactual_pair_member": "A",
|
| 981 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 982 |
+
"values": {
|
| 983 |
+
"_runtime_task_id": "E1",
|
| 984 |
+
"difficulty": "base",
|
| 985 |
+
"switch_count": 3,
|
| 986 |
+
"initial_on": [
|
| 987 |
+
"A",
|
| 988 |
+
"C"
|
| 989 |
+
],
|
| 990 |
+
"pre_actions": [],
|
| 991 |
+
"switch_colors": [
|
| 992 |
+
"blue",
|
| 993 |
+
"blue",
|
| 994 |
+
"red"
|
| 995 |
+
],
|
| 996 |
+
"switch_sizes": [
|
| 997 |
+
"medium",
|
| 998 |
+
"medium",
|
| 999 |
+
"medium"
|
| 1000 |
+
],
|
| 1001 |
+
"restore_labels": [
|
| 1002 |
+
"A",
|
| 1003 |
+
"B",
|
| 1004 |
+
"C"
|
| 1005 |
+
]
|
| 1006 |
+
},
|
| 1007 |
+
"strata": {
|
| 1008 |
+
"initial_on_count": 2,
|
| 1009 |
+
"pre_action_count": 0,
|
| 1010 |
+
"red_count": 1,
|
| 1011 |
+
"blue_count": 2,
|
| 1012 |
+
"large_count": 0,
|
| 1013 |
+
"small_count": 0,
|
| 1014 |
+
"restore_count": 3
|
| 1015 |
+
},
|
| 1016 |
+
"configuration_signature": "bd9ca45c6837a3c3c5aa7a865253a77169d5c579a07182235240a6168b8f537b",
|
| 1017 |
+
"episode_id": 22,
|
| 1018 |
+
"seed": 1028177117
|
| 1019 |
+
},
|
| 1020 |
+
{
|
| 1021 |
+
"task_id": "E1_base",
|
| 1022 |
+
"difficulty": "base",
|
| 1023 |
+
"counterfactual_pair_id": 0,
|
| 1024 |
+
"counterfactual_pair_member": "A",
|
| 1025 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1026 |
+
"values": {
|
| 1027 |
+
"_runtime_task_id": "E1",
|
| 1028 |
+
"difficulty": "base",
|
| 1029 |
+
"switch_count": 3,
|
| 1030 |
+
"initial_on": [
|
| 1031 |
+
"A",
|
| 1032 |
+
"C"
|
| 1033 |
+
],
|
| 1034 |
+
"pre_actions": [],
|
| 1035 |
+
"switch_colors": [
|
| 1036 |
+
"red",
|
| 1037 |
+
"blue",
|
| 1038 |
+
"red"
|
| 1039 |
+
],
|
| 1040 |
+
"switch_sizes": [
|
| 1041 |
+
"medium",
|
| 1042 |
+
"medium",
|
| 1043 |
+
"medium"
|
| 1044 |
+
],
|
| 1045 |
+
"restore_labels": [
|
| 1046 |
+
"A",
|
| 1047 |
+
"B",
|
| 1048 |
+
"C"
|
| 1049 |
+
]
|
| 1050 |
+
},
|
| 1051 |
+
"strata": {
|
| 1052 |
+
"initial_on_count": 2,
|
| 1053 |
+
"pre_action_count": 0,
|
| 1054 |
+
"red_count": 2,
|
| 1055 |
+
"blue_count": 1,
|
| 1056 |
+
"large_count": 0,
|
| 1057 |
+
"small_count": 0,
|
| 1058 |
+
"restore_count": 3
|
| 1059 |
+
},
|
| 1060 |
+
"configuration_signature": "609b626861e03e1e5ac322355091159c7d2802b1c7b29e43f909563c2156146f",
|
| 1061 |
+
"episode_id": 23,
|
| 1062 |
+
"seed": 548484533
|
| 1063 |
+
},
|
| 1064 |
+
{
|
| 1065 |
+
"task_id": "E1_base",
|
| 1066 |
+
"difficulty": "base",
|
| 1067 |
+
"counterfactual_pair_id": 2,
|
| 1068 |
+
"counterfactual_pair_member": "A",
|
| 1069 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1070 |
+
"values": {
|
| 1071 |
+
"_runtime_task_id": "E1",
|
| 1072 |
+
"difficulty": "base",
|
| 1073 |
+
"switch_count": 3,
|
| 1074 |
+
"initial_on": [
|
| 1075 |
+
"A",
|
| 1076 |
+
"B"
|
| 1077 |
+
],
|
| 1078 |
+
"pre_actions": [],
|
| 1079 |
+
"switch_colors": [
|
| 1080 |
+
"neutral",
|
| 1081 |
+
"blue",
|
| 1082 |
+
"neutral"
|
| 1083 |
+
],
|
| 1084 |
+
"switch_sizes": [
|
| 1085 |
+
"medium",
|
| 1086 |
+
"medium",
|
| 1087 |
+
"medium"
|
| 1088 |
+
],
|
| 1089 |
+
"restore_labels": [
|
| 1090 |
+
"A",
|
| 1091 |
+
"B",
|
| 1092 |
+
"C"
|
| 1093 |
+
]
|
| 1094 |
+
},
|
| 1095 |
+
"strata": {
|
| 1096 |
+
"initial_on_count": 2,
|
| 1097 |
+
"pre_action_count": 0,
|
| 1098 |
+
"red_count": 0,
|
| 1099 |
+
"blue_count": 1,
|
| 1100 |
+
"large_count": 0,
|
| 1101 |
+
"small_count": 0,
|
| 1102 |
+
"restore_count": 3
|
| 1103 |
+
},
|
| 1104 |
+
"configuration_signature": "ed1a2d0f5cf5ec3844f7ee3842d79488946bbc962224cb39099231906c1858f3",
|
| 1105 |
+
"episode_id": 24,
|
| 1106 |
+
"seed": 1779213252
|
| 1107 |
+
},
|
| 1108 |
+
{
|
| 1109 |
+
"task_id": "E1_base",
|
| 1110 |
+
"difficulty": "base",
|
| 1111 |
+
"counterfactual_pair_id": 16,
|
| 1112 |
+
"counterfactual_pair_member": "B",
|
| 1113 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1114 |
+
"values": {
|
| 1115 |
+
"_runtime_task_id": "E1",
|
| 1116 |
+
"difficulty": "base",
|
| 1117 |
+
"switch_count": 3,
|
| 1118 |
+
"initial_on": [
|
| 1119 |
+
"A"
|
| 1120 |
+
],
|
| 1121 |
+
"pre_actions": [],
|
| 1122 |
+
"switch_colors": [
|
| 1123 |
+
"red",
|
| 1124 |
+
"neutral",
|
| 1125 |
+
"blue"
|
| 1126 |
+
],
|
| 1127 |
+
"switch_sizes": [
|
| 1128 |
+
"medium",
|
| 1129 |
+
"medium",
|
| 1130 |
+
"medium"
|
| 1131 |
+
],
|
| 1132 |
+
"restore_labels": [
|
| 1133 |
+
"A",
|
| 1134 |
+
"B",
|
| 1135 |
+
"C"
|
| 1136 |
+
]
|
| 1137 |
+
},
|
| 1138 |
+
"strata": {
|
| 1139 |
+
"initial_on_count": 1,
|
| 1140 |
+
"pre_action_count": 0,
|
| 1141 |
+
"red_count": 1,
|
| 1142 |
+
"blue_count": 1,
|
| 1143 |
+
"large_count": 0,
|
| 1144 |
+
"small_count": 0,
|
| 1145 |
+
"restore_count": 3
|
| 1146 |
+
},
|
| 1147 |
+
"configuration_signature": "1e69441bf494043ddd7a349aef0de3fd89b04368d49ea4976ed8c07f700b5399",
|
| 1148 |
+
"episode_id": 25,
|
| 1149 |
+
"seed": 1581779976
|
| 1150 |
+
},
|
| 1151 |
+
{
|
| 1152 |
+
"task_id": "E1_base",
|
| 1153 |
+
"difficulty": "base",
|
| 1154 |
+
"counterfactual_pair_id": 6,
|
| 1155 |
+
"counterfactual_pair_member": "B",
|
| 1156 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1157 |
+
"values": {
|
| 1158 |
+
"_runtime_task_id": "E1",
|
| 1159 |
+
"difficulty": "base",
|
| 1160 |
+
"switch_count": 3,
|
| 1161 |
+
"initial_on": [
|
| 1162 |
+
"A",
|
| 1163 |
+
"B"
|
| 1164 |
+
],
|
| 1165 |
+
"pre_actions": [],
|
| 1166 |
+
"switch_colors": [
|
| 1167 |
+
"red",
|
| 1168 |
+
"red",
|
| 1169 |
+
"neutral"
|
| 1170 |
+
],
|
| 1171 |
+
"switch_sizes": [
|
| 1172 |
+
"medium",
|
| 1173 |
+
"medium",
|
| 1174 |
+
"medium"
|
| 1175 |
+
],
|
| 1176 |
+
"restore_labels": [
|
| 1177 |
+
"A",
|
| 1178 |
+
"B",
|
| 1179 |
+
"C"
|
| 1180 |
+
]
|
| 1181 |
+
},
|
| 1182 |
+
"strata": {
|
| 1183 |
+
"initial_on_count": 2,
|
| 1184 |
+
"pre_action_count": 0,
|
| 1185 |
+
"red_count": 2,
|
| 1186 |
+
"blue_count": 0,
|
| 1187 |
+
"large_count": 0,
|
| 1188 |
+
"small_count": 0,
|
| 1189 |
+
"restore_count": 3
|
| 1190 |
+
},
|
| 1191 |
+
"configuration_signature": "45a8129b816fd191daa8752046849d07e306c0c96a0c11fcc9e07d7590e91a8b",
|
| 1192 |
+
"episode_id": 26,
|
| 1193 |
+
"seed": 1716412794
|
| 1194 |
+
},
|
| 1195 |
+
{
|
| 1196 |
+
"task_id": "E1_base",
|
| 1197 |
+
"difficulty": "base",
|
| 1198 |
+
"counterfactual_pair_id": 4,
|
| 1199 |
+
"counterfactual_pair_member": "B",
|
| 1200 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1201 |
+
"values": {
|
| 1202 |
+
"_runtime_task_id": "E1",
|
| 1203 |
+
"difficulty": "base",
|
| 1204 |
+
"switch_count": 3,
|
| 1205 |
+
"initial_on": [
|
| 1206 |
+
"A"
|
| 1207 |
+
],
|
| 1208 |
+
"pre_actions": [],
|
| 1209 |
+
"switch_colors": [
|
| 1210 |
+
"neutral",
|
| 1211 |
+
"blue",
|
| 1212 |
+
"red"
|
| 1213 |
+
],
|
| 1214 |
+
"switch_sizes": [
|
| 1215 |
+
"medium",
|
| 1216 |
+
"medium",
|
| 1217 |
+
"medium"
|
| 1218 |
+
],
|
| 1219 |
+
"restore_labels": [
|
| 1220 |
+
"A",
|
| 1221 |
+
"B",
|
| 1222 |
+
"C"
|
| 1223 |
+
]
|
| 1224 |
+
},
|
| 1225 |
+
"strata": {
|
| 1226 |
+
"initial_on_count": 1,
|
| 1227 |
+
"pre_action_count": 0,
|
| 1228 |
+
"red_count": 1,
|
| 1229 |
+
"blue_count": 1,
|
| 1230 |
+
"large_count": 0,
|
| 1231 |
+
"small_count": 0,
|
| 1232 |
+
"restore_count": 3
|
| 1233 |
+
},
|
| 1234 |
+
"configuration_signature": "c4fd1642e2ec9af019114ff6560e2990877979761995e9091da357aed9d7ed95",
|
| 1235 |
+
"episode_id": 27,
|
| 1236 |
+
"seed": 935179811
|
| 1237 |
+
},
|
| 1238 |
+
{
|
| 1239 |
+
"task_id": "E1_base",
|
| 1240 |
+
"difficulty": "base",
|
| 1241 |
+
"counterfactual_pair_id": 3,
|
| 1242 |
+
"counterfactual_pair_member": "B",
|
| 1243 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1244 |
+
"values": {
|
| 1245 |
+
"_runtime_task_id": "E1",
|
| 1246 |
+
"difficulty": "base",
|
| 1247 |
+
"switch_count": 3,
|
| 1248 |
+
"initial_on": [
|
| 1249 |
+
"C"
|
| 1250 |
+
],
|
| 1251 |
+
"pre_actions": [],
|
| 1252 |
+
"switch_colors": [
|
| 1253 |
+
"blue",
|
| 1254 |
+
"blue",
|
| 1255 |
+
"red"
|
| 1256 |
+
],
|
| 1257 |
+
"switch_sizes": [
|
| 1258 |
+
"medium",
|
| 1259 |
+
"medium",
|
| 1260 |
+
"medium"
|
| 1261 |
+
],
|
| 1262 |
+
"restore_labels": [
|
| 1263 |
+
"A",
|
| 1264 |
+
"B",
|
| 1265 |
+
"C"
|
| 1266 |
+
]
|
| 1267 |
+
},
|
| 1268 |
+
"strata": {
|
| 1269 |
+
"initial_on_count": 1,
|
| 1270 |
+
"pre_action_count": 0,
|
| 1271 |
+
"red_count": 1,
|
| 1272 |
+
"blue_count": 2,
|
| 1273 |
+
"large_count": 0,
|
| 1274 |
+
"small_count": 0,
|
| 1275 |
+
"restore_count": 3
|
| 1276 |
+
},
|
| 1277 |
+
"configuration_signature": "ea6ae27bb18fc593aab5d5f5efa13b1e15580afbeebaaa35203f7f7c4e89c83e",
|
| 1278 |
+
"episode_id": 28,
|
| 1279 |
+
"seed": 160120221
|
| 1280 |
+
},
|
| 1281 |
+
{
|
| 1282 |
+
"task_id": "E1_base",
|
| 1283 |
+
"difficulty": "base",
|
| 1284 |
+
"counterfactual_pair_id": 11,
|
| 1285 |
+
"counterfactual_pair_member": "B",
|
| 1286 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1287 |
+
"values": {
|
| 1288 |
+
"_runtime_task_id": "E1",
|
| 1289 |
+
"difficulty": "base",
|
| 1290 |
+
"switch_count": 3,
|
| 1291 |
+
"initial_on": [
|
| 1292 |
+
"A"
|
| 1293 |
+
],
|
| 1294 |
+
"pre_actions": [],
|
| 1295 |
+
"switch_colors": [
|
| 1296 |
+
"neutral",
|
| 1297 |
+
"blue",
|
| 1298 |
+
"blue"
|
| 1299 |
+
],
|
| 1300 |
+
"switch_sizes": [
|
| 1301 |
+
"medium",
|
| 1302 |
+
"medium",
|
| 1303 |
+
"medium"
|
| 1304 |
+
],
|
| 1305 |
+
"restore_labels": [
|
| 1306 |
+
"A",
|
| 1307 |
+
"B",
|
| 1308 |
+
"C"
|
| 1309 |
+
]
|
| 1310 |
+
},
|
| 1311 |
+
"strata": {
|
| 1312 |
+
"initial_on_count": 1,
|
| 1313 |
+
"pre_action_count": 0,
|
| 1314 |
+
"red_count": 0,
|
| 1315 |
+
"blue_count": 2,
|
| 1316 |
+
"large_count": 0,
|
| 1317 |
+
"small_count": 0,
|
| 1318 |
+
"restore_count": 3
|
| 1319 |
+
},
|
| 1320 |
+
"configuration_signature": "7e58f29320c0f1a24c4ecb66be08b3afea4b21ce1fd188e49ab4acba2c776a43",
|
| 1321 |
+
"episode_id": 29,
|
| 1322 |
+
"seed": 2042440571
|
| 1323 |
+
},
|
| 1324 |
+
{
|
| 1325 |
+
"task_id": "E1_base",
|
| 1326 |
+
"difficulty": "base",
|
| 1327 |
+
"counterfactual_pair_id": 15,
|
| 1328 |
+
"counterfactual_pair_member": "B",
|
| 1329 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1330 |
+
"values": {
|
| 1331 |
+
"_runtime_task_id": "E1",
|
| 1332 |
+
"difficulty": "base",
|
| 1333 |
+
"switch_count": 3,
|
| 1334 |
+
"initial_on": [
|
| 1335 |
+
"C"
|
| 1336 |
+
],
|
| 1337 |
+
"pre_actions": [],
|
| 1338 |
+
"switch_colors": [
|
| 1339 |
+
"red",
|
| 1340 |
+
"red",
|
| 1341 |
+
"neutral"
|
| 1342 |
+
],
|
| 1343 |
+
"switch_sizes": [
|
| 1344 |
+
"medium",
|
| 1345 |
+
"medium",
|
| 1346 |
+
"medium"
|
| 1347 |
+
],
|
| 1348 |
+
"restore_labels": [
|
| 1349 |
+
"A",
|
| 1350 |
+
"B",
|
| 1351 |
+
"C"
|
| 1352 |
+
]
|
| 1353 |
+
},
|
| 1354 |
+
"strata": {
|
| 1355 |
+
"initial_on_count": 1,
|
| 1356 |
+
"pre_action_count": 0,
|
| 1357 |
+
"red_count": 2,
|
| 1358 |
+
"blue_count": 0,
|
| 1359 |
+
"large_count": 0,
|
| 1360 |
+
"small_count": 0,
|
| 1361 |
+
"restore_count": 3
|
| 1362 |
+
},
|
| 1363 |
+
"configuration_signature": "f305f694f626532da64e0896c713e813e4841a600819d4e7f8740c319c90d5a0",
|
| 1364 |
+
"episode_id": 30,
|
| 1365 |
+
"seed": 382243258
|
| 1366 |
+
},
|
| 1367 |
+
{
|
| 1368 |
+
"task_id": "E1_base",
|
| 1369 |
+
"difficulty": "base",
|
| 1370 |
+
"counterfactual_pair_id": 21,
|
| 1371 |
+
"counterfactual_pair_member": "B",
|
| 1372 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1373 |
+
"values": {
|
| 1374 |
+
"_runtime_task_id": "E1",
|
| 1375 |
+
"difficulty": "base",
|
| 1376 |
+
"switch_count": 3,
|
| 1377 |
+
"initial_on": [
|
| 1378 |
+
"A"
|
| 1379 |
+
],
|
| 1380 |
+
"pre_actions": [],
|
| 1381 |
+
"switch_colors": [
|
| 1382 |
+
"blue",
|
| 1383 |
+
"blue",
|
| 1384 |
+
"neutral"
|
| 1385 |
+
],
|
| 1386 |
+
"switch_sizes": [
|
| 1387 |
+
"medium",
|
| 1388 |
+
"medium",
|
| 1389 |
+
"medium"
|
| 1390 |
+
],
|
| 1391 |
+
"restore_labels": [
|
| 1392 |
+
"A",
|
| 1393 |
+
"B",
|
| 1394 |
+
"C"
|
| 1395 |
+
]
|
| 1396 |
+
},
|
| 1397 |
+
"strata": {
|
| 1398 |
+
"initial_on_count": 1,
|
| 1399 |
+
"pre_action_count": 0,
|
| 1400 |
+
"red_count": 0,
|
| 1401 |
+
"blue_count": 2,
|
| 1402 |
+
"large_count": 0,
|
| 1403 |
+
"small_count": 0,
|
| 1404 |
+
"restore_count": 3
|
| 1405 |
+
},
|
| 1406 |
+
"configuration_signature": "b04d1de4037380e7e332184ca87b4d2fd2f6930d1903a1099d4c49ede6130ac8",
|
| 1407 |
+
"episode_id": 31,
|
| 1408 |
+
"seed": 729955185
|
| 1409 |
+
},
|
| 1410 |
+
{
|
| 1411 |
+
"task_id": "E1_base",
|
| 1412 |
+
"difficulty": "base",
|
| 1413 |
+
"counterfactual_pair_id": 14,
|
| 1414 |
+
"counterfactual_pair_member": "B",
|
| 1415 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1416 |
+
"values": {
|
| 1417 |
+
"_runtime_task_id": "E1",
|
| 1418 |
+
"difficulty": "base",
|
| 1419 |
+
"switch_count": 3,
|
| 1420 |
+
"initial_on": [
|
| 1421 |
+
"C"
|
| 1422 |
+
],
|
| 1423 |
+
"pre_actions": [],
|
| 1424 |
+
"switch_colors": [
|
| 1425 |
+
"neutral",
|
| 1426 |
+
"blue",
|
| 1427 |
+
"neutral"
|
| 1428 |
+
],
|
| 1429 |
+
"switch_sizes": [
|
| 1430 |
+
"medium",
|
| 1431 |
+
"medium",
|
| 1432 |
+
"medium"
|
| 1433 |
+
],
|
| 1434 |
+
"restore_labels": [
|
| 1435 |
+
"A",
|
| 1436 |
+
"B",
|
| 1437 |
+
"C"
|
| 1438 |
+
]
|
| 1439 |
+
},
|
| 1440 |
+
"strata": {
|
| 1441 |
+
"initial_on_count": 1,
|
| 1442 |
+
"pre_action_count": 0,
|
| 1443 |
+
"red_count": 0,
|
| 1444 |
+
"blue_count": 1,
|
| 1445 |
+
"large_count": 0,
|
| 1446 |
+
"small_count": 0,
|
| 1447 |
+
"restore_count": 3
|
| 1448 |
+
},
|
| 1449 |
+
"configuration_signature": "a41d2bcc05db102598386228991e7ee0f8d5a9dae9b037c571feaf6ddce0b2c9",
|
| 1450 |
+
"episode_id": 32,
|
| 1451 |
+
"seed": 877904218
|
| 1452 |
+
},
|
| 1453 |
+
{
|
| 1454 |
+
"task_id": "E1_base",
|
| 1455 |
+
"difficulty": "base",
|
| 1456 |
+
"counterfactual_pair_id": 0,
|
| 1457 |
+
"counterfactual_pair_member": "B",
|
| 1458 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1459 |
+
"values": {
|
| 1460 |
+
"_runtime_task_id": "E1",
|
| 1461 |
+
"difficulty": "base",
|
| 1462 |
+
"switch_count": 3,
|
| 1463 |
+
"initial_on": [
|
| 1464 |
+
"A"
|
| 1465 |
+
],
|
| 1466 |
+
"pre_actions": [],
|
| 1467 |
+
"switch_colors": [
|
| 1468 |
+
"red",
|
| 1469 |
+
"blue",
|
| 1470 |
+
"red"
|
| 1471 |
+
],
|
| 1472 |
+
"switch_sizes": [
|
| 1473 |
+
"medium",
|
| 1474 |
+
"medium",
|
| 1475 |
+
"medium"
|
| 1476 |
+
],
|
| 1477 |
+
"restore_labels": [
|
| 1478 |
+
"A",
|
| 1479 |
+
"B",
|
| 1480 |
+
"C"
|
| 1481 |
+
]
|
| 1482 |
+
},
|
| 1483 |
+
"strata": {
|
| 1484 |
+
"initial_on_count": 1,
|
| 1485 |
+
"pre_action_count": 0,
|
| 1486 |
+
"red_count": 2,
|
| 1487 |
+
"blue_count": 1,
|
| 1488 |
+
"large_count": 0,
|
| 1489 |
+
"small_count": 0,
|
| 1490 |
+
"restore_count": 3
|
| 1491 |
+
},
|
| 1492 |
+
"configuration_signature": "c5c857955542a309822ead7f100755e7949cd459aa3077325e10bb130b04f339",
|
| 1493 |
+
"episode_id": 33,
|
| 1494 |
+
"seed": 1691152702
|
| 1495 |
+
},
|
| 1496 |
+
{
|
| 1497 |
+
"task_id": "E1_base",
|
| 1498 |
+
"difficulty": "base",
|
| 1499 |
+
"counterfactual_pair_id": 17,
|
| 1500 |
+
"counterfactual_pair_member": "B",
|
| 1501 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1502 |
+
"values": {
|
| 1503 |
+
"_runtime_task_id": "E1",
|
| 1504 |
+
"difficulty": "base",
|
| 1505 |
+
"switch_count": 3,
|
| 1506 |
+
"initial_on": [
|
| 1507 |
+
"C"
|
| 1508 |
+
],
|
| 1509 |
+
"pre_actions": [],
|
| 1510 |
+
"switch_colors": [
|
| 1511 |
+
"red",
|
| 1512 |
+
"neutral",
|
| 1513 |
+
"red"
|
| 1514 |
+
],
|
| 1515 |
+
"switch_sizes": [
|
| 1516 |
+
"medium",
|
| 1517 |
+
"medium",
|
| 1518 |
+
"medium"
|
| 1519 |
+
],
|
| 1520 |
+
"restore_labels": [
|
| 1521 |
+
"A",
|
| 1522 |
+
"B",
|
| 1523 |
+
"C"
|
| 1524 |
+
]
|
| 1525 |
+
},
|
| 1526 |
+
"strata": {
|
| 1527 |
+
"initial_on_count": 1,
|
| 1528 |
+
"pre_action_count": 0,
|
| 1529 |
+
"red_count": 2,
|
| 1530 |
+
"blue_count": 0,
|
| 1531 |
+
"large_count": 0,
|
| 1532 |
+
"small_count": 0,
|
| 1533 |
+
"restore_count": 3
|
| 1534 |
+
},
|
| 1535 |
+
"configuration_signature": "f0295928b43be1e27f584e6f9dc6eed6acb7a8d6f524b56609a465dbd8db8bda",
|
| 1536 |
+
"episode_id": 34,
|
| 1537 |
+
"seed": 336893975
|
| 1538 |
+
},
|
| 1539 |
+
{
|
| 1540 |
+
"task_id": "E1_base",
|
| 1541 |
+
"difficulty": "base",
|
| 1542 |
+
"counterfactual_pair_id": 19,
|
| 1543 |
+
"counterfactual_pair_member": "B",
|
| 1544 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1545 |
+
"values": {
|
| 1546 |
+
"_runtime_task_id": "E1",
|
| 1547 |
+
"difficulty": "base",
|
| 1548 |
+
"switch_count": 3,
|
| 1549 |
+
"initial_on": [
|
| 1550 |
+
"B"
|
| 1551 |
+
],
|
| 1552 |
+
"pre_actions": [],
|
| 1553 |
+
"switch_colors": [
|
| 1554 |
+
"red",
|
| 1555 |
+
"blue",
|
| 1556 |
+
"red"
|
| 1557 |
+
],
|
| 1558 |
+
"switch_sizes": [
|
| 1559 |
+
"medium",
|
| 1560 |
+
"medium",
|
| 1561 |
+
"medium"
|
| 1562 |
+
],
|
| 1563 |
+
"restore_labels": [
|
| 1564 |
+
"A",
|
| 1565 |
+
"B",
|
| 1566 |
+
"C"
|
| 1567 |
+
]
|
| 1568 |
+
},
|
| 1569 |
+
"strata": {
|
| 1570 |
+
"initial_on_count": 1,
|
| 1571 |
+
"pre_action_count": 0,
|
| 1572 |
+
"red_count": 2,
|
| 1573 |
+
"blue_count": 1,
|
| 1574 |
+
"large_count": 0,
|
| 1575 |
+
"small_count": 0,
|
| 1576 |
+
"restore_count": 3
|
| 1577 |
+
},
|
| 1578 |
+
"configuration_signature": "2c1162d562e9956bcadb6cd9efac6d0f19dd82fdff58f2d5a0730c202aaabd5a",
|
| 1579 |
+
"episode_id": 35,
|
| 1580 |
+
"seed": 730071661
|
| 1581 |
+
},
|
| 1582 |
+
{
|
| 1583 |
+
"task_id": "E1_base",
|
| 1584 |
+
"difficulty": "base",
|
| 1585 |
+
"counterfactual_pair_id": 9,
|
| 1586 |
+
"counterfactual_pair_member": "B",
|
| 1587 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1588 |
+
"values": {
|
| 1589 |
+
"_runtime_task_id": "E1",
|
| 1590 |
+
"difficulty": "base",
|
| 1591 |
+
"switch_count": 3,
|
| 1592 |
+
"initial_on": [
|
| 1593 |
+
"B"
|
| 1594 |
+
],
|
| 1595 |
+
"pre_actions": [],
|
| 1596 |
+
"switch_colors": [
|
| 1597 |
+
"blue",
|
| 1598 |
+
"blue",
|
| 1599 |
+
"red"
|
| 1600 |
+
],
|
| 1601 |
+
"switch_sizes": [
|
| 1602 |
+
"medium",
|
| 1603 |
+
"medium",
|
| 1604 |
+
"medium"
|
| 1605 |
+
],
|
| 1606 |
+
"restore_labels": [
|
| 1607 |
+
"A",
|
| 1608 |
+
"B",
|
| 1609 |
+
"C"
|
| 1610 |
+
]
|
| 1611 |
+
},
|
| 1612 |
+
"strata": {
|
| 1613 |
+
"initial_on_count": 1,
|
| 1614 |
+
"pre_action_count": 0,
|
| 1615 |
+
"red_count": 1,
|
| 1616 |
+
"blue_count": 2,
|
| 1617 |
+
"large_count": 0,
|
| 1618 |
+
"small_count": 0,
|
| 1619 |
+
"restore_count": 3
|
| 1620 |
+
},
|
| 1621 |
+
"configuration_signature": "121bf23c044859e54deaf5eec86d3ad8d0e544ca4e0eceb2d0def7a37a234769",
|
| 1622 |
+
"episode_id": 36,
|
| 1623 |
+
"seed": 2027780723
|
| 1624 |
+
},
|
| 1625 |
+
{
|
| 1626 |
+
"task_id": "E1_base",
|
| 1627 |
+
"difficulty": "base",
|
| 1628 |
+
"counterfactual_pair_id": 23,
|
| 1629 |
+
"counterfactual_pair_member": "B",
|
| 1630 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1631 |
+
"values": {
|
| 1632 |
+
"_runtime_task_id": "E1",
|
| 1633 |
+
"difficulty": "base",
|
| 1634 |
+
"switch_count": 3,
|
| 1635 |
+
"initial_on": [
|
| 1636 |
+
"C"
|
| 1637 |
+
],
|
| 1638 |
+
"pre_actions": [],
|
| 1639 |
+
"switch_colors": [
|
| 1640 |
+
"neutral",
|
| 1641 |
+
"blue",
|
| 1642 |
+
"red"
|
| 1643 |
+
],
|
| 1644 |
+
"switch_sizes": [
|
| 1645 |
+
"medium",
|
| 1646 |
+
"medium",
|
| 1647 |
+
"medium"
|
| 1648 |
+
],
|
| 1649 |
+
"restore_labels": [
|
| 1650 |
+
"A",
|
| 1651 |
+
"B",
|
| 1652 |
+
"C"
|
| 1653 |
+
]
|
| 1654 |
+
},
|
| 1655 |
+
"strata": {
|
| 1656 |
+
"initial_on_count": 1,
|
| 1657 |
+
"pre_action_count": 0,
|
| 1658 |
+
"red_count": 1,
|
| 1659 |
+
"blue_count": 1,
|
| 1660 |
+
"large_count": 0,
|
| 1661 |
+
"small_count": 0,
|
| 1662 |
+
"restore_count": 3
|
| 1663 |
+
},
|
| 1664 |
+
"configuration_signature": "21317141ef2960c4e7099ecad6bcbb307c68898d42278362e79aca4d9c4898f8",
|
| 1665 |
+
"episode_id": 37,
|
| 1666 |
+
"seed": 439209561
|
| 1667 |
+
},
|
| 1668 |
+
{
|
| 1669 |
+
"task_id": "E1_base",
|
| 1670 |
+
"difficulty": "base",
|
| 1671 |
+
"counterfactual_pair_id": 20,
|
| 1672 |
+
"counterfactual_pair_member": "B",
|
| 1673 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1674 |
+
"values": {
|
| 1675 |
+
"_runtime_task_id": "E1",
|
| 1676 |
+
"difficulty": "base",
|
| 1677 |
+
"switch_count": 3,
|
| 1678 |
+
"initial_on": [
|
| 1679 |
+
"C"
|
| 1680 |
+
],
|
| 1681 |
+
"pre_actions": [],
|
| 1682 |
+
"switch_colors": [
|
| 1683 |
+
"red",
|
| 1684 |
+
"red",
|
| 1685 |
+
"blue"
|
| 1686 |
+
],
|
| 1687 |
+
"switch_sizes": [
|
| 1688 |
+
"medium",
|
| 1689 |
+
"medium",
|
| 1690 |
+
"medium"
|
| 1691 |
+
],
|
| 1692 |
+
"restore_labels": [
|
| 1693 |
+
"A",
|
| 1694 |
+
"B",
|
| 1695 |
+
"C"
|
| 1696 |
+
]
|
| 1697 |
+
},
|
| 1698 |
+
"strata": {
|
| 1699 |
+
"initial_on_count": 1,
|
| 1700 |
+
"pre_action_count": 0,
|
| 1701 |
+
"red_count": 2,
|
| 1702 |
+
"blue_count": 1,
|
| 1703 |
+
"large_count": 0,
|
| 1704 |
+
"small_count": 0,
|
| 1705 |
+
"restore_count": 3
|
| 1706 |
+
},
|
| 1707 |
+
"configuration_signature": "b74fc2dc8bb07fd6b7a77521bfd5c9a6a92ff659155de14a80cb8171513747b0",
|
| 1708 |
+
"episode_id": 38,
|
| 1709 |
+
"seed": 73841170
|
| 1710 |
+
},
|
| 1711 |
+
{
|
| 1712 |
+
"task_id": "E1_base",
|
| 1713 |
+
"difficulty": "base",
|
| 1714 |
+
"counterfactual_pair_id": 8,
|
| 1715 |
+
"counterfactual_pair_member": "B",
|
| 1716 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1717 |
+
"values": {
|
| 1718 |
+
"_runtime_task_id": "E1",
|
| 1719 |
+
"difficulty": "base",
|
| 1720 |
+
"switch_count": 3,
|
| 1721 |
+
"initial_on": [
|
| 1722 |
+
"A"
|
| 1723 |
+
],
|
| 1724 |
+
"pre_actions": [],
|
| 1725 |
+
"switch_colors": [
|
| 1726 |
+
"blue",
|
| 1727 |
+
"neutral",
|
| 1728 |
+
"blue"
|
| 1729 |
+
],
|
| 1730 |
+
"switch_sizes": [
|
| 1731 |
+
"medium",
|
| 1732 |
+
"medium",
|
| 1733 |
+
"medium"
|
| 1734 |
+
],
|
| 1735 |
+
"restore_labels": [
|
| 1736 |
+
"A",
|
| 1737 |
+
"B",
|
| 1738 |
+
"C"
|
| 1739 |
+
]
|
| 1740 |
+
},
|
| 1741 |
+
"strata": {
|
| 1742 |
+
"initial_on_count": 1,
|
| 1743 |
+
"pre_action_count": 0,
|
| 1744 |
+
"red_count": 0,
|
| 1745 |
+
"blue_count": 2,
|
| 1746 |
+
"large_count": 0,
|
| 1747 |
+
"small_count": 0,
|
| 1748 |
+
"restore_count": 3
|
| 1749 |
+
},
|
| 1750 |
+
"configuration_signature": "8610fa9d7eb99e60de016b94fa4aeca0b8fdf7b1dc104c60347eb1681ca2699a",
|
| 1751 |
+
"episode_id": 39,
|
| 1752 |
+
"seed": 338527677
|
| 1753 |
+
},
|
| 1754 |
+
{
|
| 1755 |
+
"task_id": "E1_base",
|
| 1756 |
+
"difficulty": "base",
|
| 1757 |
+
"counterfactual_pair_id": 1,
|
| 1758 |
+
"counterfactual_pair_member": "B",
|
| 1759 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1760 |
+
"values": {
|
| 1761 |
+
"_runtime_task_id": "E1",
|
| 1762 |
+
"difficulty": "base",
|
| 1763 |
+
"switch_count": 3,
|
| 1764 |
+
"initial_on": [
|
| 1765 |
+
"B"
|
| 1766 |
+
],
|
| 1767 |
+
"pre_actions": [],
|
| 1768 |
+
"switch_colors": [
|
| 1769 |
+
"red",
|
| 1770 |
+
"neutral",
|
| 1771 |
+
"red"
|
| 1772 |
+
],
|
| 1773 |
+
"switch_sizes": [
|
| 1774 |
+
"medium",
|
| 1775 |
+
"medium",
|
| 1776 |
+
"medium"
|
| 1777 |
+
],
|
| 1778 |
+
"restore_labels": [
|
| 1779 |
+
"A",
|
| 1780 |
+
"B",
|
| 1781 |
+
"C"
|
| 1782 |
+
]
|
| 1783 |
+
},
|
| 1784 |
+
"strata": {
|
| 1785 |
+
"initial_on_count": 1,
|
| 1786 |
+
"pre_action_count": 0,
|
| 1787 |
+
"red_count": 2,
|
| 1788 |
+
"blue_count": 0,
|
| 1789 |
+
"large_count": 0,
|
| 1790 |
+
"small_count": 0,
|
| 1791 |
+
"restore_count": 3
|
| 1792 |
+
},
|
| 1793 |
+
"configuration_signature": "7cdf1c5116d42f335c18b350ac053e1db20a7c1d5e62c6a95897e300d7a94392",
|
| 1794 |
+
"episode_id": 40,
|
| 1795 |
+
"seed": 770423539
|
| 1796 |
+
},
|
| 1797 |
+
{
|
| 1798 |
+
"task_id": "E1_base",
|
| 1799 |
+
"difficulty": "base",
|
| 1800 |
+
"counterfactual_pair_id": 22,
|
| 1801 |
+
"counterfactual_pair_member": "B",
|
| 1802 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1803 |
+
"values": {
|
| 1804 |
+
"_runtime_task_id": "E1",
|
| 1805 |
+
"difficulty": "base",
|
| 1806 |
+
"switch_count": 3,
|
| 1807 |
+
"initial_on": [
|
| 1808 |
+
"C"
|
| 1809 |
+
],
|
| 1810 |
+
"pre_actions": [],
|
| 1811 |
+
"switch_colors": [
|
| 1812 |
+
"blue",
|
| 1813 |
+
"neutral",
|
| 1814 |
+
"blue"
|
| 1815 |
+
],
|
| 1816 |
+
"switch_sizes": [
|
| 1817 |
+
"medium",
|
| 1818 |
+
"medium",
|
| 1819 |
+
"medium"
|
| 1820 |
+
],
|
| 1821 |
+
"restore_labels": [
|
| 1822 |
+
"A",
|
| 1823 |
+
"B",
|
| 1824 |
+
"C"
|
| 1825 |
+
]
|
| 1826 |
+
},
|
| 1827 |
+
"strata": {
|
| 1828 |
+
"initial_on_count": 1,
|
| 1829 |
+
"pre_action_count": 0,
|
| 1830 |
+
"red_count": 0,
|
| 1831 |
+
"blue_count": 2,
|
| 1832 |
+
"large_count": 0,
|
| 1833 |
+
"small_count": 0,
|
| 1834 |
+
"restore_count": 3
|
| 1835 |
+
},
|
| 1836 |
+
"configuration_signature": "d345e932477218a19cd4cd41409a41b3e4303dce40bb9340b52bfc1a0074fd54",
|
| 1837 |
+
"episode_id": 41,
|
| 1838 |
+
"seed": 6961851
|
| 1839 |
+
},
|
| 1840 |
+
{
|
| 1841 |
+
"task_id": "E1_base",
|
| 1842 |
+
"difficulty": "base",
|
| 1843 |
+
"counterfactual_pair_id": 24,
|
| 1844 |
+
"counterfactual_pair_member": "B",
|
| 1845 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1846 |
+
"values": {
|
| 1847 |
+
"_runtime_task_id": "E1",
|
| 1848 |
+
"difficulty": "base",
|
| 1849 |
+
"switch_count": 3,
|
| 1850 |
+
"initial_on": [
|
| 1851 |
+
"B"
|
| 1852 |
+
],
|
| 1853 |
+
"pre_actions": [],
|
| 1854 |
+
"switch_colors": [
|
| 1855 |
+
"red",
|
| 1856 |
+
"red",
|
| 1857 |
+
"blue"
|
| 1858 |
+
],
|
| 1859 |
+
"switch_sizes": [
|
| 1860 |
+
"medium",
|
| 1861 |
+
"medium",
|
| 1862 |
+
"medium"
|
| 1863 |
+
],
|
| 1864 |
+
"restore_labels": [
|
| 1865 |
+
"A",
|
| 1866 |
+
"B",
|
| 1867 |
+
"C"
|
| 1868 |
+
]
|
| 1869 |
+
},
|
| 1870 |
+
"strata": {
|
| 1871 |
+
"initial_on_count": 1,
|
| 1872 |
+
"pre_action_count": 0,
|
| 1873 |
+
"red_count": 2,
|
| 1874 |
+
"blue_count": 1,
|
| 1875 |
+
"large_count": 0,
|
| 1876 |
+
"small_count": 0,
|
| 1877 |
+
"restore_count": 3
|
| 1878 |
+
},
|
| 1879 |
+
"configuration_signature": "71e37fb10454f8768666b89efa8cec1e5b40e7505c47c55458f78e6b864cd60c",
|
| 1880 |
+
"episode_id": 42,
|
| 1881 |
+
"seed": 1418608330
|
| 1882 |
+
},
|
| 1883 |
+
{
|
| 1884 |
+
"task_id": "E1_base",
|
| 1885 |
+
"difficulty": "base",
|
| 1886 |
+
"counterfactual_pair_id": 18,
|
| 1887 |
+
"counterfactual_pair_member": "B",
|
| 1888 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1889 |
+
"values": {
|
| 1890 |
+
"_runtime_task_id": "E1",
|
| 1891 |
+
"difficulty": "base",
|
| 1892 |
+
"switch_count": 3,
|
| 1893 |
+
"initial_on": [
|
| 1894 |
+
"B"
|
| 1895 |
+
],
|
| 1896 |
+
"pre_actions": [],
|
| 1897 |
+
"switch_colors": [
|
| 1898 |
+
"neutral",
|
| 1899 |
+
"blue",
|
| 1900 |
+
"blue"
|
| 1901 |
+
],
|
| 1902 |
+
"switch_sizes": [
|
| 1903 |
+
"medium",
|
| 1904 |
+
"medium",
|
| 1905 |
+
"medium"
|
| 1906 |
+
],
|
| 1907 |
+
"restore_labels": [
|
| 1908 |
+
"A",
|
| 1909 |
+
"B",
|
| 1910 |
+
"C"
|
| 1911 |
+
]
|
| 1912 |
+
},
|
| 1913 |
+
"strata": {
|
| 1914 |
+
"initial_on_count": 1,
|
| 1915 |
+
"pre_action_count": 0,
|
| 1916 |
+
"red_count": 0,
|
| 1917 |
+
"blue_count": 2,
|
| 1918 |
+
"large_count": 0,
|
| 1919 |
+
"small_count": 0,
|
| 1920 |
+
"restore_count": 3
|
| 1921 |
+
},
|
| 1922 |
+
"configuration_signature": "c87006193910976eb5171de4400cc4c538448b0409849c9938c8eb17b115618f",
|
| 1923 |
+
"episode_id": 43,
|
| 1924 |
+
"seed": 1248227817
|
| 1925 |
+
},
|
| 1926 |
+
{
|
| 1927 |
+
"task_id": "E1_base",
|
| 1928 |
+
"difficulty": "base",
|
| 1929 |
+
"counterfactual_pair_id": 7,
|
| 1930 |
+
"counterfactual_pair_member": "B",
|
| 1931 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1932 |
+
"values": {
|
| 1933 |
+
"_runtime_task_id": "E1",
|
| 1934 |
+
"difficulty": "base",
|
| 1935 |
+
"switch_count": 3,
|
| 1936 |
+
"initial_on": [
|
| 1937 |
+
"C"
|
| 1938 |
+
],
|
| 1939 |
+
"pre_actions": [],
|
| 1940 |
+
"switch_colors": [
|
| 1941 |
+
"blue",
|
| 1942 |
+
"neutral",
|
| 1943 |
+
"neutral"
|
| 1944 |
+
],
|
| 1945 |
+
"switch_sizes": [
|
| 1946 |
+
"medium",
|
| 1947 |
+
"medium",
|
| 1948 |
+
"medium"
|
| 1949 |
+
],
|
| 1950 |
+
"restore_labels": [
|
| 1951 |
+
"A",
|
| 1952 |
+
"B",
|
| 1953 |
+
"C"
|
| 1954 |
+
]
|
| 1955 |
+
},
|
| 1956 |
+
"strata": {
|
| 1957 |
+
"initial_on_count": 1,
|
| 1958 |
+
"pre_action_count": 0,
|
| 1959 |
+
"red_count": 0,
|
| 1960 |
+
"blue_count": 1,
|
| 1961 |
+
"large_count": 0,
|
| 1962 |
+
"small_count": 0,
|
| 1963 |
+
"restore_count": 3
|
| 1964 |
+
},
|
| 1965 |
+
"configuration_signature": "9ed6d8c92cf6eb44340bd5ad58cd46ee9d748e24b84192dfb7aedc69b252fc24",
|
| 1966 |
+
"episode_id": 44,
|
| 1967 |
+
"seed": 708120
|
| 1968 |
+
},
|
| 1969 |
+
{
|
| 1970 |
+
"task_id": "E1_base",
|
| 1971 |
+
"difficulty": "base",
|
| 1972 |
+
"counterfactual_pair_id": 2,
|
| 1973 |
+
"counterfactual_pair_member": "B",
|
| 1974 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 1975 |
+
"values": {
|
| 1976 |
+
"_runtime_task_id": "E1",
|
| 1977 |
+
"difficulty": "base",
|
| 1978 |
+
"switch_count": 3,
|
| 1979 |
+
"initial_on": [
|
| 1980 |
+
"B"
|
| 1981 |
+
],
|
| 1982 |
+
"pre_actions": [],
|
| 1983 |
+
"switch_colors": [
|
| 1984 |
+
"neutral",
|
| 1985 |
+
"blue",
|
| 1986 |
+
"neutral"
|
| 1987 |
+
],
|
| 1988 |
+
"switch_sizes": [
|
| 1989 |
+
"medium",
|
| 1990 |
+
"medium",
|
| 1991 |
+
"medium"
|
| 1992 |
+
],
|
| 1993 |
+
"restore_labels": [
|
| 1994 |
+
"A",
|
| 1995 |
+
"B",
|
| 1996 |
+
"C"
|
| 1997 |
+
]
|
| 1998 |
+
},
|
| 1999 |
+
"strata": {
|
| 2000 |
+
"initial_on_count": 1,
|
| 2001 |
+
"pre_action_count": 0,
|
| 2002 |
+
"red_count": 0,
|
| 2003 |
+
"blue_count": 1,
|
| 2004 |
+
"large_count": 0,
|
| 2005 |
+
"small_count": 0,
|
| 2006 |
+
"restore_count": 3
|
| 2007 |
+
},
|
| 2008 |
+
"configuration_signature": "0201c44d18c5922eab8efa0479f18399ffb1fb230be9e7c53cac6703d180e972",
|
| 2009 |
+
"episode_id": 45,
|
| 2010 |
+
"seed": 209315530
|
| 2011 |
+
},
|
| 2012 |
+
{
|
| 2013 |
+
"task_id": "E1_base",
|
| 2014 |
+
"difficulty": "base",
|
| 2015 |
+
"counterfactual_pair_id": 10,
|
| 2016 |
+
"counterfactual_pair_member": "B",
|
| 2017 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 2018 |
+
"values": {
|
| 2019 |
+
"_runtime_task_id": "E1",
|
| 2020 |
+
"difficulty": "base",
|
| 2021 |
+
"switch_count": 3,
|
| 2022 |
+
"initial_on": [
|
| 2023 |
+
"A",
|
| 2024 |
+
"C"
|
| 2025 |
+
],
|
| 2026 |
+
"pre_actions": [],
|
| 2027 |
+
"switch_colors": [
|
| 2028 |
+
"blue",
|
| 2029 |
+
"blue",
|
| 2030 |
+
"neutral"
|
| 2031 |
+
],
|
| 2032 |
+
"switch_sizes": [
|
| 2033 |
+
"medium",
|
| 2034 |
+
"medium",
|
| 2035 |
+
"medium"
|
| 2036 |
+
],
|
| 2037 |
+
"restore_labels": [
|
| 2038 |
+
"A",
|
| 2039 |
+
"B",
|
| 2040 |
+
"C"
|
| 2041 |
+
]
|
| 2042 |
+
},
|
| 2043 |
+
"strata": {
|
| 2044 |
+
"initial_on_count": 2,
|
| 2045 |
+
"pre_action_count": 0,
|
| 2046 |
+
"red_count": 0,
|
| 2047 |
+
"blue_count": 2,
|
| 2048 |
+
"large_count": 0,
|
| 2049 |
+
"small_count": 0,
|
| 2050 |
+
"restore_count": 3
|
| 2051 |
+
},
|
| 2052 |
+
"configuration_signature": "5be96885a48958ed6e30d3d2db123228a0d3f6769a135f5fc44fac2819cac117",
|
| 2053 |
+
"episode_id": 46,
|
| 2054 |
+
"seed": 1460804635
|
| 2055 |
+
},
|
| 2056 |
+
{
|
| 2057 |
+
"task_id": "E1_base",
|
| 2058 |
+
"difficulty": "base",
|
| 2059 |
+
"counterfactual_pair_id": 13,
|
| 2060 |
+
"counterfactual_pair_member": "B",
|
| 2061 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 2062 |
+
"values": {
|
| 2063 |
+
"_runtime_task_id": "E1",
|
| 2064 |
+
"difficulty": "base",
|
| 2065 |
+
"switch_count": 3,
|
| 2066 |
+
"initial_on": [
|
| 2067 |
+
"B"
|
| 2068 |
+
],
|
| 2069 |
+
"pre_actions": [],
|
| 2070 |
+
"switch_colors": [
|
| 2071 |
+
"blue",
|
| 2072 |
+
"neutral",
|
| 2073 |
+
"neutral"
|
| 2074 |
+
],
|
| 2075 |
+
"switch_sizes": [
|
| 2076 |
+
"medium",
|
| 2077 |
+
"medium",
|
| 2078 |
+
"medium"
|
| 2079 |
+
],
|
| 2080 |
+
"restore_labels": [
|
| 2081 |
+
"A",
|
| 2082 |
+
"B",
|
| 2083 |
+
"C"
|
| 2084 |
+
]
|
| 2085 |
+
},
|
| 2086 |
+
"strata": {
|
| 2087 |
+
"initial_on_count": 1,
|
| 2088 |
+
"pre_action_count": 0,
|
| 2089 |
+
"red_count": 0,
|
| 2090 |
+
"blue_count": 1,
|
| 2091 |
+
"large_count": 0,
|
| 2092 |
+
"small_count": 0,
|
| 2093 |
+
"restore_count": 3
|
| 2094 |
+
},
|
| 2095 |
+
"configuration_signature": "cf7c092531f6fd5bf5341f127d05723bd6645c800af168502fc2a6fd4408caeb",
|
| 2096 |
+
"episode_id": 47,
|
| 2097 |
+
"seed": 546094703
|
| 2098 |
+
},
|
| 2099 |
+
{
|
| 2100 |
+
"task_id": "E1_base",
|
| 2101 |
+
"difficulty": "base",
|
| 2102 |
+
"counterfactual_pair_id": 12,
|
| 2103 |
+
"counterfactual_pair_member": "B",
|
| 2104 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 2105 |
+
"values": {
|
| 2106 |
+
"_runtime_task_id": "E1",
|
| 2107 |
+
"difficulty": "base",
|
| 2108 |
+
"switch_count": 3,
|
| 2109 |
+
"initial_on": [
|
| 2110 |
+
"A",
|
| 2111 |
+
"B"
|
| 2112 |
+
],
|
| 2113 |
+
"pre_actions": [],
|
| 2114 |
+
"switch_colors": [
|
| 2115 |
+
"red",
|
| 2116 |
+
"neutral",
|
| 2117 |
+
"neutral"
|
| 2118 |
+
],
|
| 2119 |
+
"switch_sizes": [
|
| 2120 |
+
"medium",
|
| 2121 |
+
"medium",
|
| 2122 |
+
"medium"
|
| 2123 |
+
],
|
| 2124 |
+
"restore_labels": [
|
| 2125 |
+
"A",
|
| 2126 |
+
"B",
|
| 2127 |
+
"C"
|
| 2128 |
+
]
|
| 2129 |
+
},
|
| 2130 |
+
"strata": {
|
| 2131 |
+
"initial_on_count": 2,
|
| 2132 |
+
"pre_action_count": 0,
|
| 2133 |
+
"red_count": 1,
|
| 2134 |
+
"blue_count": 0,
|
| 2135 |
+
"large_count": 0,
|
| 2136 |
+
"small_count": 0,
|
| 2137 |
+
"restore_count": 3
|
| 2138 |
+
},
|
| 2139 |
+
"configuration_signature": "02e3f9b145385bdd4eeb700333a41cdbe6a5a4875baf92c139a68ae126095fa6",
|
| 2140 |
+
"episode_id": 48,
|
| 2141 |
+
"seed": 1085987709
|
| 2142 |
+
},
|
| 2143 |
+
{
|
| 2144 |
+
"task_id": "E1_base",
|
| 2145 |
+
"difficulty": "base",
|
| 2146 |
+
"counterfactual_pair_id": 5,
|
| 2147 |
+
"counterfactual_pair_member": "B",
|
| 2148 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 2149 |
+
"values": {
|
| 2150 |
+
"_runtime_task_id": "E1",
|
| 2151 |
+
"difficulty": "base",
|
| 2152 |
+
"switch_count": 3,
|
| 2153 |
+
"initial_on": [
|
| 2154 |
+
"B",
|
| 2155 |
+
"C"
|
| 2156 |
+
],
|
| 2157 |
+
"pre_actions": [],
|
| 2158 |
+
"switch_colors": [
|
| 2159 |
+
"red",
|
| 2160 |
+
"neutral",
|
| 2161 |
+
"neutral"
|
| 2162 |
+
],
|
| 2163 |
+
"switch_sizes": [
|
| 2164 |
+
"medium",
|
| 2165 |
+
"medium",
|
| 2166 |
+
"medium"
|
| 2167 |
+
],
|
| 2168 |
+
"restore_labels": [
|
| 2169 |
+
"A",
|
| 2170 |
+
"B",
|
| 2171 |
+
"C"
|
| 2172 |
+
]
|
| 2173 |
+
},
|
| 2174 |
+
"strata": {
|
| 2175 |
+
"initial_on_count": 2,
|
| 2176 |
+
"pre_action_count": 0,
|
| 2177 |
+
"red_count": 1,
|
| 2178 |
+
"blue_count": 0,
|
| 2179 |
+
"large_count": 0,
|
| 2180 |
+
"small_count": 0,
|
| 2181 |
+
"restore_count": 3
|
| 2182 |
+
},
|
| 2183 |
+
"configuration_signature": "fa9f80736ce8dc41faa96562b930274649e4d1b572d1f4a56dcc76af695a85a6",
|
| 2184 |
+
"episode_id": 49,
|
| 2185 |
+
"seed": 1014881474
|
| 2186 |
+
}
|
| 2187 |
+
]
|
| 2188 |
+
}
|
data/E1_base/private_records/episode000000.json
ADDED
|
@@ -0,0 +1,370 @@
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
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|
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|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 0,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 20,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 20,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A",
|
| 20 |
+
"C"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"red",
|
| 25 |
+
"red",
|
| 26 |
+
"blue"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 2,
|
| 43 |
+
"blue_count": 1,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "65b3face17b44fd5d62cfde66ceecc438a01ab09aa4731b20bf4ff987a3d77ce",
|
| 49 |
+
"episode_id": 0,
|
| 50 |
+
"seed": 1011680087
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "65b3face17b44fd5d62cfde66ceecc438a01ab09aa4731b20bf4ff987a3d77ce",
|
| 53 |
+
"bench_values": {
|
| 54 |
+
"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"A",
|
| 59 |
+
"C"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"red",
|
| 64 |
+
"red",
|
| 65 |
+
"blue"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"A",
|
| 80 |
+
"C"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
1011680087
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
+
"scene": "episode",
|
| 88 |
+
"seed": 1011680087,
|
| 89 |
+
"planning_result": {
|
| 90 |
+
"success": true,
|
| 91 |
+
"task_id": "E1",
|
| 92 |
+
"branch": "train",
|
| 93 |
+
"action_log": [
|
| 94 |
+
{
|
| 95 |
+
"action": "initial_state_observed",
|
| 96 |
+
"on": [
|
| 97 |
+
"A",
|
| 98 |
+
"C"
|
| 99 |
+
],
|
| 100 |
+
"restore_scope": [
|
| 101 |
+
"A",
|
| 102 |
+
"B",
|
| 103 |
+
"C"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
[
|
| 107 |
+
"switch",
|
| 108 |
+
"m36_restore_A",
|
| 109 |
+
true
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
"switch",
|
| 113 |
+
"m36_restore_C",
|
| 114 |
+
true
|
| 115 |
+
],
|
| 116 |
+
{
|
| 117 |
+
"action": "submit",
|
| 118 |
+
"expected": [
|
| 119 |
+
"A",
|
| 120 |
+
"C"
|
| 121 |
+
],
|
| 122 |
+
"actual": [
|
| 123 |
+
"A",
|
| 124 |
+
"C"
|
| 125 |
+
],
|
| 126 |
+
"state_valid": true
|
| 127 |
+
}
|
| 128 |
+
],
|
| 129 |
+
"event_timeline": [
|
| 130 |
+
{
|
| 131 |
+
"event": "phase_observe",
|
| 132 |
+
"frame": 0
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"event": "phase_observe",
|
| 136 |
+
"frame": 0
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"event": "m36_e1_initial_state_observed",
|
| 140 |
+
"frame": 0
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"event": "last_observable_step",
|
| 144 |
+
"frame": 0
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"event": "m36_e1_reset_started",
|
| 148 |
+
"frame": 0
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"event": "m36_e1_reset_completed",
|
| 152 |
+
"frame": 0
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"event": "phase_recall",
|
| 156 |
+
"frame": 0
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"event": "decision_step",
|
| 160 |
+
"frame": 0
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"event": "submit_started",
|
| 164 |
+
"frame": 0
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"event": "submit_completed",
|
| 168 |
+
"frame": 0
|
| 169 |
+
}
|
| 170 |
+
],
|
| 171 |
+
"randomization_records": [
|
| 172 |
+
{
|
| 173 |
+
"name": "button:confirm",
|
| 174 |
+
"base_xy": [
|
| 175 |
+
0.26,
|
| 176 |
+
-0.23
|
| 177 |
+
],
|
| 178 |
+
"sampled_xy": [
|
| 179 |
+
0.25999999046325684,
|
| 180 |
+
-0.23000000417232513
|
| 181 |
+
],
|
| 182 |
+
"offset_xy": [
|
| 183 |
+
-9.536743172944284e-09,
|
| 184 |
+
-4.1723251242853365e-09
|
| 185 |
+
],
|
| 186 |
+
"yaw_degrees": 0.0,
|
| 187 |
+
"yaw_randomized": false
|
| 188 |
+
}
|
| 189 |
+
],
|
| 190 |
+
"placement_checks": [],
|
| 191 |
+
"grasp_checks": [],
|
| 192 |
+
"transport_events": [],
|
| 193 |
+
"final_scene_checks": [],
|
| 194 |
+
"button_press_checks": [],
|
| 195 |
+
"switch_checks": [],
|
| 196 |
+
"device_press_checks": [],
|
| 197 |
+
"press_counts": {
|
| 198 |
+
"reset": 1,
|
| 199 |
+
"confirm": 1
|
| 200 |
+
},
|
| 201 |
+
"p1_render_trace": []
|
| 202 |
+
},
|
| 203 |
+
"replay_result": {
|
| 204 |
+
"success": true,
|
| 205 |
+
"task_id": "E1",
|
| 206 |
+
"branch": "train",
|
| 207 |
+
"action_log": [
|
| 208 |
+
{
|
| 209 |
+
"action": "initial_state_observed",
|
| 210 |
+
"on": [
|
| 211 |
+
"A",
|
| 212 |
+
"C"
|
| 213 |
+
],
|
| 214 |
+
"restore_scope": [
|
| 215 |
+
"A",
|
| 216 |
+
"B",
|
| 217 |
+
"C"
|
| 218 |
+
]
|
| 219 |
+
},
|
| 220 |
+
[
|
| 221 |
+
"switch",
|
| 222 |
+
"m36_restore_A",
|
| 223 |
+
true
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
"switch",
|
| 227 |
+
"m36_restore_C",
|
| 228 |
+
true
|
| 229 |
+
],
|
| 230 |
+
{
|
| 231 |
+
"action": "submit",
|
| 232 |
+
"expected": [
|
| 233 |
+
"A",
|
| 234 |
+
"C"
|
| 235 |
+
],
|
| 236 |
+
"actual": [
|
| 237 |
+
"A",
|
| 238 |
+
"C"
|
| 239 |
+
],
|
| 240 |
+
"state_valid": true
|
| 241 |
+
}
|
| 242 |
+
],
|
| 243 |
+
"event_timeline": [
|
| 244 |
+
{
|
| 245 |
+
"event": "phase_observe",
|
| 246 |
+
"frame": 0
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"event": "phase_observe",
|
| 250 |
+
"frame": 0
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"event": "m36_e1_initial_state_observed",
|
| 254 |
+
"frame": 0
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"event": "last_observable_step",
|
| 258 |
+
"frame": 0
|
| 259 |
+
},
|
| 260 |
+
{
|
| 261 |
+
"event": "m36_e1_reset_started",
|
| 262 |
+
"frame": 0
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"event": "m36_e1_reset_completed",
|
| 266 |
+
"frame": 75
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"event": "phase_recall",
|
| 270 |
+
"frame": 75
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"event": "decision_step",
|
| 274 |
+
"frame": 76
|
| 275 |
+
},
|
| 276 |
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{
|
| 277 |
+
"event": "submit_started",
|
| 278 |
+
"frame": 399
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"event": "submit_completed",
|
| 282 |
+
"frame": 452
|
| 283 |
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}
|
| 284 |
+
],
|
| 285 |
+
"randomization_records": [
|
| 286 |
+
{
|
| 287 |
+
"name": "button:confirm",
|
| 288 |
+
"base_xy": [
|
| 289 |
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0.26,
|
| 290 |
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-0.23
|
| 291 |
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],
|
| 292 |
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"sampled_xy": [
|
| 293 |
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|
| 294 |
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|
| 295 |
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],
|
| 296 |
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"offset_xy": [
|
| 297 |
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-9.536743172944284e-09,
|
| 298 |
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-4.1723251242853365e-09
|
| 299 |
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],
|
| 300 |
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"yaw_degrees": 0.0,
|
| 301 |
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"yaw_randomized": false
|
| 302 |
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}
|
| 303 |
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],
|
| 304 |
+
"placement_checks": [],
|
| 305 |
+
"grasp_checks": [],
|
| 306 |
+
"transport_events": [],
|
| 307 |
+
"final_scene_checks": [],
|
| 308 |
+
"button_press_checks": [
|
| 309 |
+
{
|
| 310 |
+
"key": "reset",
|
| 311 |
+
"arm": "right",
|
| 312 |
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"frame": 63,
|
| 313 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 314 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 315 |
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"closed_during_press": true
|
| 316 |
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},
|
| 317 |
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{
|
| 318 |
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"key": "confirm",
|
| 319 |
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"arm": "right",
|
| 320 |
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"frame": 440,
|
| 321 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 322 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 323 |
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"closed_during_press": true
|
| 324 |
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}
|
| 325 |
+
],
|
| 326 |
+
"switch_checks": [
|
| 327 |
+
{
|
| 328 |
+
"key": "m36_restore_A",
|
| 329 |
+
"arm": "left",
|
| 330 |
+
"requested_on": true,
|
| 331 |
+
"joint_reached": true,
|
| 332 |
+
"closed_gripper": true,
|
| 333 |
+
"contact_count": 16,
|
| 334 |
+
"native_joint_reached": false,
|
| 335 |
+
"latched_on_contact": true,
|
| 336 |
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"gripper_qpos": 0.18181818181818182
|
| 337 |
+
},
|
| 338 |
+
{
|
| 339 |
+
"key": "m36_restore_C",
|
| 340 |
+
"arm": "left",
|
| 341 |
+
"requested_on": true,
|
| 342 |
+
"joint_reached": true,
|
| 343 |
+
"closed_gripper": true,
|
| 344 |
+
"contact_count": 18,
|
| 345 |
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"native_joint_reached": false,
|
| 346 |
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"latched_on_contact": true,
|
| 347 |
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"gripper_qpos": 0.19280258125879549
|
| 348 |
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}
|
| 349 |
+
],
|
| 350 |
+
"device_press_checks": [],
|
| 351 |
+
"press_counts": {
|
| 352 |
+
"reset": 1,
|
| 353 |
+
"confirm": 1
|
| 354 |
+
},
|
| 355 |
+
"p1_render_trace": []
|
| 356 |
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},
|
| 357 |
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"quality": {
|
| 358 |
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"frames": 453,
|
| 359 |
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"max_action_delta": 0.12924492359161377,
|
| 360 |
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"arm_motion_range": 2.9730115596312316,
|
| 361 |
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"gripper_motion_range": 1.338504672050476,
|
| 362 |
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"camera_payload_bytes": 189507,
|
| 363 |
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"fingerprint": "8e9ecf33b84620eaf1c2fcd87f18fcc34fbbae7279a01fe42a640ebad057441f"
|
| 364 |
+
},
|
| 365 |
+
"plan_success": true,
|
| 366 |
+
"replay_success": true
|
| 367 |
+
}
|
| 368 |
+
],
|
| 369 |
+
"success": true
|
| 370 |
+
}
|
data/E1_base/private_records/episode000001.json
ADDED
|
@@ -0,0 +1,370 @@
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 1,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 13,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 13,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A",
|
| 20 |
+
"B"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"blue",
|
| 25 |
+
"neutral",
|
| 26 |
+
"neutral"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 0,
|
| 43 |
+
"blue_count": 1,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "b4567d3c74dfebb39246a4b67c58a2519f89d26d32a3501ef3fea2c9aca65033",
|
| 49 |
+
"episode_id": 1,
|
| 50 |
+
"seed": 697098971
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "b4567d3c74dfebb39246a4b67c58a2519f89d26d32a3501ef3fea2c9aca65033",
|
| 53 |
+
"bench_values": {
|
| 54 |
+
"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"A",
|
| 59 |
+
"B"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"blue",
|
| 64 |
+
"neutral",
|
| 65 |
+
"neutral"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"A",
|
| 80 |
+
"B"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
697098971
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
+
"scene": "episode",
|
| 88 |
+
"seed": 697098971,
|
| 89 |
+
"planning_result": {
|
| 90 |
+
"success": true,
|
| 91 |
+
"task_id": "E1",
|
| 92 |
+
"branch": "train",
|
| 93 |
+
"action_log": [
|
| 94 |
+
{
|
| 95 |
+
"action": "initial_state_observed",
|
| 96 |
+
"on": [
|
| 97 |
+
"A",
|
| 98 |
+
"B"
|
| 99 |
+
],
|
| 100 |
+
"restore_scope": [
|
| 101 |
+
"A",
|
| 102 |
+
"B",
|
| 103 |
+
"C"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
[
|
| 107 |
+
"switch",
|
| 108 |
+
"m36_restore_A",
|
| 109 |
+
true
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
"switch",
|
| 113 |
+
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|
| 114 |
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|
| 115 |
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| 116 |
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| 117 |
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|
| 118 |
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| 119 |
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| 123 |
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| 130 |
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| 131 |
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| 204 |
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|
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|
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| 216 |
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|
| 221 |
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|
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|
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|
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[
|
| 226 |
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|
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|
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|
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|
data/E1_base/private_records/episode000002.json
ADDED
|
@@ -0,0 +1,370 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 2,
|
| 5 |
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"task": "E1_base",
|
| 6 |
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"counterfactual_pair_id": 4,
|
| 7 |
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"counterfactual_pair_member": "A",
|
| 8 |
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"manifest_entry": {
|
| 9 |
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"task_id": "E1_base",
|
| 10 |
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"difficulty": "base",
|
| 11 |
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"counterfactual_pair_id": 4,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
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"switch_count": 3,
|
| 18 |
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|
| 19 |
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"A",
|
| 20 |
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"B"
|
| 21 |
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],
|
| 22 |
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"pre_actions": [],
|
| 23 |
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"switch_colors": [
|
| 24 |
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"neutral",
|
| 25 |
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"blue",
|
| 26 |
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"red"
|
| 27 |
+
],
|
| 28 |
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"switch_sizes": [
|
| 29 |
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"medium",
|
| 30 |
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"medium",
|
| 31 |
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"medium"
|
| 32 |
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],
|
| 33 |
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|
| 34 |
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"A",
|
| 35 |
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|
| 36 |
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"C"
|
| 37 |
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]
|
| 38 |
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},
|
| 39 |
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"strata": {
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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"small_count": 0,
|
| 46 |
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|
| 47 |
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},
|
| 48 |
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|
| 49 |
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|
| 50 |
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"seed": 1143179210
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| 51 |
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},
|
| 52 |
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|
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|
| 56 |
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|
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|
| 58 |
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| 59 |
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|
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],
|
| 61 |
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|
| 63 |
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"neutral",
|
| 64 |
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|
| 65 |
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|
| 66 |
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],
|
| 67 |
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|
| 68 |
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"medium",
|
| 69 |
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|
| 70 |
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|
| 71 |
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],
|
| 72 |
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|
| 73 |
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"A",
|
| 74 |
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"B",
|
| 75 |
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"C"
|
| 76 |
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]
|
| 77 |
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},
|
| 78 |
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"expected_answer": [
|
| 79 |
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"A",
|
| 80 |
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"B"
|
| 81 |
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],
|
| 82 |
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"scene_seeds": [
|
| 83 |
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1143179210
|
| 84 |
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],
|
| 85 |
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"results": [
|
| 86 |
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{
|
| 87 |
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"scene": "episode",
|
| 88 |
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"seed": 1143179210,
|
| 89 |
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"planning_result": {
|
| 90 |
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"success": true,
|
| 91 |
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|
| 92 |
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|
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|
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|
| 95 |
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|
| 96 |
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|
| 98 |
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|
| 99 |
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],
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| 101 |
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| 102 |
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"B",
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"C"
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| 104 |
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]
|
| 105 |
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|
| 106 |
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[
|
| 107 |
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"switch",
|
| 108 |
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"m36_restore_A",
|
| 109 |
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true
|
| 110 |
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],
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| 111 |
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[
|
| 112 |
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"switch",
|
| 113 |
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"m36_restore_B",
|
| 114 |
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true
|
| 115 |
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| 116 |
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{
|
| 117 |
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"action": "submit",
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| 118 |
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|
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| 122 |
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|
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],
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{
|
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| 132 |
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| 133 |
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},
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{
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|
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| 143 |
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"event": "last_observable_step",
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{
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| 147 |
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"event": "m36_e1_reset_started",
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| 148 |
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"frame": 0
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},
|
| 150 |
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{
|
| 151 |
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"event": "m36_e1_reset_completed",
|
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| 153 |
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|
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|
| 155 |
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|
| 156 |
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| 159 |
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|
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|
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|
| 163 |
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|
| 164 |
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|
| 165 |
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| 166 |
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{
|
| 167 |
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|
| 168 |
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|
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|
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],
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| 171 |
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| 172 |
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|
| 173 |
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"name": "button:confirm",
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|
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| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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},
|
| 201 |
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|
| 202 |
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},
|
| 203 |
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|
| 204 |
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"success": true,
|
| 205 |
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"task_id": "E1",
|
| 206 |
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"branch": "train",
|
| 207 |
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"action_log": [
|
| 208 |
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{
|
| 209 |
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"action": "initial_state_observed",
|
| 210 |
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"on": [
|
| 211 |
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"A",
|
| 212 |
+
"B"
|
| 213 |
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],
|
| 214 |
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"restore_scope": [
|
| 215 |
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"A",
|
| 216 |
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"B",
|
| 217 |
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"C"
|
| 218 |
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]
|
| 219 |
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},
|
| 220 |
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[
|
| 221 |
+
"switch",
|
| 222 |
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"m36_restore_A",
|
| 223 |
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true
|
| 224 |
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],
|
| 225 |
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[
|
| 226 |
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"switch",
|
| 227 |
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"m36_restore_B",
|
| 228 |
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true
|
| 229 |
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],
|
| 230 |
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{
|
| 231 |
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"action": "submit",
|
| 232 |
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|
| 233 |
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"A",
|
| 234 |
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"B"
|
| 235 |
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],
|
| 236 |
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"actual": [
|
| 237 |
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"A",
|
| 238 |
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"B"
|
| 239 |
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],
|
| 240 |
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"state_valid": true
|
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}
|
| 242 |
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],
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| 243 |
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"event_timeline": [
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| 244 |
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{
|
| 245 |
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"event": "phase_observe",
|
| 246 |
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"frame": 0
|
| 247 |
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},
|
| 248 |
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{
|
| 249 |
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"event": "phase_observe",
|
| 250 |
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"frame": 0
|
| 251 |
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},
|
| 252 |
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{
|
| 253 |
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"event": "m36_e1_initial_state_observed",
|
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|
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},
|
| 256 |
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{
|
| 257 |
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"event": "last_observable_step",
|
| 258 |
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"frame": 0
|
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},
|
| 260 |
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{
|
| 261 |
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"event": "m36_e1_reset_started",
|
| 262 |
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"frame": 0
|
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},
|
| 264 |
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{
|
| 265 |
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"event": "m36_e1_reset_completed",
|
| 266 |
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"frame": 75
|
| 267 |
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},
|
| 268 |
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{
|
| 269 |
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"event": "phase_recall",
|
| 270 |
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"frame": 75
|
| 271 |
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},
|
| 272 |
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{
|
| 273 |
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"event": "decision_step",
|
| 274 |
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"frame": 76
|
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},
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| 276 |
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|
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"event": "submit_started",
|
| 278 |
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"frame": 377
|
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},
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| 280 |
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{
|
| 281 |
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"event": "submit_completed",
|
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|
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}
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],
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|
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|
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|
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|
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|
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|
| 308 |
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|
| 309 |
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{
|
| 310 |
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"key": "reset",
|
| 311 |
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"arm": "right",
|
| 312 |
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"frame": 63,
|
| 313 |
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|
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|
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|
| 316 |
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},
|
| 317 |
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{
|
| 318 |
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"key": "confirm",
|
| 319 |
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"arm": "right",
|
| 320 |
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|
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|
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|
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|
| 324 |
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}
|
| 325 |
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],
|
| 326 |
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"switch_checks": [
|
| 327 |
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{
|
| 328 |
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"key": "m36_restore_A",
|
| 329 |
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"arm": "left",
|
| 330 |
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"requested_on": true,
|
| 331 |
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"joint_reached": true,
|
| 332 |
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|
| 333 |
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|
| 334 |
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|
| 335 |
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|
| 336 |
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"gripper_qpos": 0.18181818181818182
|
| 337 |
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},
|
| 338 |
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{
|
| 339 |
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"key": "m36_restore_B",
|
| 340 |
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"arm": "left",
|
| 341 |
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"requested_on": true,
|
| 342 |
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"joint_reached": true,
|
| 343 |
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"closed_gripper": true,
|
| 344 |
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|
| 345 |
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|
| 346 |
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|
| 347 |
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|
| 348 |
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}
|
| 349 |
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],
|
| 350 |
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"device_press_checks": [],
|
| 351 |
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"press_counts": {
|
| 352 |
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"reset": 1,
|
| 353 |
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"confirm": 1
|
| 354 |
+
},
|
| 355 |
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"p1_render_trace": []
|
| 356 |
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},
|
| 357 |
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"quality": {
|
| 358 |
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|
| 359 |
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"max_action_delta": 0.13440752029418945,
|
| 360 |
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|
| 361 |
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|
| 362 |
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|
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"fingerprint": "cb4afb5dd8d628449d2303290174f2375b30457713edb13184262246a23e8bff"
|
| 364 |
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},
|
| 365 |
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"plan_success": true,
|
| 366 |
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"replay_success": true
|
| 367 |
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}
|
| 368 |
+
],
|
| 369 |
+
"success": true
|
| 370 |
+
}
|
data/E1_base/private_records/episode000003.json
ADDED
|
@@ -0,0 +1,370 @@
|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 3,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 9,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 9,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"B",
|
| 20 |
+
"C"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"blue",
|
| 25 |
+
"blue",
|
| 26 |
+
"red"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 1,
|
| 43 |
+
"blue_count": 2,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "18f4d99a426a32d0a0ee2c4872a89f52ac9221f742ea9bfe4ed2582a01e23e84",
|
| 49 |
+
"episode_id": 3,
|
| 50 |
+
"seed": 161783976
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "18f4d99a426a32d0a0ee2c4872a89f52ac9221f742ea9bfe4ed2582a01e23e84",
|
| 53 |
+
"bench_values": {
|
| 54 |
+
"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"B",
|
| 59 |
+
"C"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"blue",
|
| 64 |
+
"blue",
|
| 65 |
+
"red"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"B",
|
| 80 |
+
"C"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
161783976
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
+
"scene": "episode",
|
| 88 |
+
"seed": 161783976,
|
| 89 |
+
"planning_result": {
|
| 90 |
+
"success": true,
|
| 91 |
+
"task_id": "E1",
|
| 92 |
+
"branch": "train",
|
| 93 |
+
"action_log": [
|
| 94 |
+
{
|
| 95 |
+
"action": "initial_state_observed",
|
| 96 |
+
"on": [
|
| 97 |
+
"B",
|
| 98 |
+
"C"
|
| 99 |
+
],
|
| 100 |
+
"restore_scope": [
|
| 101 |
+
"A",
|
| 102 |
+
"B",
|
| 103 |
+
"C"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
[
|
| 107 |
+
"switch",
|
| 108 |
+
"m36_restore_B",
|
| 109 |
+
true
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
"switch",
|
| 113 |
+
"m36_restore_C",
|
| 114 |
+
true
|
| 115 |
+
],
|
| 116 |
+
{
|
| 117 |
+
"action": "submit",
|
| 118 |
+
"expected": [
|
| 119 |
+
"B",
|
| 120 |
+
"C"
|
| 121 |
+
],
|
| 122 |
+
"actual": [
|
| 123 |
+
"B",
|
| 124 |
+
"C"
|
| 125 |
+
],
|
| 126 |
+
"state_valid": true
|
| 127 |
+
}
|
| 128 |
+
],
|
| 129 |
+
"event_timeline": [
|
| 130 |
+
{
|
| 131 |
+
"event": "phase_observe",
|
| 132 |
+
"frame": 0
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"event": "phase_observe",
|
| 136 |
+
"frame": 0
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"event": "m36_e1_initial_state_observed",
|
| 140 |
+
"frame": 0
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"event": "last_observable_step",
|
| 144 |
+
"frame": 0
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"event": "m36_e1_reset_started",
|
| 148 |
+
"frame": 0
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"event": "m36_e1_reset_completed",
|
| 152 |
+
"frame": 0
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"event": "phase_recall",
|
| 156 |
+
"frame": 0
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"event": "decision_step",
|
| 160 |
+
"frame": 0
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"event": "submit_started",
|
| 164 |
+
"frame": 0
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"event": "submit_completed",
|
| 168 |
+
"frame": 0
|
| 169 |
+
}
|
| 170 |
+
],
|
| 171 |
+
"randomization_records": [
|
| 172 |
+
{
|
| 173 |
+
"name": "button:confirm",
|
| 174 |
+
"base_xy": [
|
| 175 |
+
0.26,
|
| 176 |
+
-0.23
|
| 177 |
+
],
|
| 178 |
+
"sampled_xy": [
|
| 179 |
+
0.25999999046325684,
|
| 180 |
+
-0.23000000417232513
|
| 181 |
+
],
|
| 182 |
+
"offset_xy": [
|
| 183 |
+
-9.536743172944284e-09,
|
| 184 |
+
-4.1723251242853365e-09
|
| 185 |
+
],
|
| 186 |
+
"yaw_degrees": 0.0,
|
| 187 |
+
"yaw_randomized": false
|
| 188 |
+
}
|
| 189 |
+
],
|
| 190 |
+
"placement_checks": [],
|
| 191 |
+
"grasp_checks": [],
|
| 192 |
+
"transport_events": [],
|
| 193 |
+
"final_scene_checks": [],
|
| 194 |
+
"button_press_checks": [],
|
| 195 |
+
"switch_checks": [],
|
| 196 |
+
"device_press_checks": [],
|
| 197 |
+
"press_counts": {
|
| 198 |
+
"reset": 1,
|
| 199 |
+
"confirm": 1
|
| 200 |
+
},
|
| 201 |
+
"p1_render_trace": []
|
| 202 |
+
},
|
| 203 |
+
"replay_result": {
|
| 204 |
+
"success": true,
|
| 205 |
+
"task_id": "E1",
|
| 206 |
+
"branch": "train",
|
| 207 |
+
"action_log": [
|
| 208 |
+
{
|
| 209 |
+
"action": "initial_state_observed",
|
| 210 |
+
"on": [
|
| 211 |
+
"B",
|
| 212 |
+
"C"
|
| 213 |
+
],
|
| 214 |
+
"restore_scope": [
|
| 215 |
+
"A",
|
| 216 |
+
"B",
|
| 217 |
+
"C"
|
| 218 |
+
]
|
| 219 |
+
},
|
| 220 |
+
[
|
| 221 |
+
"switch",
|
| 222 |
+
"m36_restore_B",
|
| 223 |
+
true
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
"switch",
|
| 227 |
+
"m36_restore_C",
|
| 228 |
+
true
|
| 229 |
+
],
|
| 230 |
+
{
|
| 231 |
+
"action": "submit",
|
| 232 |
+
"expected": [
|
| 233 |
+
"B",
|
| 234 |
+
"C"
|
| 235 |
+
],
|
| 236 |
+
"actual": [
|
| 237 |
+
"B",
|
| 238 |
+
"C"
|
| 239 |
+
],
|
| 240 |
+
"state_valid": true
|
| 241 |
+
}
|
| 242 |
+
],
|
| 243 |
+
"event_timeline": [
|
| 244 |
+
{
|
| 245 |
+
"event": "phase_observe",
|
| 246 |
+
"frame": 0
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"event": "phase_observe",
|
| 250 |
+
"frame": 0
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"event": "m36_e1_initial_state_observed",
|
| 254 |
+
"frame": 0
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"event": "last_observable_step",
|
| 258 |
+
"frame": 0
|
| 259 |
+
},
|
| 260 |
+
{
|
| 261 |
+
"event": "m36_e1_reset_started",
|
| 262 |
+
"frame": 0
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"event": "m36_e1_reset_completed",
|
| 266 |
+
"frame": 75
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"event": "phase_recall",
|
| 270 |
+
"frame": 75
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"event": "decision_step",
|
| 274 |
+
"frame": 76
|
| 275 |
+
},
|
| 276 |
+
{
|
| 277 |
+
"event": "submit_started",
|
| 278 |
+
"frame": 399
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"event": "submit_completed",
|
| 282 |
+
"frame": 451
|
| 283 |
+
}
|
| 284 |
+
],
|
| 285 |
+
"randomization_records": [
|
| 286 |
+
{
|
| 287 |
+
"name": "button:confirm",
|
| 288 |
+
"base_xy": [
|
| 289 |
+
0.26,
|
| 290 |
+
-0.23
|
| 291 |
+
],
|
| 292 |
+
"sampled_xy": [
|
| 293 |
+
0.25999999046325684,
|
| 294 |
+
-0.23000000417232513
|
| 295 |
+
],
|
| 296 |
+
"offset_xy": [
|
| 297 |
+
-9.536743172944284e-09,
|
| 298 |
+
-4.1723251242853365e-09
|
| 299 |
+
],
|
| 300 |
+
"yaw_degrees": 0.0,
|
| 301 |
+
"yaw_randomized": false
|
| 302 |
+
}
|
| 303 |
+
],
|
| 304 |
+
"placement_checks": [],
|
| 305 |
+
"grasp_checks": [],
|
| 306 |
+
"transport_events": [],
|
| 307 |
+
"final_scene_checks": [],
|
| 308 |
+
"button_press_checks": [
|
| 309 |
+
{
|
| 310 |
+
"key": "reset",
|
| 311 |
+
"arm": "right",
|
| 312 |
+
"frame": 63,
|
| 313 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 314 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 315 |
+
"closed_during_press": true
|
| 316 |
+
},
|
| 317 |
+
{
|
| 318 |
+
"key": "confirm",
|
| 319 |
+
"arm": "right",
|
| 320 |
+
"frame": 439,
|
| 321 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 322 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 323 |
+
"closed_during_press": true
|
| 324 |
+
}
|
| 325 |
+
],
|
| 326 |
+
"switch_checks": [
|
| 327 |
+
{
|
| 328 |
+
"key": "m36_restore_B",
|
| 329 |
+
"arm": "left",
|
| 330 |
+
"requested_on": true,
|
| 331 |
+
"joint_reached": true,
|
| 332 |
+
"closed_gripper": true,
|
| 333 |
+
"contact_count": 17,
|
| 334 |
+
"native_joint_reached": false,
|
| 335 |
+
"latched_on_contact": true,
|
| 336 |
+
"gripper_qpos": 0.18181818181818182
|
| 337 |
+
},
|
| 338 |
+
{
|
| 339 |
+
"key": "m36_restore_C",
|
| 340 |
+
"arm": "left",
|
| 341 |
+
"requested_on": true,
|
| 342 |
+
"joint_reached": true,
|
| 343 |
+
"closed_gripper": true,
|
| 344 |
+
"contact_count": 18,
|
| 345 |
+
"native_joint_reached": false,
|
| 346 |
+
"latched_on_contact": true,
|
| 347 |
+
"gripper_qpos": 0.19812917277555575
|
| 348 |
+
}
|
| 349 |
+
],
|
| 350 |
+
"device_press_checks": [],
|
| 351 |
+
"press_counts": {
|
| 352 |
+
"reset": 1,
|
| 353 |
+
"confirm": 1
|
| 354 |
+
},
|
| 355 |
+
"p1_render_trace": []
|
| 356 |
+
},
|
| 357 |
+
"quality": {
|
| 358 |
+
"frames": 452,
|
| 359 |
+
"max_action_delta": 0.139551043510437,
|
| 360 |
+
"arm_motion_range": 2.972864932205084,
|
| 361 |
+
"gripper_motion_range": 1.3385156393051147,
|
| 362 |
+
"camera_payload_bytes": 189480,
|
| 363 |
+
"fingerprint": "3347e3cf4fbf82e5d7b3db2fded35350ef30d8d695768e045fa350a6be0ee108"
|
| 364 |
+
},
|
| 365 |
+
"plan_success": true,
|
| 366 |
+
"replay_success": true
|
| 367 |
+
}
|
| 368 |
+
],
|
| 369 |
+
"success": true
|
| 370 |
+
}
|
data/E1_base/private_records/episode000004.json
ADDED
|
@@ -0,0 +1,370 @@
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 4,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 22,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 22,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"B",
|
| 20 |
+
"C"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"blue",
|
| 25 |
+
"neutral",
|
| 26 |
+
"blue"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 0,
|
| 43 |
+
"blue_count": 2,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "f67d38a8a21d388c6b6a8490aeb9c23d6f2872795cce04c2efae5b488330f718",
|
| 49 |
+
"episode_id": 4,
|
| 50 |
+
"seed": 1637134298
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "f67d38a8a21d388c6b6a8490aeb9c23d6f2872795cce04c2efae5b488330f718",
|
| 53 |
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"bench_values": {
|
| 54 |
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"_runtime_task_id": "E1",
|
| 55 |
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"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"B",
|
| 59 |
+
"C"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"blue",
|
| 64 |
+
"neutral",
|
| 65 |
+
"blue"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"B",
|
| 80 |
+
"C"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
1637134298
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
+
"scene": "episode",
|
| 88 |
+
"seed": 1637134298,
|
| 89 |
+
"planning_result": {
|
| 90 |
+
"success": true,
|
| 91 |
+
"task_id": "E1",
|
| 92 |
+
"branch": "train",
|
| 93 |
+
"action_log": [
|
| 94 |
+
{
|
| 95 |
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"action": "initial_state_observed",
|
| 96 |
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"on": [
|
| 97 |
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"B",
|
| 98 |
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"C"
|
| 99 |
+
],
|
| 100 |
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"restore_scope": [
|
| 101 |
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"A",
|
| 102 |
+
"B",
|
| 103 |
+
"C"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
[
|
| 107 |
+
"switch",
|
| 108 |
+
"m36_restore_B",
|
| 109 |
+
true
|
| 110 |
+
],
|
| 111 |
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[
|
| 112 |
+
"switch",
|
| 113 |
+
"m36_restore_C",
|
| 114 |
+
true
|
| 115 |
+
],
|
| 116 |
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{
|
| 117 |
+
"action": "submit",
|
| 118 |
+
"expected": [
|
| 119 |
+
"B",
|
| 120 |
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"C"
|
| 121 |
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],
|
| 122 |
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"actual": [
|
| 123 |
+
"B",
|
| 124 |
+
"C"
|
| 125 |
+
],
|
| 126 |
+
"state_valid": true
|
| 127 |
+
}
|
| 128 |
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],
|
| 129 |
+
"event_timeline": [
|
| 130 |
+
{
|
| 131 |
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"event": "phase_observe",
|
| 132 |
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"frame": 0
|
| 133 |
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},
|
| 134 |
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{
|
| 135 |
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"event": "phase_observe",
|
| 136 |
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"frame": 0
|
| 137 |
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},
|
| 138 |
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{
|
| 139 |
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"event": "m36_e1_initial_state_observed",
|
| 140 |
+
"frame": 0
|
| 141 |
+
},
|
| 142 |
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{
|
| 143 |
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"event": "last_observable_step",
|
| 144 |
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"frame": 0
|
| 145 |
+
},
|
| 146 |
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{
|
| 147 |
+
"event": "m36_e1_reset_started",
|
| 148 |
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"frame": 0
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
+
"event": "m36_e1_reset_completed",
|
| 152 |
+
"frame": 0
|
| 153 |
+
},
|
| 154 |
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{
|
| 155 |
+
"event": "phase_recall",
|
| 156 |
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"frame": 0
|
| 157 |
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},
|
| 158 |
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{
|
| 159 |
+
"event": "decision_step",
|
| 160 |
+
"frame": 0
|
| 161 |
+
},
|
| 162 |
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{
|
| 163 |
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"event": "submit_started",
|
| 164 |
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"frame": 0
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"event": "submit_completed",
|
| 168 |
+
"frame": 0
|
| 169 |
+
}
|
| 170 |
+
],
|
| 171 |
+
"randomization_records": [
|
| 172 |
+
{
|
| 173 |
+
"name": "button:confirm",
|
| 174 |
+
"base_xy": [
|
| 175 |
+
0.26,
|
| 176 |
+
-0.23
|
| 177 |
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],
|
| 178 |
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"sampled_xy": [
|
| 179 |
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0.25999999046325684,
|
| 180 |
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-0.23000000417232513
|
| 181 |
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],
|
| 182 |
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"offset_xy": [
|
| 183 |
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-9.536743172944284e-09,
|
| 184 |
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-4.1723251242853365e-09
|
| 185 |
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],
|
| 186 |
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"yaw_degrees": 0.0,
|
| 187 |
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"yaw_randomized": false
|
| 188 |
+
}
|
| 189 |
+
],
|
| 190 |
+
"placement_checks": [],
|
| 191 |
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"grasp_checks": [],
|
| 192 |
+
"transport_events": [],
|
| 193 |
+
"final_scene_checks": [],
|
| 194 |
+
"button_press_checks": [],
|
| 195 |
+
"switch_checks": [],
|
| 196 |
+
"device_press_checks": [],
|
| 197 |
+
"press_counts": {
|
| 198 |
+
"reset": 1,
|
| 199 |
+
"confirm": 1
|
| 200 |
+
},
|
| 201 |
+
"p1_render_trace": []
|
| 202 |
+
},
|
| 203 |
+
"replay_result": {
|
| 204 |
+
"success": true,
|
| 205 |
+
"task_id": "E1",
|
| 206 |
+
"branch": "train",
|
| 207 |
+
"action_log": [
|
| 208 |
+
{
|
| 209 |
+
"action": "initial_state_observed",
|
| 210 |
+
"on": [
|
| 211 |
+
"B",
|
| 212 |
+
"C"
|
| 213 |
+
],
|
| 214 |
+
"restore_scope": [
|
| 215 |
+
"A",
|
| 216 |
+
"B",
|
| 217 |
+
"C"
|
| 218 |
+
]
|
| 219 |
+
},
|
| 220 |
+
[
|
| 221 |
+
"switch",
|
| 222 |
+
"m36_restore_B",
|
| 223 |
+
true
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
"switch",
|
| 227 |
+
"m36_restore_C",
|
| 228 |
+
true
|
| 229 |
+
],
|
| 230 |
+
{
|
| 231 |
+
"action": "submit",
|
| 232 |
+
"expected": [
|
| 233 |
+
"B",
|
| 234 |
+
"C"
|
| 235 |
+
],
|
| 236 |
+
"actual": [
|
| 237 |
+
"B",
|
| 238 |
+
"C"
|
| 239 |
+
],
|
| 240 |
+
"state_valid": true
|
| 241 |
+
}
|
| 242 |
+
],
|
| 243 |
+
"event_timeline": [
|
| 244 |
+
{
|
| 245 |
+
"event": "phase_observe",
|
| 246 |
+
"frame": 0
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"event": "phase_observe",
|
| 250 |
+
"frame": 0
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"event": "m36_e1_initial_state_observed",
|
| 254 |
+
"frame": 0
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"event": "last_observable_step",
|
| 258 |
+
"frame": 0
|
| 259 |
+
},
|
| 260 |
+
{
|
| 261 |
+
"event": "m36_e1_reset_started",
|
| 262 |
+
"frame": 0
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"event": "m36_e1_reset_completed",
|
| 266 |
+
"frame": 75
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"event": "phase_recall",
|
| 270 |
+
"frame": 75
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"event": "decision_step",
|
| 274 |
+
"frame": 76
|
| 275 |
+
},
|
| 276 |
+
{
|
| 277 |
+
"event": "submit_started",
|
| 278 |
+
"frame": 399
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"event": "submit_completed",
|
| 282 |
+
"frame": 451
|
| 283 |
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}
|
| 284 |
+
],
|
| 285 |
+
"randomization_records": [
|
| 286 |
+
{
|
| 287 |
+
"name": "button:confirm",
|
| 288 |
+
"base_xy": [
|
| 289 |
+
0.26,
|
| 290 |
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-0.23
|
| 291 |
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],
|
| 292 |
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"sampled_xy": [
|
| 293 |
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|
| 294 |
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|
| 295 |
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],
|
| 296 |
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"offset_xy": [
|
| 297 |
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-9.536743172944284e-09,
|
| 298 |
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-4.1723251242853365e-09
|
| 299 |
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],
|
| 300 |
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"yaw_degrees": 0.0,
|
| 301 |
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"yaw_randomized": false
|
| 302 |
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}
|
| 303 |
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],
|
| 304 |
+
"placement_checks": [],
|
| 305 |
+
"grasp_checks": [],
|
| 306 |
+
"transport_events": [],
|
| 307 |
+
"final_scene_checks": [],
|
| 308 |
+
"button_press_checks": [
|
| 309 |
+
{
|
| 310 |
+
"key": "reset",
|
| 311 |
+
"arm": "right",
|
| 312 |
+
"frame": 63,
|
| 313 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 314 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 315 |
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"closed_during_press": true
|
| 316 |
+
},
|
| 317 |
+
{
|
| 318 |
+
"key": "confirm",
|
| 319 |
+
"arm": "right",
|
| 320 |
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"frame": 439,
|
| 321 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 322 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 323 |
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"closed_during_press": true
|
| 324 |
+
}
|
| 325 |
+
],
|
| 326 |
+
"switch_checks": [
|
| 327 |
+
{
|
| 328 |
+
"key": "m36_restore_B",
|
| 329 |
+
"arm": "left",
|
| 330 |
+
"requested_on": true,
|
| 331 |
+
"joint_reached": true,
|
| 332 |
+
"closed_gripper": true,
|
| 333 |
+
"contact_count": 16,
|
| 334 |
+
"native_joint_reached": false,
|
| 335 |
+
"latched_on_contact": true,
|
| 336 |
+
"gripper_qpos": 0.18181818181818182
|
| 337 |
+
},
|
| 338 |
+
{
|
| 339 |
+
"key": "m36_restore_C",
|
| 340 |
+
"arm": "left",
|
| 341 |
+
"requested_on": true,
|
| 342 |
+
"joint_reached": true,
|
| 343 |
+
"closed_gripper": true,
|
| 344 |
+
"contact_count": 18,
|
| 345 |
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"native_joint_reached": false,
|
| 346 |
+
"latched_on_contact": true,
|
| 347 |
+
"gripper_qpos": 0.19464985746890306
|
| 348 |
+
}
|
| 349 |
+
],
|
| 350 |
+
"device_press_checks": [],
|
| 351 |
+
"press_counts": {
|
| 352 |
+
"reset": 1,
|
| 353 |
+
"confirm": 1
|
| 354 |
+
},
|
| 355 |
+
"p1_render_trace": []
|
| 356 |
+
},
|
| 357 |
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"quality": {
|
| 358 |
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"frames": 452,
|
| 359 |
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"max_action_delta": 0.13550996780395508,
|
| 360 |
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"arm_motion_range": 2.9730115596312316,
|
| 361 |
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"gripper_motion_range": 1.3388936519622803,
|
| 362 |
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"camera_payload_bytes": 188697,
|
| 363 |
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"fingerprint": "1f7fe4a50042da0fc555dc30668f371f90f243326d2d7234d4cf0996e213a8e1"
|
| 364 |
+
},
|
| 365 |
+
"plan_success": true,
|
| 366 |
+
"replay_success": true
|
| 367 |
+
}
|
| 368 |
+
],
|
| 369 |
+
"success": true
|
| 370 |
+
}
|
data/E1_base/private_records/episode000005.json
ADDED
|
@@ -0,0 +1,370 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 5,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 14,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 14,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"B",
|
| 20 |
+
"C"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"neutral",
|
| 25 |
+
"blue",
|
| 26 |
+
"neutral"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 0,
|
| 43 |
+
"blue_count": 1,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "34ef220f90cb03c33f98ccc214f83a4d038e15125b113a84dd16e34e36ed1afe",
|
| 49 |
+
"episode_id": 5,
|
| 50 |
+
"seed": 1012273226
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "34ef220f90cb03c33f98ccc214f83a4d038e15125b113a84dd16e34e36ed1afe",
|
| 53 |
+
"bench_values": {
|
| 54 |
+
"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"B",
|
| 59 |
+
"C"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"neutral",
|
| 64 |
+
"blue",
|
| 65 |
+
"neutral"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"B",
|
| 80 |
+
"C"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
1012273226
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
+
"scene": "episode",
|
| 88 |
+
"seed": 1012273226,
|
| 89 |
+
"planning_result": {
|
| 90 |
+
"success": true,
|
| 91 |
+
"task_id": "E1",
|
| 92 |
+
"branch": "train",
|
| 93 |
+
"action_log": [
|
| 94 |
+
{
|
| 95 |
+
"action": "initial_state_observed",
|
| 96 |
+
"on": [
|
| 97 |
+
"B",
|
| 98 |
+
"C"
|
| 99 |
+
],
|
| 100 |
+
"restore_scope": [
|
| 101 |
+
"A",
|
| 102 |
+
"B",
|
| 103 |
+
"C"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
[
|
| 107 |
+
"switch",
|
| 108 |
+
"m36_restore_B",
|
| 109 |
+
true
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
"switch",
|
| 113 |
+
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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| 130 |
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| 131 |
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|
| 132 |
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|
| 204 |
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|
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|
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| 212 |
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| 214 |
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| 216 |
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| 217 |
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| 218 |
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| 220 |
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[
|
| 221 |
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| 222 |
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|
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|
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[
|
| 226 |
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|
| 227 |
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| 231 |
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| 234 |
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|
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|
| 370 |
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|
data/E1_base/private_records/episode000006.json
ADDED
|
@@ -0,0 +1,370 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 6,
|
| 5 |
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"task": "E1_base",
|
| 6 |
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|
| 7 |
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"counterfactual_pair_member": "A",
|
| 8 |
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"manifest_entry": {
|
| 9 |
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"task_id": "E1_base",
|
| 10 |
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"difficulty": "base",
|
| 11 |
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"counterfactual_pair_id": 16,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
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"difficulty": "base",
|
| 17 |
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"switch_count": 3,
|
| 18 |
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"initial_on": [
|
| 19 |
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"A",
|
| 20 |
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"B"
|
| 21 |
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],
|
| 22 |
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"pre_actions": [],
|
| 23 |
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"switch_colors": [
|
| 24 |
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"red",
|
| 25 |
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"neutral",
|
| 26 |
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"blue"
|
| 27 |
+
],
|
| 28 |
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"switch_sizes": [
|
| 29 |
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"medium",
|
| 30 |
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"medium",
|
| 31 |
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"medium"
|
| 32 |
+
],
|
| 33 |
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|
| 34 |
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|
| 35 |
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"B",
|
| 36 |
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"C"
|
| 37 |
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]
|
| 38 |
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},
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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"small_count": 0,
|
| 46 |
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|
| 47 |
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},
|
| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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},
|
| 52 |
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|
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|
| 56 |
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|
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| 58 |
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| 59 |
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|
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],
|
| 61 |
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|
| 63 |
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"red",
|
| 64 |
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|
| 65 |
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"blue"
|
| 66 |
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],
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| 67 |
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|
| 68 |
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"medium",
|
| 69 |
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"medium",
|
| 70 |
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|
| 71 |
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],
|
| 72 |
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|
| 73 |
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"A",
|
| 74 |
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"B",
|
| 75 |
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"C"
|
| 76 |
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]
|
| 77 |
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},
|
| 78 |
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"expected_answer": [
|
| 79 |
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"A",
|
| 80 |
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"B"
|
| 81 |
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],
|
| 82 |
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"scene_seeds": [
|
| 83 |
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|
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],
|
| 85 |
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"results": [
|
| 86 |
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{
|
| 87 |
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"scene": "episode",
|
| 88 |
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"seed": 1701196464,
|
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|
| 90 |
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|
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|
| 92 |
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|
| 95 |
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| 96 |
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|
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|
| 99 |
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],
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| 101 |
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|
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"B",
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| 103 |
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| 104 |
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]
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| 105 |
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},
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| 106 |
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[
|
| 107 |
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"switch",
|
| 108 |
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"m36_restore_A",
|
| 109 |
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true
|
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],
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[
|
| 112 |
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"switch",
|
| 113 |
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"m36_restore_B",
|
| 114 |
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true
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],
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{
|
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],
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| 124 |
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|
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],
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| 129 |
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{
|
| 131 |
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| 132 |
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"frame": 0
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},
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{
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"event": "phase_observe",
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{
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| 139 |
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"event": "m36_e1_initial_state_observed",
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| 142 |
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{
|
| 143 |
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"event": "last_observable_step",
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{
|
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"event": "m36_e1_reset_started",
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"frame": 0
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| 150 |
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{
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| 151 |
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"event": "m36_e1_reset_completed",
|
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| 154 |
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{
|
| 155 |
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| 156 |
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{
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| 159 |
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|
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| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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| 166 |
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{
|
| 167 |
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|
| 168 |
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| 169 |
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|
| 170 |
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],
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| 171 |
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| 172 |
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{
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| 173 |
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"name": "button:confirm",
|
| 174 |
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],
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| 190 |
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| 191 |
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| 192 |
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|
| 193 |
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|
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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| 200 |
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|
| 201 |
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|
| 202 |
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},
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| 203 |
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|
| 204 |
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"success": true,
|
| 205 |
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"task_id": "E1",
|
| 206 |
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"branch": "train",
|
| 207 |
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"action_log": [
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| 208 |
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{
|
| 209 |
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"action": "initial_state_observed",
|
| 210 |
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"on": [
|
| 211 |
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"A",
|
| 212 |
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"B"
|
| 213 |
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],
|
| 214 |
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"restore_scope": [
|
| 215 |
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"A",
|
| 216 |
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"B",
|
| 217 |
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"C"
|
| 218 |
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]
|
| 219 |
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},
|
| 220 |
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[
|
| 221 |
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"switch",
|
| 222 |
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"m36_restore_A",
|
| 223 |
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true
|
| 224 |
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],
|
| 225 |
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[
|
| 226 |
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"switch",
|
| 227 |
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"m36_restore_B",
|
| 228 |
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true
|
| 229 |
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],
|
| 230 |
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{
|
| 231 |
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"action": "submit",
|
| 232 |
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| 233 |
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"A",
|
| 234 |
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"B"
|
| 235 |
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],
|
| 236 |
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"actual": [
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| 237 |
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"A",
|
| 238 |
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"B"
|
| 239 |
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],
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"state_valid": true
|
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}
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],
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"event_timeline": [
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{
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"event": "phase_observe",
|
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"frame": 0
|
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},
|
| 248 |
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{
|
| 249 |
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"event": "phase_observe",
|
| 250 |
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"frame": 0
|
| 251 |
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},
|
| 252 |
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{
|
| 253 |
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"event": "m36_e1_initial_state_observed",
|
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|
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},
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{
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"event": "last_observable_step",
|
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"frame": 0
|
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},
|
| 260 |
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{
|
| 261 |
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"event": "m36_e1_reset_started",
|
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"frame": 0
|
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},
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| 264 |
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{
|
| 265 |
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"event": "m36_e1_reset_completed",
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| 266 |
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"frame": 75
|
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},
|
| 268 |
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{
|
| 269 |
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"event": "phase_recall",
|
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"frame": 75
|
| 271 |
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},
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{
|
| 273 |
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"event": "decision_step",
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"frame": 76
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},
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{
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"event": "submit_started",
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"frame": 379
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},
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{
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"event": "submit_completed",
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"frame": 431
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}
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],
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|
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|
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|
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{
|
| 310 |
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"key": "reset",
|
| 311 |
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"arm": "right",
|
| 312 |
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"frame": 63,
|
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|
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|
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"closed_during_press": true
|
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},
|
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{
|
| 318 |
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"key": "confirm",
|
| 319 |
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"arm": "right",
|
| 320 |
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|
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|
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|
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}
|
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],
|
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"switch_checks": [
|
| 327 |
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{
|
| 328 |
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"key": "m36_restore_A",
|
| 329 |
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"arm": "left",
|
| 330 |
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"requested_on": true,
|
| 331 |
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|
| 332 |
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|
| 333 |
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|
| 334 |
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|
| 335 |
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|
| 336 |
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|
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},
|
| 338 |
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{
|
| 339 |
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"key": "m36_restore_B",
|
| 340 |
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"arm": "left",
|
| 341 |
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"requested_on": true,
|
| 342 |
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|
| 343 |
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|
| 344 |
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|
| 345 |
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|
| 346 |
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|
| 347 |
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|
| 348 |
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}
|
| 349 |
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],
|
| 350 |
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"device_press_checks": [],
|
| 351 |
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"press_counts": {
|
| 352 |
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"reset": 1,
|
| 353 |
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|
| 354 |
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},
|
| 355 |
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|
| 356 |
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},
|
| 357 |
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"quality": {
|
| 358 |
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|
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|
| 360 |
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|
| 361 |
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|
| 362 |
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|
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"fingerprint": "a5d1dd505f29747b126f603cd4cff36ac1088a59a34f5b49b0fe771edc20ca17"
|
| 364 |
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},
|
| 365 |
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"plan_success": true,
|
| 366 |
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"replay_success": true
|
| 367 |
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}
|
| 368 |
+
],
|
| 369 |
+
"success": true
|
| 370 |
+
}
|
data/E1_base/private_records/episode000007.json
ADDED
|
@@ -0,0 +1,370 @@
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 7,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 21,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 21,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A",
|
| 20 |
+
"B"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"blue",
|
| 25 |
+
"blue",
|
| 26 |
+
"neutral"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 0,
|
| 43 |
+
"blue_count": 2,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "c020539f2da46e728525b010a647822383becfc5dd50138225f02e4b7bda1f13",
|
| 49 |
+
"episode_id": 7,
|
| 50 |
+
"seed": 1503335716
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "c020539f2da46e728525b010a647822383becfc5dd50138225f02e4b7bda1f13",
|
| 53 |
+
"bench_values": {
|
| 54 |
+
"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"A",
|
| 59 |
+
"B"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"blue",
|
| 64 |
+
"blue",
|
| 65 |
+
"neutral"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"A",
|
| 80 |
+
"B"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
1503335716
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
+
"scene": "episode",
|
| 88 |
+
"seed": 1503335716,
|
| 89 |
+
"planning_result": {
|
| 90 |
+
"success": true,
|
| 91 |
+
"task_id": "E1",
|
| 92 |
+
"branch": "train",
|
| 93 |
+
"action_log": [
|
| 94 |
+
{
|
| 95 |
+
"action": "initial_state_observed",
|
| 96 |
+
"on": [
|
| 97 |
+
"A",
|
| 98 |
+
"B"
|
| 99 |
+
],
|
| 100 |
+
"restore_scope": [
|
| 101 |
+
"A",
|
| 102 |
+
"B",
|
| 103 |
+
"C"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
[
|
| 107 |
+
"switch",
|
| 108 |
+
"m36_restore_A",
|
| 109 |
+
true
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
"switch",
|
| 113 |
+
"m36_restore_B",
|
| 114 |
+
true
|
| 115 |
+
],
|
| 116 |
+
{
|
| 117 |
+
"action": "submit",
|
| 118 |
+
"expected": [
|
| 119 |
+
"A",
|
| 120 |
+
"B"
|
| 121 |
+
],
|
| 122 |
+
"actual": [
|
| 123 |
+
"A",
|
| 124 |
+
"B"
|
| 125 |
+
],
|
| 126 |
+
"state_valid": true
|
| 127 |
+
}
|
| 128 |
+
],
|
| 129 |
+
"event_timeline": [
|
| 130 |
+
{
|
| 131 |
+
"event": "phase_observe",
|
| 132 |
+
"frame": 0
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"event": "phase_observe",
|
| 136 |
+
"frame": 0
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"event": "m36_e1_initial_state_observed",
|
| 140 |
+
"frame": 0
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"event": "last_observable_step",
|
| 144 |
+
"frame": 0
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"event": "m36_e1_reset_started",
|
| 148 |
+
"frame": 0
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"event": "m36_e1_reset_completed",
|
| 152 |
+
"frame": 0
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"event": "phase_recall",
|
| 156 |
+
"frame": 0
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"event": "decision_step",
|
| 160 |
+
"frame": 0
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"event": "submit_started",
|
| 164 |
+
"frame": 0
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"event": "submit_completed",
|
| 168 |
+
"frame": 0
|
| 169 |
+
}
|
| 170 |
+
],
|
| 171 |
+
"randomization_records": [
|
| 172 |
+
{
|
| 173 |
+
"name": "button:confirm",
|
| 174 |
+
"base_xy": [
|
| 175 |
+
0.26,
|
| 176 |
+
-0.23
|
| 177 |
+
],
|
| 178 |
+
"sampled_xy": [
|
| 179 |
+
0.25999999046325684,
|
| 180 |
+
-0.23000000417232513
|
| 181 |
+
],
|
| 182 |
+
"offset_xy": [
|
| 183 |
+
-9.536743172944284e-09,
|
| 184 |
+
-4.1723251242853365e-09
|
| 185 |
+
],
|
| 186 |
+
"yaw_degrees": 0.0,
|
| 187 |
+
"yaw_randomized": false
|
| 188 |
+
}
|
| 189 |
+
],
|
| 190 |
+
"placement_checks": [],
|
| 191 |
+
"grasp_checks": [],
|
| 192 |
+
"transport_events": [],
|
| 193 |
+
"final_scene_checks": [],
|
| 194 |
+
"button_press_checks": [],
|
| 195 |
+
"switch_checks": [],
|
| 196 |
+
"device_press_checks": [],
|
| 197 |
+
"press_counts": {
|
| 198 |
+
"reset": 1,
|
| 199 |
+
"confirm": 1
|
| 200 |
+
},
|
| 201 |
+
"p1_render_trace": []
|
| 202 |
+
},
|
| 203 |
+
"replay_result": {
|
| 204 |
+
"success": true,
|
| 205 |
+
"task_id": "E1",
|
| 206 |
+
"branch": "train",
|
| 207 |
+
"action_log": [
|
| 208 |
+
{
|
| 209 |
+
"action": "initial_state_observed",
|
| 210 |
+
"on": [
|
| 211 |
+
"A",
|
| 212 |
+
"B"
|
| 213 |
+
],
|
| 214 |
+
"restore_scope": [
|
| 215 |
+
"A",
|
| 216 |
+
"B",
|
| 217 |
+
"C"
|
| 218 |
+
]
|
| 219 |
+
},
|
| 220 |
+
[
|
| 221 |
+
"switch",
|
| 222 |
+
"m36_restore_A",
|
| 223 |
+
true
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
"switch",
|
| 227 |
+
"m36_restore_B",
|
| 228 |
+
true
|
| 229 |
+
],
|
| 230 |
+
{
|
| 231 |
+
"action": "submit",
|
| 232 |
+
"expected": [
|
| 233 |
+
"A",
|
| 234 |
+
"B"
|
| 235 |
+
],
|
| 236 |
+
"actual": [
|
| 237 |
+
"A",
|
| 238 |
+
"B"
|
| 239 |
+
],
|
| 240 |
+
"state_valid": true
|
| 241 |
+
}
|
| 242 |
+
],
|
| 243 |
+
"event_timeline": [
|
| 244 |
+
{
|
| 245 |
+
"event": "phase_observe",
|
| 246 |
+
"frame": 0
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"event": "phase_observe",
|
| 250 |
+
"frame": 0
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"event": "m36_e1_initial_state_observed",
|
| 254 |
+
"frame": 0
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"event": "last_observable_step",
|
| 258 |
+
"frame": 0
|
| 259 |
+
},
|
| 260 |
+
{
|
| 261 |
+
"event": "m36_e1_reset_started",
|
| 262 |
+
"frame": 0
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"event": "m36_e1_reset_completed",
|
| 266 |
+
"frame": 75
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"event": "phase_recall",
|
| 270 |
+
"frame": 75
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"event": "decision_step",
|
| 274 |
+
"frame": 76
|
| 275 |
+
},
|
| 276 |
+
{
|
| 277 |
+
"event": "submit_started",
|
| 278 |
+
"frame": 378
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"event": "submit_completed",
|
| 282 |
+
"frame": 430
|
| 283 |
+
}
|
| 284 |
+
],
|
| 285 |
+
"randomization_records": [
|
| 286 |
+
{
|
| 287 |
+
"name": "button:confirm",
|
| 288 |
+
"base_xy": [
|
| 289 |
+
0.26,
|
| 290 |
+
-0.23
|
| 291 |
+
],
|
| 292 |
+
"sampled_xy": [
|
| 293 |
+
0.25999999046325684,
|
| 294 |
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-0.23000000417232513
|
| 295 |
+
],
|
| 296 |
+
"offset_xy": [
|
| 297 |
+
-9.536743172944284e-09,
|
| 298 |
+
-4.1723251242853365e-09
|
| 299 |
+
],
|
| 300 |
+
"yaw_degrees": 0.0,
|
| 301 |
+
"yaw_randomized": false
|
| 302 |
+
}
|
| 303 |
+
],
|
| 304 |
+
"placement_checks": [],
|
| 305 |
+
"grasp_checks": [],
|
| 306 |
+
"transport_events": [],
|
| 307 |
+
"final_scene_checks": [],
|
| 308 |
+
"button_press_checks": [
|
| 309 |
+
{
|
| 310 |
+
"key": "reset",
|
| 311 |
+
"arm": "right",
|
| 312 |
+
"frame": 63,
|
| 313 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 314 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 315 |
+
"closed_during_press": true
|
| 316 |
+
},
|
| 317 |
+
{
|
| 318 |
+
"key": "confirm",
|
| 319 |
+
"arm": "right",
|
| 320 |
+
"frame": 418,
|
| 321 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 322 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 323 |
+
"closed_during_press": true
|
| 324 |
+
}
|
| 325 |
+
],
|
| 326 |
+
"switch_checks": [
|
| 327 |
+
{
|
| 328 |
+
"key": "m36_restore_A",
|
| 329 |
+
"arm": "left",
|
| 330 |
+
"requested_on": true,
|
| 331 |
+
"joint_reached": true,
|
| 332 |
+
"closed_gripper": true,
|
| 333 |
+
"contact_count": 17,
|
| 334 |
+
"native_joint_reached": false,
|
| 335 |
+
"latched_on_contact": true,
|
| 336 |
+
"gripper_qpos": 0.18181818181818182
|
| 337 |
+
},
|
| 338 |
+
{
|
| 339 |
+
"key": "m36_restore_B",
|
| 340 |
+
"arm": "left",
|
| 341 |
+
"requested_on": true,
|
| 342 |
+
"joint_reached": true,
|
| 343 |
+
"closed_gripper": true,
|
| 344 |
+
"contact_count": 14,
|
| 345 |
+
"native_joint_reached": false,
|
| 346 |
+
"latched_on_contact": true,
|
| 347 |
+
"gripper_qpos": 0.18181818181818182
|
| 348 |
+
}
|
| 349 |
+
],
|
| 350 |
+
"device_press_checks": [],
|
| 351 |
+
"press_counts": {
|
| 352 |
+
"reset": 1,
|
| 353 |
+
"confirm": 1
|
| 354 |
+
},
|
| 355 |
+
"p1_render_trace": []
|
| 356 |
+
},
|
| 357 |
+
"quality": {
|
| 358 |
+
"frames": 431,
|
| 359 |
+
"max_action_delta": 0.13342595100402832,
|
| 360 |
+
"arm_motion_range": 2.6353230476379395,
|
| 361 |
+
"gripper_motion_range": 1.3385307788848877,
|
| 362 |
+
"camera_payload_bytes": 194400,
|
| 363 |
+
"fingerprint": "6778f94131e7fcfb70232e7e019642c32f3841d88ca3b443d6eb0538bc3af3ac"
|
| 364 |
+
},
|
| 365 |
+
"plan_success": true,
|
| 366 |
+
"replay_success": true
|
| 367 |
+
}
|
| 368 |
+
],
|
| 369 |
+
"success": true
|
| 370 |
+
}
|
data/E1_base/private_records/episode000008.json
ADDED
|
@@ -0,0 +1,370 @@
|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 8,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 1,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 1,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"B",
|
| 20 |
+
"C"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"red",
|
| 25 |
+
"neutral",
|
| 26 |
+
"red"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 2,
|
| 43 |
+
"blue_count": 0,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "cddb49cdbcdb611fed51e31549a4754f75657138ef239c27b578ab85a41d6dcf",
|
| 49 |
+
"episode_id": 8,
|
| 50 |
+
"seed": 2059528565
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "cddb49cdbcdb611fed51e31549a4754f75657138ef239c27b578ab85a41d6dcf",
|
| 53 |
+
"bench_values": {
|
| 54 |
+
"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"B",
|
| 59 |
+
"C"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"red",
|
| 64 |
+
"neutral",
|
| 65 |
+
"red"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"B",
|
| 80 |
+
"C"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
2059528565
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
+
"scene": "episode",
|
| 88 |
+
"seed": 2059528565,
|
| 89 |
+
"planning_result": {
|
| 90 |
+
"success": true,
|
| 91 |
+
"task_id": "E1",
|
| 92 |
+
"branch": "train",
|
| 93 |
+
"action_log": [
|
| 94 |
+
{
|
| 95 |
+
"action": "initial_state_observed",
|
| 96 |
+
"on": [
|
| 97 |
+
"B",
|
| 98 |
+
"C"
|
| 99 |
+
],
|
| 100 |
+
"restore_scope": [
|
| 101 |
+
"A",
|
| 102 |
+
"B",
|
| 103 |
+
"C"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
[
|
| 107 |
+
"switch",
|
| 108 |
+
"m36_restore_B",
|
| 109 |
+
true
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
"switch",
|
| 113 |
+
"m36_restore_C",
|
| 114 |
+
true
|
| 115 |
+
],
|
| 116 |
+
{
|
| 117 |
+
"action": "submit",
|
| 118 |
+
"expected": [
|
| 119 |
+
"B",
|
| 120 |
+
"C"
|
| 121 |
+
],
|
| 122 |
+
"actual": [
|
| 123 |
+
"B",
|
| 124 |
+
"C"
|
| 125 |
+
],
|
| 126 |
+
"state_valid": true
|
| 127 |
+
}
|
| 128 |
+
],
|
| 129 |
+
"event_timeline": [
|
| 130 |
+
{
|
| 131 |
+
"event": "phase_observe",
|
| 132 |
+
"frame": 0
|
| 133 |
+
},
|
| 134 |
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{
|
| 135 |
+
"event": "phase_observe",
|
| 136 |
+
"frame": 0
|
| 137 |
+
},
|
| 138 |
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{
|
| 139 |
+
"event": "m36_e1_initial_state_observed",
|
| 140 |
+
"frame": 0
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"event": "last_observable_step",
|
| 144 |
+
"frame": 0
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"event": "m36_e1_reset_started",
|
| 148 |
+
"frame": 0
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"event": "m36_e1_reset_completed",
|
| 152 |
+
"frame": 0
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"event": "phase_recall",
|
| 156 |
+
"frame": 0
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"event": "decision_step",
|
| 160 |
+
"frame": 0
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"event": "submit_started",
|
| 164 |
+
"frame": 0
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"event": "submit_completed",
|
| 168 |
+
"frame": 0
|
| 169 |
+
}
|
| 170 |
+
],
|
| 171 |
+
"randomization_records": [
|
| 172 |
+
{
|
| 173 |
+
"name": "button:confirm",
|
| 174 |
+
"base_xy": [
|
| 175 |
+
0.26,
|
| 176 |
+
-0.23
|
| 177 |
+
],
|
| 178 |
+
"sampled_xy": [
|
| 179 |
+
0.25999999046325684,
|
| 180 |
+
-0.23000000417232513
|
| 181 |
+
],
|
| 182 |
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"offset_xy": [
|
| 183 |
+
-9.536743172944284e-09,
|
| 184 |
+
-4.1723251242853365e-09
|
| 185 |
+
],
|
| 186 |
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"yaw_degrees": 0.0,
|
| 187 |
+
"yaw_randomized": false
|
| 188 |
+
}
|
| 189 |
+
],
|
| 190 |
+
"placement_checks": [],
|
| 191 |
+
"grasp_checks": [],
|
| 192 |
+
"transport_events": [],
|
| 193 |
+
"final_scene_checks": [],
|
| 194 |
+
"button_press_checks": [],
|
| 195 |
+
"switch_checks": [],
|
| 196 |
+
"device_press_checks": [],
|
| 197 |
+
"press_counts": {
|
| 198 |
+
"reset": 1,
|
| 199 |
+
"confirm": 1
|
| 200 |
+
},
|
| 201 |
+
"p1_render_trace": []
|
| 202 |
+
},
|
| 203 |
+
"replay_result": {
|
| 204 |
+
"success": true,
|
| 205 |
+
"task_id": "E1",
|
| 206 |
+
"branch": "train",
|
| 207 |
+
"action_log": [
|
| 208 |
+
{
|
| 209 |
+
"action": "initial_state_observed",
|
| 210 |
+
"on": [
|
| 211 |
+
"B",
|
| 212 |
+
"C"
|
| 213 |
+
],
|
| 214 |
+
"restore_scope": [
|
| 215 |
+
"A",
|
| 216 |
+
"B",
|
| 217 |
+
"C"
|
| 218 |
+
]
|
| 219 |
+
},
|
| 220 |
+
[
|
| 221 |
+
"switch",
|
| 222 |
+
"m36_restore_B",
|
| 223 |
+
true
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
"switch",
|
| 227 |
+
"m36_restore_C",
|
| 228 |
+
true
|
| 229 |
+
],
|
| 230 |
+
{
|
| 231 |
+
"action": "submit",
|
| 232 |
+
"expected": [
|
| 233 |
+
"B",
|
| 234 |
+
"C"
|
| 235 |
+
],
|
| 236 |
+
"actual": [
|
| 237 |
+
"B",
|
| 238 |
+
"C"
|
| 239 |
+
],
|
| 240 |
+
"state_valid": true
|
| 241 |
+
}
|
| 242 |
+
],
|
| 243 |
+
"event_timeline": [
|
| 244 |
+
{
|
| 245 |
+
"event": "phase_observe",
|
| 246 |
+
"frame": 0
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"event": "phase_observe",
|
| 250 |
+
"frame": 0
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"event": "m36_e1_initial_state_observed",
|
| 254 |
+
"frame": 0
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"event": "last_observable_step",
|
| 258 |
+
"frame": 0
|
| 259 |
+
},
|
| 260 |
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{
|
| 261 |
+
"event": "m36_e1_reset_started",
|
| 262 |
+
"frame": 0
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"event": "m36_e1_reset_completed",
|
| 266 |
+
"frame": 75
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"event": "phase_recall",
|
| 270 |
+
"frame": 75
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"event": "decision_step",
|
| 274 |
+
"frame": 76
|
| 275 |
+
},
|
| 276 |
+
{
|
| 277 |
+
"event": "submit_started",
|
| 278 |
+
"frame": 400
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"event": "submit_completed",
|
| 282 |
+
"frame": 452
|
| 283 |
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}
|
| 284 |
+
],
|
| 285 |
+
"randomization_records": [
|
| 286 |
+
{
|
| 287 |
+
"name": "button:confirm",
|
| 288 |
+
"base_xy": [
|
| 289 |
+
0.26,
|
| 290 |
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-0.23
|
| 291 |
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],
|
| 292 |
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"sampled_xy": [
|
| 293 |
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|
| 294 |
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-0.23000000417232513
|
| 295 |
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],
|
| 296 |
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"offset_xy": [
|
| 297 |
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-9.536743172944284e-09,
|
| 298 |
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-4.1723251242853365e-09
|
| 299 |
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],
|
| 300 |
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"yaw_degrees": 0.0,
|
| 301 |
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"yaw_randomized": false
|
| 302 |
+
}
|
| 303 |
+
],
|
| 304 |
+
"placement_checks": [],
|
| 305 |
+
"grasp_checks": [],
|
| 306 |
+
"transport_events": [],
|
| 307 |
+
"final_scene_checks": [],
|
| 308 |
+
"button_press_checks": [
|
| 309 |
+
{
|
| 310 |
+
"key": "reset",
|
| 311 |
+
"arm": "right",
|
| 312 |
+
"frame": 63,
|
| 313 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 314 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 315 |
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"closed_during_press": true
|
| 316 |
+
},
|
| 317 |
+
{
|
| 318 |
+
"key": "confirm",
|
| 319 |
+
"arm": "right",
|
| 320 |
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"frame": 440,
|
| 321 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 322 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 323 |
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"closed_during_press": true
|
| 324 |
+
}
|
| 325 |
+
],
|
| 326 |
+
"switch_checks": [
|
| 327 |
+
{
|
| 328 |
+
"key": "m36_restore_B",
|
| 329 |
+
"arm": "left",
|
| 330 |
+
"requested_on": true,
|
| 331 |
+
"joint_reached": true,
|
| 332 |
+
"closed_gripper": true,
|
| 333 |
+
"contact_count": 17,
|
| 334 |
+
"native_joint_reached": false,
|
| 335 |
+
"latched_on_contact": true,
|
| 336 |
+
"gripper_qpos": 0.18181818181818182
|
| 337 |
+
},
|
| 338 |
+
{
|
| 339 |
+
"key": "m36_restore_C",
|
| 340 |
+
"arm": "left",
|
| 341 |
+
"requested_on": true,
|
| 342 |
+
"joint_reached": true,
|
| 343 |
+
"closed_gripper": true,
|
| 344 |
+
"contact_count": 18,
|
| 345 |
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"native_joint_reached": false,
|
| 346 |
+
"latched_on_contact": true,
|
| 347 |
+
"gripper_qpos": 0.19873647129332478
|
| 348 |
+
}
|
| 349 |
+
],
|
| 350 |
+
"device_press_checks": [],
|
| 351 |
+
"press_counts": {
|
| 352 |
+
"reset": 1,
|
| 353 |
+
"confirm": 1
|
| 354 |
+
},
|
| 355 |
+
"p1_render_trace": []
|
| 356 |
+
},
|
| 357 |
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"quality": {
|
| 358 |
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"frames": 453,
|
| 359 |
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"max_action_delta": 0.13720881938934326,
|
| 360 |
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"arm_motion_range": 2.973718947555426,
|
| 361 |
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"gripper_motion_range": 1.3382387161254883,
|
| 362 |
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"camera_payload_bytes": 188692,
|
| 363 |
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"fingerprint": "c12fc9d6ceabcb96eaee24b42e5b1d522f08631f5b7c9bcb16ed3ffeac9becb1"
|
| 364 |
+
},
|
| 365 |
+
"plan_success": true,
|
| 366 |
+
"replay_success": true
|
| 367 |
+
}
|
| 368 |
+
],
|
| 369 |
+
"success": true
|
| 370 |
+
}
|
data/E1_base/private_records/episode000009.json
ADDED
|
@@ -0,0 +1,370 @@
|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 9,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 24,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 24,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A",
|
| 20 |
+
"B"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"red",
|
| 25 |
+
"red",
|
| 26 |
+
"blue"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 2,
|
| 43 |
+
"blue_count": 1,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "70cba9fe354f49e5669ae605399a3c94d7697505e0839911dc317d899244979f",
|
| 49 |
+
"episode_id": 9,
|
| 50 |
+
"seed": 2104387867
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "70cba9fe354f49e5669ae605399a3c94d7697505e0839911dc317d899244979f",
|
| 53 |
+
"bench_values": {
|
| 54 |
+
"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"A",
|
| 59 |
+
"B"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"red",
|
| 64 |
+
"red",
|
| 65 |
+
"blue"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"A",
|
| 80 |
+
"B"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
2104387867
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
+
"scene": "episode",
|
| 88 |
+
"seed": 2104387867,
|
| 89 |
+
"planning_result": {
|
| 90 |
+
"success": true,
|
| 91 |
+
"task_id": "E1",
|
| 92 |
+
"branch": "train",
|
| 93 |
+
"action_log": [
|
| 94 |
+
{
|
| 95 |
+
"action": "initial_state_observed",
|
| 96 |
+
"on": [
|
| 97 |
+
"A",
|
| 98 |
+
"B"
|
| 99 |
+
],
|
| 100 |
+
"restore_scope": [
|
| 101 |
+
"A",
|
| 102 |
+
"B",
|
| 103 |
+
"C"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
[
|
| 107 |
+
"switch",
|
| 108 |
+
"m36_restore_A",
|
| 109 |
+
true
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
"switch",
|
| 113 |
+
"m36_restore_B",
|
| 114 |
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|
| 115 |
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| 116 |
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|
| 117 |
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| 118 |
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|
| 221 |
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|
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|
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| 226 |
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|
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|
data/E1_base/private_records/episode000010.json
ADDED
|
@@ -0,0 +1,370 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 10,
|
| 5 |
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"task": "E1_base",
|
| 6 |
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|
| 7 |
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"counterfactual_pair_member": "A",
|
| 8 |
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"manifest_entry": {
|
| 9 |
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"task_id": "E1_base",
|
| 10 |
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"difficulty": "base",
|
| 11 |
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"counterfactual_pair_id": 7,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
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"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
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"_runtime_task_id": "E1",
|
| 16 |
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"difficulty": "base",
|
| 17 |
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"switch_count": 3,
|
| 18 |
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"initial_on": [
|
| 19 |
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"B",
|
| 20 |
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"C"
|
| 21 |
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],
|
| 22 |
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|
| 23 |
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|
| 24 |
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"blue",
|
| 25 |
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"neutral",
|
| 26 |
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|
| 27 |
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],
|
| 28 |
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"switch_sizes": [
|
| 29 |
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|
| 30 |
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"medium",
|
| 31 |
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|
| 32 |
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],
|
| 33 |
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|
| 34 |
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|
| 35 |
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"B",
|
| 36 |
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|
| 37 |
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]
|
| 38 |
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},
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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"small_count": 0,
|
| 46 |
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|
| 47 |
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},
|
| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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},
|
| 52 |
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|
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|
| 56 |
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|
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|
| 58 |
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| 59 |
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|
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| 61 |
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|
| 63 |
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"blue",
|
| 64 |
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| 65 |
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|
| 66 |
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],
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| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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],
|
| 72 |
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|
| 73 |
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| 74 |
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|
| 75 |
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"C"
|
| 76 |
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]
|
| 77 |
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},
|
| 78 |
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"expected_answer": [
|
| 79 |
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"B",
|
| 80 |
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|
| 81 |
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],
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| 82 |
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|
| 83 |
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],
|
| 85 |
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"results": [
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| 86 |
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{
|
| 87 |
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"scene": "episode",
|
| 88 |
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"seed": 1887643838,
|
| 89 |
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|
| 90 |
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|
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|
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|
| 95 |
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|
| 99 |
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| 104 |
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| 106 |
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[
|
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|
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true
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],
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| 111 |
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[
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| 112 |
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|
| 113 |
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"m36_restore_C",
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| 114 |
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true
|
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{
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| 117 |
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],
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],
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{
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| 131 |
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| 132 |
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| 133 |
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},
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{
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{
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| 143 |
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"event": "last_observable_step",
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{
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"event": "m36_e1_reset_started",
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| 148 |
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| 150 |
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{
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| 151 |
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"event": "m36_e1_reset_completed",
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| 155 |
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| 156 |
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| 163 |
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|
| 164 |
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| 165 |
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| 166 |
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{
|
| 167 |
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| 168 |
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| 170 |
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],
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| 171 |
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| 173 |
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"name": "button:confirm",
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| 174 |
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| 188 |
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| 190 |
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| 191 |
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|
| 192 |
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| 193 |
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| 194 |
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|
| 195 |
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|
| 196 |
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| 197 |
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|
| 198 |
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| 199 |
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| 201 |
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| 202 |
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| 203 |
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|
| 204 |
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"success": true,
|
| 205 |
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"task_id": "E1",
|
| 206 |
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|
| 207 |
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| 208 |
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{
|
| 209 |
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"action": "initial_state_observed",
|
| 210 |
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"on": [
|
| 211 |
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"B",
|
| 212 |
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"C"
|
| 213 |
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],
|
| 214 |
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"restore_scope": [
|
| 215 |
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"A",
|
| 216 |
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"B",
|
| 217 |
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"C"
|
| 218 |
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]
|
| 219 |
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},
|
| 220 |
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[
|
| 221 |
+
"switch",
|
| 222 |
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"m36_restore_B",
|
| 223 |
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true
|
| 224 |
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],
|
| 225 |
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[
|
| 226 |
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"switch",
|
| 227 |
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"m36_restore_C",
|
| 228 |
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true
|
| 229 |
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],
|
| 230 |
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{
|
| 231 |
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"action": "submit",
|
| 232 |
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|
| 233 |
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"B",
|
| 234 |
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"C"
|
| 235 |
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],
|
| 236 |
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"actual": [
|
| 237 |
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"B",
|
| 238 |
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"C"
|
| 239 |
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],
|
| 240 |
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"state_valid": true
|
| 241 |
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}
|
| 242 |
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],
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| 243 |
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"event_timeline": [
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| 244 |
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{
|
| 245 |
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"event": "phase_observe",
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| 246 |
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"frame": 0
|
| 247 |
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},
|
| 248 |
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{
|
| 249 |
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"event": "phase_observe",
|
| 250 |
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"frame": 0
|
| 251 |
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},
|
| 252 |
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{
|
| 253 |
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"event": "m36_e1_initial_state_observed",
|
| 254 |
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|
| 255 |
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| 256 |
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|
| 257 |
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"event": "last_observable_step",
|
| 258 |
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"frame": 0
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},
|
| 260 |
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{
|
| 261 |
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"event": "m36_e1_reset_started",
|
| 262 |
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"frame": 0
|
| 263 |
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},
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| 264 |
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{
|
| 265 |
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"event": "m36_e1_reset_completed",
|
| 266 |
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"frame": 75
|
| 267 |
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},
|
| 268 |
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{
|
| 269 |
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| 270 |
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"frame": 75
|
| 271 |
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},
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| 272 |
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{
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| 273 |
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"event": "decision_step",
|
| 274 |
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"frame": 76
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},
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| 276 |
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{
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"event": "submit_started",
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| 278 |
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|
| 279 |
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},
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| 280 |
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{
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"event": "submit_completed",
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}
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],
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|
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|
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| 309 |
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|
| 310 |
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"key": "reset",
|
| 311 |
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"arm": "right",
|
| 312 |
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"frame": 63,
|
| 313 |
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|
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|
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|
| 316 |
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},
|
| 317 |
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{
|
| 318 |
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"key": "confirm",
|
| 319 |
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"arm": "right",
|
| 320 |
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|
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|
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|
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}
|
| 325 |
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],
|
| 326 |
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"switch_checks": [
|
| 327 |
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{
|
| 328 |
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"key": "m36_restore_B",
|
| 329 |
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"arm": "left",
|
| 330 |
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"requested_on": true,
|
| 331 |
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"joint_reached": true,
|
| 332 |
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|
| 333 |
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|
| 334 |
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|
| 335 |
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|
| 336 |
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"gripper_qpos": 0.18181818181818182
|
| 337 |
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},
|
| 338 |
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{
|
| 339 |
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"key": "m36_restore_C",
|
| 340 |
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"arm": "left",
|
| 341 |
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"requested_on": true,
|
| 342 |
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"joint_reached": true,
|
| 343 |
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"closed_gripper": true,
|
| 344 |
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|
| 345 |
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|
| 346 |
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|
| 347 |
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|
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}
|
| 349 |
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],
|
| 350 |
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|
| 351 |
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"press_counts": {
|
| 352 |
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"reset": 1,
|
| 353 |
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"confirm": 1
|
| 354 |
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},
|
| 355 |
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|
| 356 |
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},
|
| 357 |
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"quality": {
|
| 358 |
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|
| 359 |
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"max_action_delta": 0.13633966445922852,
|
| 360 |
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|
| 361 |
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|
| 362 |
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|
| 363 |
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"fingerprint": "ce4eb08aadeee8edc99722bf1b659b8423dfb63b96f90bdc8fd5bc00ba954b1c"
|
| 364 |
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},
|
| 365 |
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"plan_success": true,
|
| 366 |
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"replay_success": true
|
| 367 |
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}
|
| 368 |
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],
|
| 369 |
+
"success": true
|
| 370 |
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}
|
data/E1_base/private_records/episode000011.json
ADDED
|
@@ -0,0 +1,340 @@
|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 11,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 12,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 12,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"B"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"red",
|
| 24 |
+
"neutral",
|
| 25 |
+
"neutral"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
+
"initial_on_count": 1,
|
| 40 |
+
"pre_action_count": 0,
|
| 41 |
+
"red_count": 1,
|
| 42 |
+
"blue_count": 0,
|
| 43 |
+
"large_count": 0,
|
| 44 |
+
"small_count": 0,
|
| 45 |
+
"restore_count": 3
|
| 46 |
+
},
|
| 47 |
+
"configuration_signature": "713a207fc793861bed369afe03f1e13c16476d76ed07374c68e0d8e8c04d82ae",
|
| 48 |
+
"episode_id": 11,
|
| 49 |
+
"seed": 1411045610
|
| 50 |
+
},
|
| 51 |
+
"configuration_signature": "713a207fc793861bed369afe03f1e13c16476d76ed07374c68e0d8e8c04d82ae",
|
| 52 |
+
"bench_values": {
|
| 53 |
+
"_runtime_task_id": "E1",
|
| 54 |
+
"difficulty": "base",
|
| 55 |
+
"switch_count": 3,
|
| 56 |
+
"initial_on": [
|
| 57 |
+
"B"
|
| 58 |
+
],
|
| 59 |
+
"pre_actions": [],
|
| 60 |
+
"switch_colors": [
|
| 61 |
+
"red",
|
| 62 |
+
"neutral",
|
| 63 |
+
"neutral"
|
| 64 |
+
],
|
| 65 |
+
"switch_sizes": [
|
| 66 |
+
"medium",
|
| 67 |
+
"medium",
|
| 68 |
+
"medium"
|
| 69 |
+
],
|
| 70 |
+
"restore_labels": [
|
| 71 |
+
"A",
|
| 72 |
+
"B",
|
| 73 |
+
"C"
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"expected_answer": [
|
| 77 |
+
"B"
|
| 78 |
+
],
|
| 79 |
+
"scene_seeds": [
|
| 80 |
+
1411045610
|
| 81 |
+
],
|
| 82 |
+
"results": [
|
| 83 |
+
{
|
| 84 |
+
"scene": "episode",
|
| 85 |
+
"seed": 1411045610,
|
| 86 |
+
"planning_result": {
|
| 87 |
+
"success": true,
|
| 88 |
+
"task_id": "E1",
|
| 89 |
+
"branch": "train",
|
| 90 |
+
"action_log": [
|
| 91 |
+
{
|
| 92 |
+
"action": "initial_state_observed",
|
| 93 |
+
"on": [
|
| 94 |
+
"B"
|
| 95 |
+
],
|
| 96 |
+
"restore_scope": [
|
| 97 |
+
"A",
|
| 98 |
+
"B",
|
| 99 |
+
"C"
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
[
|
| 103 |
+
"switch",
|
| 104 |
+
"m36_restore_B",
|
| 105 |
+
true
|
| 106 |
+
],
|
| 107 |
+
{
|
| 108 |
+
"action": "submit",
|
| 109 |
+
"expected": [
|
| 110 |
+
"B"
|
| 111 |
+
],
|
| 112 |
+
"actual": [
|
| 113 |
+
"B"
|
| 114 |
+
],
|
| 115 |
+
"state_valid": true
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"event_timeline": [
|
| 119 |
+
{
|
| 120 |
+
"event": "phase_observe",
|
| 121 |
+
"frame": 0
|
| 122 |
+
},
|
| 123 |
+
{
|
| 124 |
+
"event": "phase_observe",
|
| 125 |
+
"frame": 0
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"event": "m36_e1_initial_state_observed",
|
| 129 |
+
"frame": 0
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"event": "last_observable_step",
|
| 133 |
+
"frame": 0
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"event": "m36_e1_reset_started",
|
| 137 |
+
"frame": 0
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"event": "m36_e1_reset_completed",
|
| 141 |
+
"frame": 0
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"event": "phase_recall",
|
| 145 |
+
"frame": 0
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"event": "decision_step",
|
| 149 |
+
"frame": 0
|
| 150 |
+
},
|
| 151 |
+
{
|
| 152 |
+
"event": "submit_started",
|
| 153 |
+
"frame": 0
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"event": "submit_completed",
|
| 157 |
+
"frame": 0
|
| 158 |
+
}
|
| 159 |
+
],
|
| 160 |
+
"randomization_records": [
|
| 161 |
+
{
|
| 162 |
+
"name": "button:confirm",
|
| 163 |
+
"base_xy": [
|
| 164 |
+
0.26,
|
| 165 |
+
-0.23
|
| 166 |
+
],
|
| 167 |
+
"sampled_xy": [
|
| 168 |
+
0.25999999046325684,
|
| 169 |
+
-0.23000000417232513
|
| 170 |
+
],
|
| 171 |
+
"offset_xy": [
|
| 172 |
+
-9.536743172944284e-09,
|
| 173 |
+
-4.1723251242853365e-09
|
| 174 |
+
],
|
| 175 |
+
"yaw_degrees": 0.0,
|
| 176 |
+
"yaw_randomized": false
|
| 177 |
+
}
|
| 178 |
+
],
|
| 179 |
+
"placement_checks": [],
|
| 180 |
+
"grasp_checks": [],
|
| 181 |
+
"transport_events": [],
|
| 182 |
+
"final_scene_checks": [],
|
| 183 |
+
"button_press_checks": [],
|
| 184 |
+
"switch_checks": [],
|
| 185 |
+
"device_press_checks": [],
|
| 186 |
+
"press_counts": {
|
| 187 |
+
"reset": 1,
|
| 188 |
+
"confirm": 1
|
| 189 |
+
},
|
| 190 |
+
"p1_render_trace": []
|
| 191 |
+
},
|
| 192 |
+
"replay_result": {
|
| 193 |
+
"success": true,
|
| 194 |
+
"task_id": "E1",
|
| 195 |
+
"branch": "train",
|
| 196 |
+
"action_log": [
|
| 197 |
+
{
|
| 198 |
+
"action": "initial_state_observed",
|
| 199 |
+
"on": [
|
| 200 |
+
"B"
|
| 201 |
+
],
|
| 202 |
+
"restore_scope": [
|
| 203 |
+
"A",
|
| 204 |
+
"B",
|
| 205 |
+
"C"
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
[
|
| 209 |
+
"switch",
|
| 210 |
+
"m36_restore_B",
|
| 211 |
+
true
|
| 212 |
+
],
|
| 213 |
+
{
|
| 214 |
+
"action": "submit",
|
| 215 |
+
"expected": [
|
| 216 |
+
"B"
|
| 217 |
+
],
|
| 218 |
+
"actual": [
|
| 219 |
+
"B"
|
| 220 |
+
],
|
| 221 |
+
"state_valid": true
|
| 222 |
+
}
|
| 223 |
+
],
|
| 224 |
+
"event_timeline": [
|
| 225 |
+
{
|
| 226 |
+
"event": "phase_observe",
|
| 227 |
+
"frame": 0
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"event": "phase_observe",
|
| 231 |
+
"frame": 0
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"event": "m36_e1_initial_state_observed",
|
| 235 |
+
"frame": 0
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"event": "last_observable_step",
|
| 239 |
+
"frame": 0
|
| 240 |
+
},
|
| 241 |
+
{
|
| 242 |
+
"event": "m36_e1_reset_started",
|
| 243 |
+
"frame": 0
|
| 244 |
+
},
|
| 245 |
+
{
|
| 246 |
+
"event": "m36_e1_reset_completed",
|
| 247 |
+
"frame": 75
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"event": "phase_recall",
|
| 251 |
+
"frame": 75
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"event": "decision_step",
|
| 255 |
+
"frame": 76
|
| 256 |
+
},
|
| 257 |
+
{
|
| 258 |
+
"event": "submit_started",
|
| 259 |
+
"frame": 228
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"event": "submit_completed",
|
| 263 |
+
"frame": 280
|
| 264 |
+
}
|
| 265 |
+
],
|
| 266 |
+
"randomization_records": [
|
| 267 |
+
{
|
| 268 |
+
"name": "button:confirm",
|
| 269 |
+
"base_xy": [
|
| 270 |
+
0.26,
|
| 271 |
+
-0.23
|
| 272 |
+
],
|
| 273 |
+
"sampled_xy": [
|
| 274 |
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|
| 275 |
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|
| 276 |
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],
|
| 277 |
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"offset_xy": [
|
| 278 |
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|
| 279 |
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|
| 280 |
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],
|
| 281 |
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"yaw_degrees": 0.0,
|
| 282 |
+
"yaw_randomized": false
|
| 283 |
+
}
|
| 284 |
+
],
|
| 285 |
+
"placement_checks": [],
|
| 286 |
+
"grasp_checks": [],
|
| 287 |
+
"transport_events": [],
|
| 288 |
+
"final_scene_checks": [],
|
| 289 |
+
"button_press_checks": [
|
| 290 |
+
{
|
| 291 |
+
"key": "reset",
|
| 292 |
+
"arm": "right",
|
| 293 |
+
"frame": 63,
|
| 294 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 295 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 296 |
+
"closed_during_press": true
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"key": "confirm",
|
| 300 |
+
"arm": "right",
|
| 301 |
+
"frame": 268,
|
| 302 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 303 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 304 |
+
"closed_during_press": true
|
| 305 |
+
}
|
| 306 |
+
],
|
| 307 |
+
"switch_checks": [
|
| 308 |
+
{
|
| 309 |
+
"key": "m36_restore_B",
|
| 310 |
+
"arm": "left",
|
| 311 |
+
"requested_on": true,
|
| 312 |
+
"joint_reached": true,
|
| 313 |
+
"closed_gripper": true,
|
| 314 |
+
"contact_count": 14,
|
| 315 |
+
"native_joint_reached": false,
|
| 316 |
+
"latched_on_contact": true,
|
| 317 |
+
"gripper_qpos": 0.18181818181818182
|
| 318 |
+
}
|
| 319 |
+
],
|
| 320 |
+
"device_press_checks": [],
|
| 321 |
+
"press_counts": {
|
| 322 |
+
"reset": 1,
|
| 323 |
+
"confirm": 1
|
| 324 |
+
},
|
| 325 |
+
"p1_render_trace": []
|
| 326 |
+
},
|
| 327 |
+
"quality": {
|
| 328 |
+
"frames": 281,
|
| 329 |
+
"max_action_delta": 0.13481760025024414,
|
| 330 |
+
"arm_motion_range": 2.6352858088071116,
|
| 331 |
+
"gripper_motion_range": 1.3389129638671875,
|
| 332 |
+
"camera_payload_bytes": 210142,
|
| 333 |
+
"fingerprint": "0fcf3894238fd94f8883ca616d57ae7e4163aed40ac10b772cad5d72c8154948"
|
| 334 |
+
},
|
| 335 |
+
"plan_success": true,
|
| 336 |
+
"replay_success": true
|
| 337 |
+
}
|
| 338 |
+
],
|
| 339 |
+
"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000012.json
ADDED
|
@@ -0,0 +1,340 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 12,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 10,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 10,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"C"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"blue",
|
| 24 |
+
"blue",
|
| 25 |
+
"neutral"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
+
"initial_on_count": 1,
|
| 40 |
+
"pre_action_count": 0,
|
| 41 |
+
"red_count": 0,
|
| 42 |
+
"blue_count": 2,
|
| 43 |
+
"large_count": 0,
|
| 44 |
+
"small_count": 0,
|
| 45 |
+
"restore_count": 3
|
| 46 |
+
},
|
| 47 |
+
"configuration_signature": "14087f5c1b0e5d1b050b482cbcddf0366a398a10bfa87d93d885fc63adb42848",
|
| 48 |
+
"episode_id": 12,
|
| 49 |
+
"seed": 660945095
|
| 50 |
+
},
|
| 51 |
+
"configuration_signature": "14087f5c1b0e5d1b050b482cbcddf0366a398a10bfa87d93d885fc63adb42848",
|
| 52 |
+
"bench_values": {
|
| 53 |
+
"_runtime_task_id": "E1",
|
| 54 |
+
"difficulty": "base",
|
| 55 |
+
"switch_count": 3,
|
| 56 |
+
"initial_on": [
|
| 57 |
+
"C"
|
| 58 |
+
],
|
| 59 |
+
"pre_actions": [],
|
| 60 |
+
"switch_colors": [
|
| 61 |
+
"blue",
|
| 62 |
+
"blue",
|
| 63 |
+
"neutral"
|
| 64 |
+
],
|
| 65 |
+
"switch_sizes": [
|
| 66 |
+
"medium",
|
| 67 |
+
"medium",
|
| 68 |
+
"medium"
|
| 69 |
+
],
|
| 70 |
+
"restore_labels": [
|
| 71 |
+
"A",
|
| 72 |
+
"B",
|
| 73 |
+
"C"
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"expected_answer": [
|
| 77 |
+
"C"
|
| 78 |
+
],
|
| 79 |
+
"scene_seeds": [
|
| 80 |
+
660945095
|
| 81 |
+
],
|
| 82 |
+
"results": [
|
| 83 |
+
{
|
| 84 |
+
"scene": "episode",
|
| 85 |
+
"seed": 660945095,
|
| 86 |
+
"planning_result": {
|
| 87 |
+
"success": true,
|
| 88 |
+
"task_id": "E1",
|
| 89 |
+
"branch": "train",
|
| 90 |
+
"action_log": [
|
| 91 |
+
{
|
| 92 |
+
"action": "initial_state_observed",
|
| 93 |
+
"on": [
|
| 94 |
+
"C"
|
| 95 |
+
],
|
| 96 |
+
"restore_scope": [
|
| 97 |
+
"A",
|
| 98 |
+
"B",
|
| 99 |
+
"C"
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
[
|
| 103 |
+
"switch",
|
| 104 |
+
"m36_restore_C",
|
| 105 |
+
true
|
| 106 |
+
],
|
| 107 |
+
{
|
| 108 |
+
"action": "submit",
|
| 109 |
+
"expected": [
|
| 110 |
+
"C"
|
| 111 |
+
],
|
| 112 |
+
"actual": [
|
| 113 |
+
"C"
|
| 114 |
+
],
|
| 115 |
+
"state_valid": true
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"event_timeline": [
|
| 119 |
+
{
|
| 120 |
+
"event": "phase_observe",
|
| 121 |
+
"frame": 0
|
| 122 |
+
},
|
| 123 |
+
{
|
| 124 |
+
"event": "phase_observe",
|
| 125 |
+
"frame": 0
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"event": "m36_e1_initial_state_observed",
|
| 129 |
+
"frame": 0
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"event": "last_observable_step",
|
| 133 |
+
"frame": 0
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"event": "m36_e1_reset_started",
|
| 137 |
+
"frame": 0
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"event": "m36_e1_reset_completed",
|
| 141 |
+
"frame": 0
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"event": "phase_recall",
|
| 145 |
+
"frame": 0
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"event": "decision_step",
|
| 149 |
+
"frame": 0
|
| 150 |
+
},
|
| 151 |
+
{
|
| 152 |
+
"event": "submit_started",
|
| 153 |
+
"frame": 0
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"event": "submit_completed",
|
| 157 |
+
"frame": 0
|
| 158 |
+
}
|
| 159 |
+
],
|
| 160 |
+
"randomization_records": [
|
| 161 |
+
{
|
| 162 |
+
"name": "button:confirm",
|
| 163 |
+
"base_xy": [
|
| 164 |
+
0.26,
|
| 165 |
+
-0.23
|
| 166 |
+
],
|
| 167 |
+
"sampled_xy": [
|
| 168 |
+
0.25999999046325684,
|
| 169 |
+
-0.23000000417232513
|
| 170 |
+
],
|
| 171 |
+
"offset_xy": [
|
| 172 |
+
-9.536743172944284e-09,
|
| 173 |
+
-4.1723251242853365e-09
|
| 174 |
+
],
|
| 175 |
+
"yaw_degrees": 0.0,
|
| 176 |
+
"yaw_randomized": false
|
| 177 |
+
}
|
| 178 |
+
],
|
| 179 |
+
"placement_checks": [],
|
| 180 |
+
"grasp_checks": [],
|
| 181 |
+
"transport_events": [],
|
| 182 |
+
"final_scene_checks": [],
|
| 183 |
+
"button_press_checks": [],
|
| 184 |
+
"switch_checks": [],
|
| 185 |
+
"device_press_checks": [],
|
| 186 |
+
"press_counts": {
|
| 187 |
+
"reset": 1,
|
| 188 |
+
"confirm": 1
|
| 189 |
+
},
|
| 190 |
+
"p1_render_trace": []
|
| 191 |
+
},
|
| 192 |
+
"replay_result": {
|
| 193 |
+
"success": true,
|
| 194 |
+
"task_id": "E1",
|
| 195 |
+
"branch": "train",
|
| 196 |
+
"action_log": [
|
| 197 |
+
{
|
| 198 |
+
"action": "initial_state_observed",
|
| 199 |
+
"on": [
|
| 200 |
+
"C"
|
| 201 |
+
],
|
| 202 |
+
"restore_scope": [
|
| 203 |
+
"A",
|
| 204 |
+
"B",
|
| 205 |
+
"C"
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
[
|
| 209 |
+
"switch",
|
| 210 |
+
"m36_restore_C",
|
| 211 |
+
true
|
| 212 |
+
],
|
| 213 |
+
{
|
| 214 |
+
"action": "submit",
|
| 215 |
+
"expected": [
|
| 216 |
+
"C"
|
| 217 |
+
],
|
| 218 |
+
"actual": [
|
| 219 |
+
"C"
|
| 220 |
+
],
|
| 221 |
+
"state_valid": true
|
| 222 |
+
}
|
| 223 |
+
],
|
| 224 |
+
"event_timeline": [
|
| 225 |
+
{
|
| 226 |
+
"event": "phase_observe",
|
| 227 |
+
"frame": 0
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"event": "phase_observe",
|
| 231 |
+
"frame": 0
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"event": "m36_e1_initial_state_observed",
|
| 235 |
+
"frame": 0
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"event": "last_observable_step",
|
| 239 |
+
"frame": 0
|
| 240 |
+
},
|
| 241 |
+
{
|
| 242 |
+
"event": "m36_e1_reset_started",
|
| 243 |
+
"frame": 0
|
| 244 |
+
},
|
| 245 |
+
{
|
| 246 |
+
"event": "m36_e1_reset_completed",
|
| 247 |
+
"frame": 75
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"event": "phase_recall",
|
| 251 |
+
"frame": 75
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"event": "decision_step",
|
| 255 |
+
"frame": 76
|
| 256 |
+
},
|
| 257 |
+
{
|
| 258 |
+
"event": "submit_started",
|
| 259 |
+
"frame": 247
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"event": "submit_completed",
|
| 263 |
+
"frame": 300
|
| 264 |
+
}
|
| 265 |
+
],
|
| 266 |
+
"randomization_records": [
|
| 267 |
+
{
|
| 268 |
+
"name": "button:confirm",
|
| 269 |
+
"base_xy": [
|
| 270 |
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0.26,
|
| 271 |
+
-0.23
|
| 272 |
+
],
|
| 273 |
+
"sampled_xy": [
|
| 274 |
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|
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| 276 |
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],
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| 277 |
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"offset_xy": [
|
| 278 |
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|
| 279 |
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|
| 280 |
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],
|
| 281 |
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"yaw_degrees": 0.0,
|
| 282 |
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"yaw_randomized": false
|
| 283 |
+
}
|
| 284 |
+
],
|
| 285 |
+
"placement_checks": [],
|
| 286 |
+
"grasp_checks": [],
|
| 287 |
+
"transport_events": [],
|
| 288 |
+
"final_scene_checks": [],
|
| 289 |
+
"button_press_checks": [
|
| 290 |
+
{
|
| 291 |
+
"key": "reset",
|
| 292 |
+
"arm": "right",
|
| 293 |
+
"frame": 63,
|
| 294 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 295 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 296 |
+
"closed_during_press": true
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"key": "confirm",
|
| 300 |
+
"arm": "right",
|
| 301 |
+
"frame": 288,
|
| 302 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 303 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 304 |
+
"closed_during_press": true
|
| 305 |
+
}
|
| 306 |
+
],
|
| 307 |
+
"switch_checks": [
|
| 308 |
+
{
|
| 309 |
+
"key": "m36_restore_C",
|
| 310 |
+
"arm": "left",
|
| 311 |
+
"requested_on": true,
|
| 312 |
+
"joint_reached": true,
|
| 313 |
+
"closed_gripper": true,
|
| 314 |
+
"contact_count": 18,
|
| 315 |
+
"native_joint_reached": false,
|
| 316 |
+
"latched_on_contact": true,
|
| 317 |
+
"gripper_qpos": 0.22916105897589165
|
| 318 |
+
}
|
| 319 |
+
],
|
| 320 |
+
"device_press_checks": [],
|
| 321 |
+
"press_counts": {
|
| 322 |
+
"reset": 1,
|
| 323 |
+
"confirm": 1
|
| 324 |
+
},
|
| 325 |
+
"p1_render_trace": []
|
| 326 |
+
},
|
| 327 |
+
"quality": {
|
| 328 |
+
"frames": 301,
|
| 329 |
+
"max_action_delta": 0.13473665714263916,
|
| 330 |
+
"arm_motion_range": 3.2524843718474585,
|
| 331 |
+
"gripper_motion_range": 1.3386659622192383,
|
| 332 |
+
"camera_payload_bytes": 203756,
|
| 333 |
+
"fingerprint": "b59b2fc4e0029eff2f704b9affbc6eee2902cbae58f5d15c5537764ddb82d68f"
|
| 334 |
+
},
|
| 335 |
+
"plan_success": true,
|
| 336 |
+
"replay_success": true
|
| 337 |
+
}
|
| 338 |
+
],
|
| 339 |
+
"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000013.json
ADDED
|
@@ -0,0 +1,370 @@
|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 13,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 15,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 15,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A",
|
| 20 |
+
"C"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"red",
|
| 25 |
+
"red",
|
| 26 |
+
"neutral"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 2,
|
| 43 |
+
"blue_count": 0,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "50cd9364fb51959febee2f4682f5645e559b0c311aac8b8a10faa42ce5168926",
|
| 49 |
+
"episode_id": 13,
|
| 50 |
+
"seed": 298957712
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "50cd9364fb51959febee2f4682f5645e559b0c311aac8b8a10faa42ce5168926",
|
| 53 |
+
"bench_values": {
|
| 54 |
+
"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"A",
|
| 59 |
+
"C"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"red",
|
| 64 |
+
"red",
|
| 65 |
+
"neutral"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"A",
|
| 80 |
+
"C"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
298957712
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
+
"scene": "episode",
|
| 88 |
+
"seed": 298957712,
|
| 89 |
+
"planning_result": {
|
| 90 |
+
"success": true,
|
| 91 |
+
"task_id": "E1",
|
| 92 |
+
"branch": "train",
|
| 93 |
+
"action_log": [
|
| 94 |
+
{
|
| 95 |
+
"action": "initial_state_observed",
|
| 96 |
+
"on": [
|
| 97 |
+
"A",
|
| 98 |
+
"C"
|
| 99 |
+
],
|
| 100 |
+
"restore_scope": [
|
| 101 |
+
"A",
|
| 102 |
+
"B",
|
| 103 |
+
"C"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
[
|
| 107 |
+
"switch",
|
| 108 |
+
"m36_restore_A",
|
| 109 |
+
true
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
"switch",
|
| 113 |
+
"m36_restore_C",
|
| 114 |
+
true
|
| 115 |
+
],
|
| 116 |
+
{
|
| 117 |
+
"action": "submit",
|
| 118 |
+
"expected": [
|
| 119 |
+
"A",
|
| 120 |
+
"C"
|
| 121 |
+
],
|
| 122 |
+
"actual": [
|
| 123 |
+
"A",
|
| 124 |
+
"C"
|
| 125 |
+
],
|
| 126 |
+
"state_valid": true
|
| 127 |
+
}
|
| 128 |
+
],
|
| 129 |
+
"event_timeline": [
|
| 130 |
+
{
|
| 131 |
+
"event": "phase_observe",
|
| 132 |
+
"frame": 0
|
| 133 |
+
},
|
| 134 |
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{
|
| 135 |
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"event": "phase_observe",
|
| 136 |
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"frame": 0
|
| 137 |
+
},
|
| 138 |
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{
|
| 139 |
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"event": "m36_e1_initial_state_observed",
|
| 140 |
+
"frame": 0
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"event": "last_observable_step",
|
| 144 |
+
"frame": 0
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"event": "m36_e1_reset_started",
|
| 148 |
+
"frame": 0
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"event": "m36_e1_reset_completed",
|
| 152 |
+
"frame": 0
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"event": "phase_recall",
|
| 156 |
+
"frame": 0
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"event": "decision_step",
|
| 160 |
+
"frame": 0
|
| 161 |
+
},
|
| 162 |
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{
|
| 163 |
+
"event": "submit_started",
|
| 164 |
+
"frame": 0
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"event": "submit_completed",
|
| 168 |
+
"frame": 0
|
| 169 |
+
}
|
| 170 |
+
],
|
| 171 |
+
"randomization_records": [
|
| 172 |
+
{
|
| 173 |
+
"name": "button:confirm",
|
| 174 |
+
"base_xy": [
|
| 175 |
+
0.26,
|
| 176 |
+
-0.23
|
| 177 |
+
],
|
| 178 |
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"sampled_xy": [
|
| 179 |
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0.25999999046325684,
|
| 180 |
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-0.23000000417232513
|
| 181 |
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],
|
| 182 |
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"offset_xy": [
|
| 183 |
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-9.536743172944284e-09,
|
| 184 |
+
-4.1723251242853365e-09
|
| 185 |
+
],
|
| 186 |
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"yaw_degrees": 0.0,
|
| 187 |
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"yaw_randomized": false
|
| 188 |
+
}
|
| 189 |
+
],
|
| 190 |
+
"placement_checks": [],
|
| 191 |
+
"grasp_checks": [],
|
| 192 |
+
"transport_events": [],
|
| 193 |
+
"final_scene_checks": [],
|
| 194 |
+
"button_press_checks": [],
|
| 195 |
+
"switch_checks": [],
|
| 196 |
+
"device_press_checks": [],
|
| 197 |
+
"press_counts": {
|
| 198 |
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"reset": 1,
|
| 199 |
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"confirm": 1
|
| 200 |
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},
|
| 201 |
+
"p1_render_trace": []
|
| 202 |
+
},
|
| 203 |
+
"replay_result": {
|
| 204 |
+
"success": true,
|
| 205 |
+
"task_id": "E1",
|
| 206 |
+
"branch": "train",
|
| 207 |
+
"action_log": [
|
| 208 |
+
{
|
| 209 |
+
"action": "initial_state_observed",
|
| 210 |
+
"on": [
|
| 211 |
+
"A",
|
| 212 |
+
"C"
|
| 213 |
+
],
|
| 214 |
+
"restore_scope": [
|
| 215 |
+
"A",
|
| 216 |
+
"B",
|
| 217 |
+
"C"
|
| 218 |
+
]
|
| 219 |
+
},
|
| 220 |
+
[
|
| 221 |
+
"switch",
|
| 222 |
+
"m36_restore_A",
|
| 223 |
+
true
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
"switch",
|
| 227 |
+
"m36_restore_C",
|
| 228 |
+
true
|
| 229 |
+
],
|
| 230 |
+
{
|
| 231 |
+
"action": "submit",
|
| 232 |
+
"expected": [
|
| 233 |
+
"A",
|
| 234 |
+
"C"
|
| 235 |
+
],
|
| 236 |
+
"actual": [
|
| 237 |
+
"A",
|
| 238 |
+
"C"
|
| 239 |
+
],
|
| 240 |
+
"state_valid": true
|
| 241 |
+
}
|
| 242 |
+
],
|
| 243 |
+
"event_timeline": [
|
| 244 |
+
{
|
| 245 |
+
"event": "phase_observe",
|
| 246 |
+
"frame": 0
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"event": "phase_observe",
|
| 250 |
+
"frame": 0
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"event": "m36_e1_initial_state_observed",
|
| 254 |
+
"frame": 0
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"event": "last_observable_step",
|
| 258 |
+
"frame": 0
|
| 259 |
+
},
|
| 260 |
+
{
|
| 261 |
+
"event": "m36_e1_reset_started",
|
| 262 |
+
"frame": 0
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"event": "m36_e1_reset_completed",
|
| 266 |
+
"frame": 75
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"event": "phase_recall",
|
| 270 |
+
"frame": 75
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"event": "decision_step",
|
| 274 |
+
"frame": 76
|
| 275 |
+
},
|
| 276 |
+
{
|
| 277 |
+
"event": "submit_started",
|
| 278 |
+
"frame": 399
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"event": "submit_completed",
|
| 282 |
+
"frame": 452
|
| 283 |
+
}
|
| 284 |
+
],
|
| 285 |
+
"randomization_records": [
|
| 286 |
+
{
|
| 287 |
+
"name": "button:confirm",
|
| 288 |
+
"base_xy": [
|
| 289 |
+
0.26,
|
| 290 |
+
-0.23
|
| 291 |
+
],
|
| 292 |
+
"sampled_xy": [
|
| 293 |
+
0.25999999046325684,
|
| 294 |
+
-0.23000000417232513
|
| 295 |
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],
|
| 296 |
+
"offset_xy": [
|
| 297 |
+
-9.536743172944284e-09,
|
| 298 |
+
-4.1723251242853365e-09
|
| 299 |
+
],
|
| 300 |
+
"yaw_degrees": 0.0,
|
| 301 |
+
"yaw_randomized": false
|
| 302 |
+
}
|
| 303 |
+
],
|
| 304 |
+
"placement_checks": [],
|
| 305 |
+
"grasp_checks": [],
|
| 306 |
+
"transport_events": [],
|
| 307 |
+
"final_scene_checks": [],
|
| 308 |
+
"button_press_checks": [
|
| 309 |
+
{
|
| 310 |
+
"key": "reset",
|
| 311 |
+
"arm": "right",
|
| 312 |
+
"frame": 63,
|
| 313 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 314 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 315 |
+
"closed_during_press": true
|
| 316 |
+
},
|
| 317 |
+
{
|
| 318 |
+
"key": "confirm",
|
| 319 |
+
"arm": "right",
|
| 320 |
+
"frame": 440,
|
| 321 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 322 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 323 |
+
"closed_during_press": true
|
| 324 |
+
}
|
| 325 |
+
],
|
| 326 |
+
"switch_checks": [
|
| 327 |
+
{
|
| 328 |
+
"key": "m36_restore_A",
|
| 329 |
+
"arm": "left",
|
| 330 |
+
"requested_on": true,
|
| 331 |
+
"joint_reached": true,
|
| 332 |
+
"closed_gripper": true,
|
| 333 |
+
"contact_count": 17,
|
| 334 |
+
"native_joint_reached": false,
|
| 335 |
+
"latched_on_contact": true,
|
| 336 |
+
"gripper_qpos": 0.18181818181818182
|
| 337 |
+
},
|
| 338 |
+
{
|
| 339 |
+
"key": "m36_restore_C",
|
| 340 |
+
"arm": "left",
|
| 341 |
+
"requested_on": true,
|
| 342 |
+
"joint_reached": true,
|
| 343 |
+
"closed_gripper": true,
|
| 344 |
+
"contact_count": 18,
|
| 345 |
+
"native_joint_reached": false,
|
| 346 |
+
"latched_on_contact": true,
|
| 347 |
+
"gripper_qpos": 0.19625106343830173
|
| 348 |
+
}
|
| 349 |
+
],
|
| 350 |
+
"device_press_checks": [],
|
| 351 |
+
"press_counts": {
|
| 352 |
+
"reset": 1,
|
| 353 |
+
"confirm": 1
|
| 354 |
+
},
|
| 355 |
+
"p1_render_trace": []
|
| 356 |
+
},
|
| 357 |
+
"quality": {
|
| 358 |
+
"frames": 453,
|
| 359 |
+
"max_action_delta": 0.1375133991241455,
|
| 360 |
+
"arm_motion_range": 2.9729769229888916,
|
| 361 |
+
"gripper_motion_range": 1.3390737771987915,
|
| 362 |
+
"camera_payload_bytes": 188908,
|
| 363 |
+
"fingerprint": "b86432558e687504ec05e75c39504eb39aaf8894abcf3fb827a1de319c6ca32a"
|
| 364 |
+
},
|
| 365 |
+
"plan_success": true,
|
| 366 |
+
"replay_success": true
|
| 367 |
+
}
|
| 368 |
+
],
|
| 369 |
+
"success": true
|
| 370 |
+
}
|
data/E1_base/private_records/episode000014.json
ADDED
|
@@ -0,0 +1,370 @@
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|
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|
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|
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|
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|
|
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|
|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 14,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 8,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 8,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A",
|
| 20 |
+
"B"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"blue",
|
| 25 |
+
"neutral",
|
| 26 |
+
"blue"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 0,
|
| 43 |
+
"blue_count": 2,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "5da6f4b4b05bdff34fd6d53626bbb055b142f8ba7f189ea62c50ed9cd0f0bc92",
|
| 49 |
+
"episode_id": 14,
|
| 50 |
+
"seed": 1340048122
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "5da6f4b4b05bdff34fd6d53626bbb055b142f8ba7f189ea62c50ed9cd0f0bc92",
|
| 53 |
+
"bench_values": {
|
| 54 |
+
"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"A",
|
| 59 |
+
"B"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"blue",
|
| 64 |
+
"neutral",
|
| 65 |
+
"blue"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"A",
|
| 80 |
+
"B"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
1340048122
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
+
"scene": "episode",
|
| 88 |
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|
data/E1_base/private_records/episode000015.json
ADDED
|
@@ -0,0 +1,370 @@
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 15,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 11,
|
| 7 |
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"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 11,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A",
|
| 20 |
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"C"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"neutral",
|
| 25 |
+
"blue",
|
| 26 |
+
"blue"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
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"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
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"pre_action_count": 0,
|
| 42 |
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"red_count": 0,
|
| 43 |
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"blue_count": 2,
|
| 44 |
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"large_count": 0,
|
| 45 |
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"small_count": 0,
|
| 46 |
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"restore_count": 3
|
| 47 |
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},
|
| 48 |
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"configuration_signature": "9d5e76e383ba53a38d53d85613bc893668bbc14205955f49a1fe4856e7282531",
|
| 49 |
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"episode_id": 15,
|
| 50 |
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"seed": 1702918536
|
| 51 |
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},
|
| 52 |
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"configuration_signature": "9d5e76e383ba53a38d53d85613bc893668bbc14205955f49a1fe4856e7282531",
|
| 53 |
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"bench_values": {
|
| 54 |
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"_runtime_task_id": "E1",
|
| 55 |
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"difficulty": "base",
|
| 56 |
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"switch_count": 3,
|
| 57 |
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"initial_on": [
|
| 58 |
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"A",
|
| 59 |
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"C"
|
| 60 |
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],
|
| 61 |
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"pre_actions": [],
|
| 62 |
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"switch_colors": [
|
| 63 |
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"neutral",
|
| 64 |
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"blue",
|
| 65 |
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"blue"
|
| 66 |
+
],
|
| 67 |
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"switch_sizes": [
|
| 68 |
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"medium",
|
| 69 |
+
"medium",
|
| 70 |
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"medium"
|
| 71 |
+
],
|
| 72 |
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"restore_labels": [
|
| 73 |
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"A",
|
| 74 |
+
"B",
|
| 75 |
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"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
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"A",
|
| 80 |
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"C"
|
| 81 |
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],
|
| 82 |
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"scene_seeds": [
|
| 83 |
+
1702918536
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
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{
|
| 87 |
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"scene": "episode",
|
| 88 |
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"seed": 1702918536,
|
| 89 |
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"planning_result": {
|
| 90 |
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"success": true,
|
| 91 |
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"task_id": "E1",
|
| 92 |
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"branch": "train",
|
| 93 |
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"action_log": [
|
| 94 |
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{
|
| 95 |
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"action": "initial_state_observed",
|
| 96 |
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"on": [
|
| 97 |
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"A",
|
| 98 |
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"C"
|
| 99 |
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],
|
| 100 |
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"restore_scope": [
|
| 101 |
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"A",
|
| 102 |
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"B",
|
| 103 |
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"C"
|
| 104 |
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]
|
| 105 |
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},
|
| 106 |
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[
|
| 107 |
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"switch",
|
| 108 |
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"m36_restore_A",
|
| 109 |
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true
|
| 110 |
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],
|
| 111 |
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[
|
| 112 |
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"switch",
|
| 113 |
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"m36_restore_C",
|
| 114 |
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true
|
| 115 |
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],
|
| 116 |
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{
|
| 117 |
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"action": "submit",
|
| 118 |
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"expected": [
|
| 119 |
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"A",
|
| 120 |
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"C"
|
| 121 |
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],
|
| 122 |
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"actual": [
|
| 123 |
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"A",
|
| 124 |
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"C"
|
| 125 |
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],
|
| 126 |
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"state_valid": true
|
| 127 |
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}
|
| 128 |
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],
|
| 129 |
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"event_timeline": [
|
| 130 |
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{
|
| 131 |
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"event": "phase_observe",
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| 132 |
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"frame": 0
|
| 133 |
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},
|
| 134 |
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{
|
| 135 |
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"event": "phase_observe",
|
| 136 |
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"frame": 0
|
| 137 |
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},
|
| 138 |
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{
|
| 139 |
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"event": "m36_e1_initial_state_observed",
|
| 140 |
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"frame": 0
|
| 141 |
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},
|
| 142 |
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{
|
| 143 |
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"event": "last_observable_step",
|
| 144 |
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"frame": 0
|
| 145 |
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},
|
| 146 |
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{
|
| 147 |
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"event": "m36_e1_reset_started",
|
| 148 |
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"frame": 0
|
| 149 |
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},
|
| 150 |
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{
|
| 151 |
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"event": "m36_e1_reset_completed",
|
| 152 |
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"frame": 0
|
| 153 |
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},
|
| 154 |
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{
|
| 155 |
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"event": "phase_recall",
|
| 156 |
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"frame": 0
|
| 157 |
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},
|
| 158 |
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{
|
| 159 |
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"event": "decision_step",
|
| 160 |
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"frame": 0
|
| 161 |
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},
|
| 162 |
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{
|
| 163 |
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"event": "submit_started",
|
| 164 |
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|
| 165 |
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},
|
| 166 |
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{
|
| 167 |
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"event": "submit_completed",
|
| 168 |
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"frame": 0
|
| 169 |
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}
|
| 170 |
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],
|
| 171 |
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"randomization_records": [
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| 172 |
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{
|
| 173 |
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"name": "button:confirm",
|
| 174 |
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"base_xy": [
|
| 175 |
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|
| 176 |
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|
| 177 |
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| 178 |
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"sampled_xy": [
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| 182 |
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"offset_xy": [
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| 183 |
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|
| 184 |
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|
| 185 |
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],
|
| 186 |
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"yaw_degrees": 0.0,
|
| 187 |
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"yaw_randomized": false
|
| 188 |
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}
|
| 189 |
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],
|
| 190 |
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"placement_checks": [],
|
| 191 |
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|
| 192 |
+
"transport_events": [],
|
| 193 |
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"final_scene_checks": [],
|
| 194 |
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"button_press_checks": [],
|
| 195 |
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"switch_checks": [],
|
| 196 |
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"device_press_checks": [],
|
| 197 |
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"press_counts": {
|
| 198 |
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"reset": 1,
|
| 199 |
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"confirm": 1
|
| 200 |
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},
|
| 201 |
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"p1_render_trace": []
|
| 202 |
+
},
|
| 203 |
+
"replay_result": {
|
| 204 |
+
"success": true,
|
| 205 |
+
"task_id": "E1",
|
| 206 |
+
"branch": "train",
|
| 207 |
+
"action_log": [
|
| 208 |
+
{
|
| 209 |
+
"action": "initial_state_observed",
|
| 210 |
+
"on": [
|
| 211 |
+
"A",
|
| 212 |
+
"C"
|
| 213 |
+
],
|
| 214 |
+
"restore_scope": [
|
| 215 |
+
"A",
|
| 216 |
+
"B",
|
| 217 |
+
"C"
|
| 218 |
+
]
|
| 219 |
+
},
|
| 220 |
+
[
|
| 221 |
+
"switch",
|
| 222 |
+
"m36_restore_A",
|
| 223 |
+
true
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
"switch",
|
| 227 |
+
"m36_restore_C",
|
| 228 |
+
true
|
| 229 |
+
],
|
| 230 |
+
{
|
| 231 |
+
"action": "submit",
|
| 232 |
+
"expected": [
|
| 233 |
+
"A",
|
| 234 |
+
"C"
|
| 235 |
+
],
|
| 236 |
+
"actual": [
|
| 237 |
+
"A",
|
| 238 |
+
"C"
|
| 239 |
+
],
|
| 240 |
+
"state_valid": true
|
| 241 |
+
}
|
| 242 |
+
],
|
| 243 |
+
"event_timeline": [
|
| 244 |
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{
|
| 245 |
+
"event": "phase_observe",
|
| 246 |
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"frame": 0
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"event": "phase_observe",
|
| 250 |
+
"frame": 0
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"event": "m36_e1_initial_state_observed",
|
| 254 |
+
"frame": 0
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
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"event": "last_observable_step",
|
| 258 |
+
"frame": 0
|
| 259 |
+
},
|
| 260 |
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{
|
| 261 |
+
"event": "m36_e1_reset_started",
|
| 262 |
+
"frame": 0
|
| 263 |
+
},
|
| 264 |
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{
|
| 265 |
+
"event": "m36_e1_reset_completed",
|
| 266 |
+
"frame": 75
|
| 267 |
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},
|
| 268 |
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{
|
| 269 |
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"event": "phase_recall",
|
| 270 |
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"frame": 75
|
| 271 |
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},
|
| 272 |
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{
|
| 273 |
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"event": "decision_step",
|
| 274 |
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"frame": 76
|
| 275 |
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},
|
| 276 |
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{
|
| 277 |
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"event": "submit_started",
|
| 278 |
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"frame": 396
|
| 279 |
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},
|
| 280 |
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{
|
| 281 |
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"event": "submit_completed",
|
| 282 |
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"frame": 448
|
| 283 |
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}
|
| 284 |
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],
|
| 285 |
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"randomization_records": [
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| 286 |
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{
|
| 287 |
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"name": "button:confirm",
|
| 288 |
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"base_xy": [
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| 289 |
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0.26,
|
| 290 |
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|
| 291 |
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],
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"sampled_xy": [
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|
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|
| 300 |
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"yaw_degrees": 0.0,
|
| 301 |
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"yaw_randomized": false
|
| 302 |
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}
|
| 303 |
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],
|
| 304 |
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"placement_checks": [],
|
| 305 |
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"grasp_checks": [],
|
| 306 |
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|
| 307 |
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"final_scene_checks": [],
|
| 308 |
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"button_press_checks": [
|
| 309 |
+
{
|
| 310 |
+
"key": "reset",
|
| 311 |
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"arm": "right",
|
| 312 |
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"frame": 63,
|
| 313 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 314 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 315 |
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"closed_during_press": true
|
| 316 |
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},
|
| 317 |
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{
|
| 318 |
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"key": "confirm",
|
| 319 |
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"arm": "right",
|
| 320 |
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"frame": 436,
|
| 321 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 322 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 323 |
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"closed_during_press": true
|
| 324 |
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}
|
| 325 |
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],
|
| 326 |
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"switch_checks": [
|
| 327 |
+
{
|
| 328 |
+
"key": "m36_restore_A",
|
| 329 |
+
"arm": "left",
|
| 330 |
+
"requested_on": true,
|
| 331 |
+
"joint_reached": true,
|
| 332 |
+
"closed_gripper": true,
|
| 333 |
+
"contact_count": 17,
|
| 334 |
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|
| 335 |
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"latched_on_contact": true,
|
| 336 |
+
"gripper_qpos": 0.18181818181818182
|
| 337 |
+
},
|
| 338 |
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{
|
| 339 |
+
"key": "m36_restore_C",
|
| 340 |
+
"arm": "left",
|
| 341 |
+
"requested_on": true,
|
| 342 |
+
"joint_reached": true,
|
| 343 |
+
"closed_gripper": true,
|
| 344 |
+
"contact_count": 18,
|
| 345 |
+
"native_joint_reached": false,
|
| 346 |
+
"latched_on_contact": true,
|
| 347 |
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"gripper_qpos": 0.19258497773923658
|
| 348 |
+
}
|
| 349 |
+
],
|
| 350 |
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"device_press_checks": [],
|
| 351 |
+
"press_counts": {
|
| 352 |
+
"reset": 1,
|
| 353 |
+
"confirm": 1
|
| 354 |
+
},
|
| 355 |
+
"p1_render_trace": []
|
| 356 |
+
},
|
| 357 |
+
"quality": {
|
| 358 |
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"frames": 449,
|
| 359 |
+
"max_action_delta": 0.13415539264678955,
|
| 360 |
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"arm_motion_range": 2.972999095916748,
|
| 361 |
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"gripper_motion_range": 1.3386505842208862,
|
| 362 |
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"camera_payload_bytes": 188458,
|
| 363 |
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"fingerprint": "a6683f78af0ceb4216773f5ca1d61716b5d462e67a25efba3abf55fa8488c41a"
|
| 364 |
+
},
|
| 365 |
+
"plan_success": true,
|
| 366 |
+
"replay_success": true
|
| 367 |
+
}
|
| 368 |
+
],
|
| 369 |
+
"success": true
|
| 370 |
+
}
|
data/E1_base/private_records/episode000016.json
ADDED
|
@@ -0,0 +1,370 @@
|
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|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 16,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 23,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 23,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A",
|
| 20 |
+
"C"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"neutral",
|
| 25 |
+
"blue",
|
| 26 |
+
"red"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 1,
|
| 43 |
+
"blue_count": 1,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "dae5ac2bfa22c268b0791ff6899964096c4cbf13ff118734492ba68978bd7f88",
|
| 49 |
+
"episode_id": 16,
|
| 50 |
+
"seed": 356146
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "dae5ac2bfa22c268b0791ff6899964096c4cbf13ff118734492ba68978bd7f88",
|
| 53 |
+
"bench_values": {
|
| 54 |
+
"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"A",
|
| 59 |
+
"C"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"neutral",
|
| 64 |
+
"blue",
|
| 65 |
+
"red"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"A",
|
| 80 |
+
"C"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
356146
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
+
"scene": "episode",
|
| 88 |
+
"seed": 356146,
|
| 89 |
+
"planning_result": {
|
| 90 |
+
"success": true,
|
| 91 |
+
"task_id": "E1",
|
| 92 |
+
"branch": "train",
|
| 93 |
+
"action_log": [
|
| 94 |
+
{
|
| 95 |
+
"action": "initial_state_observed",
|
| 96 |
+
"on": [
|
| 97 |
+
"A",
|
| 98 |
+
"C"
|
| 99 |
+
],
|
| 100 |
+
"restore_scope": [
|
| 101 |
+
"A",
|
| 102 |
+
"B",
|
| 103 |
+
"C"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
[
|
| 107 |
+
"switch",
|
| 108 |
+
"m36_restore_A",
|
| 109 |
+
true
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
"switch",
|
| 113 |
+
"m36_restore_C",
|
| 114 |
+
true
|
| 115 |
+
],
|
| 116 |
+
{
|
| 117 |
+
"action": "submit",
|
| 118 |
+
"expected": [
|
| 119 |
+
"A",
|
| 120 |
+
"C"
|
| 121 |
+
],
|
| 122 |
+
"actual": [
|
| 123 |
+
"A",
|
| 124 |
+
"C"
|
| 125 |
+
],
|
| 126 |
+
"state_valid": true
|
| 127 |
+
}
|
| 128 |
+
],
|
| 129 |
+
"event_timeline": [
|
| 130 |
+
{
|
| 131 |
+
"event": "phase_observe",
|
| 132 |
+
"frame": 0
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"event": "phase_observe",
|
| 136 |
+
"frame": 0
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"event": "m36_e1_initial_state_observed",
|
| 140 |
+
"frame": 0
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"event": "last_observable_step",
|
| 144 |
+
"frame": 0
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"event": "m36_e1_reset_started",
|
| 148 |
+
"frame": 0
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"event": "m36_e1_reset_completed",
|
| 152 |
+
"frame": 0
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"event": "phase_recall",
|
| 156 |
+
"frame": 0
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"event": "decision_step",
|
| 160 |
+
"frame": 0
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"event": "submit_started",
|
| 164 |
+
"frame": 0
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"event": "submit_completed",
|
| 168 |
+
"frame": 0
|
| 169 |
+
}
|
| 170 |
+
],
|
| 171 |
+
"randomization_records": [
|
| 172 |
+
{
|
| 173 |
+
"name": "button:confirm",
|
| 174 |
+
"base_xy": [
|
| 175 |
+
0.26,
|
| 176 |
+
-0.23
|
| 177 |
+
],
|
| 178 |
+
"sampled_xy": [
|
| 179 |
+
0.25999999046325684,
|
| 180 |
+
-0.23000000417232513
|
| 181 |
+
],
|
| 182 |
+
"offset_xy": [
|
| 183 |
+
-9.536743172944284e-09,
|
| 184 |
+
-4.1723251242853365e-09
|
| 185 |
+
],
|
| 186 |
+
"yaw_degrees": 0.0,
|
| 187 |
+
"yaw_randomized": false
|
| 188 |
+
}
|
| 189 |
+
],
|
| 190 |
+
"placement_checks": [],
|
| 191 |
+
"grasp_checks": [],
|
| 192 |
+
"transport_events": [],
|
| 193 |
+
"final_scene_checks": [],
|
| 194 |
+
"button_press_checks": [],
|
| 195 |
+
"switch_checks": [],
|
| 196 |
+
"device_press_checks": [],
|
| 197 |
+
"press_counts": {
|
| 198 |
+
"reset": 1,
|
| 199 |
+
"confirm": 1
|
| 200 |
+
},
|
| 201 |
+
"p1_render_trace": []
|
| 202 |
+
},
|
| 203 |
+
"replay_result": {
|
| 204 |
+
"success": true,
|
| 205 |
+
"task_id": "E1",
|
| 206 |
+
"branch": "train",
|
| 207 |
+
"action_log": [
|
| 208 |
+
{
|
| 209 |
+
"action": "initial_state_observed",
|
| 210 |
+
"on": [
|
| 211 |
+
"A",
|
| 212 |
+
"C"
|
| 213 |
+
],
|
| 214 |
+
"restore_scope": [
|
| 215 |
+
"A",
|
| 216 |
+
"B",
|
| 217 |
+
"C"
|
| 218 |
+
]
|
| 219 |
+
},
|
| 220 |
+
[
|
| 221 |
+
"switch",
|
| 222 |
+
"m36_restore_A",
|
| 223 |
+
true
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
"switch",
|
| 227 |
+
"m36_restore_C",
|
| 228 |
+
true
|
| 229 |
+
],
|
| 230 |
+
{
|
| 231 |
+
"action": "submit",
|
| 232 |
+
"expected": [
|
| 233 |
+
"A",
|
| 234 |
+
"C"
|
| 235 |
+
],
|
| 236 |
+
"actual": [
|
| 237 |
+
"A",
|
| 238 |
+
"C"
|
| 239 |
+
],
|
| 240 |
+
"state_valid": true
|
| 241 |
+
}
|
| 242 |
+
],
|
| 243 |
+
"event_timeline": [
|
| 244 |
+
{
|
| 245 |
+
"event": "phase_observe",
|
| 246 |
+
"frame": 0
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"event": "phase_observe",
|
| 250 |
+
"frame": 0
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"event": "m36_e1_initial_state_observed",
|
| 254 |
+
"frame": 0
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"event": "last_observable_step",
|
| 258 |
+
"frame": 0
|
| 259 |
+
},
|
| 260 |
+
{
|
| 261 |
+
"event": "m36_e1_reset_started",
|
| 262 |
+
"frame": 0
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"event": "m36_e1_reset_completed",
|
| 266 |
+
"frame": 75
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"event": "phase_recall",
|
| 270 |
+
"frame": 75
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"event": "decision_step",
|
| 274 |
+
"frame": 76
|
| 275 |
+
},
|
| 276 |
+
{
|
| 277 |
+
"event": "submit_started",
|
| 278 |
+
"frame": 398
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"event": "submit_completed",
|
| 282 |
+
"frame": 451
|
| 283 |
+
}
|
| 284 |
+
],
|
| 285 |
+
"randomization_records": [
|
| 286 |
+
{
|
| 287 |
+
"name": "button:confirm",
|
| 288 |
+
"base_xy": [
|
| 289 |
+
0.26,
|
| 290 |
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-0.23
|
| 291 |
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],
|
| 292 |
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"sampled_xy": [
|
| 293 |
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0.25999999046325684,
|
| 294 |
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|
| 295 |
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],
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| 296 |
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"offset_xy": [
|
| 297 |
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|
| 298 |
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| 299 |
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],
|
| 300 |
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"yaw_degrees": 0.0,
|
| 301 |
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"yaw_randomized": false
|
| 302 |
+
}
|
| 303 |
+
],
|
| 304 |
+
"placement_checks": [],
|
| 305 |
+
"grasp_checks": [],
|
| 306 |
+
"transport_events": [],
|
| 307 |
+
"final_scene_checks": [],
|
| 308 |
+
"button_press_checks": [
|
| 309 |
+
{
|
| 310 |
+
"key": "reset",
|
| 311 |
+
"arm": "right",
|
| 312 |
+
"frame": 63,
|
| 313 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 314 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 315 |
+
"closed_during_press": true
|
| 316 |
+
},
|
| 317 |
+
{
|
| 318 |
+
"key": "confirm",
|
| 319 |
+
"arm": "right",
|
| 320 |
+
"frame": 439,
|
| 321 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 322 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 323 |
+
"closed_during_press": true
|
| 324 |
+
}
|
| 325 |
+
],
|
| 326 |
+
"switch_checks": [
|
| 327 |
+
{
|
| 328 |
+
"key": "m36_restore_A",
|
| 329 |
+
"arm": "left",
|
| 330 |
+
"requested_on": true,
|
| 331 |
+
"joint_reached": true,
|
| 332 |
+
"closed_gripper": true,
|
| 333 |
+
"contact_count": 16,
|
| 334 |
+
"native_joint_reached": false,
|
| 335 |
+
"latched_on_contact": true,
|
| 336 |
+
"gripper_qpos": 0.18181818181818182
|
| 337 |
+
},
|
| 338 |
+
{
|
| 339 |
+
"key": "m36_restore_C",
|
| 340 |
+
"arm": "left",
|
| 341 |
+
"requested_on": true,
|
| 342 |
+
"joint_reached": true,
|
| 343 |
+
"closed_gripper": true,
|
| 344 |
+
"contact_count": 18,
|
| 345 |
+
"native_joint_reached": false,
|
| 346 |
+
"latched_on_contact": true,
|
| 347 |
+
"gripper_qpos": 0.19156542505052956
|
| 348 |
+
}
|
| 349 |
+
],
|
| 350 |
+
"device_press_checks": [],
|
| 351 |
+
"press_counts": {
|
| 352 |
+
"reset": 1,
|
| 353 |
+
"confirm": 1
|
| 354 |
+
},
|
| 355 |
+
"p1_render_trace": []
|
| 356 |
+
},
|
| 357 |
+
"quality": {
|
| 358 |
+
"frames": 452,
|
| 359 |
+
"max_action_delta": 0.13105881214141846,
|
| 360 |
+
"arm_motion_range": 2.972999817013374,
|
| 361 |
+
"gripper_motion_range": 1.338316798210144,
|
| 362 |
+
"camera_payload_bytes": 188482,
|
| 363 |
+
"fingerprint": "258b2c921d8aef13f59e40b49d3d71d38d8baa73828fe5be4be02265252c3b19"
|
| 364 |
+
},
|
| 365 |
+
"plan_success": true,
|
| 366 |
+
"replay_success": true
|
| 367 |
+
}
|
| 368 |
+
],
|
| 369 |
+
"success": true
|
| 370 |
+
}
|
data/E1_base/private_records/episode000017.json
ADDED
|
@@ -0,0 +1,370 @@
|
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|
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|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 17,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 18,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 18,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"B",
|
| 20 |
+
"C"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"neutral",
|
| 25 |
+
"blue",
|
| 26 |
+
"blue"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 0,
|
| 43 |
+
"blue_count": 2,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "82dc83740c27cd09e4e7deef24d829036aa1e7f8429d0d044daea2002719f02a",
|
| 49 |
+
"episode_id": 17,
|
| 50 |
+
"seed": 497033108
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "82dc83740c27cd09e4e7deef24d829036aa1e7f8429d0d044daea2002719f02a",
|
| 53 |
+
"bench_values": {
|
| 54 |
+
"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"B",
|
| 59 |
+
"C"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"neutral",
|
| 64 |
+
"blue",
|
| 65 |
+
"blue"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"B",
|
| 80 |
+
"C"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
497033108
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
+
"scene": "episode",
|
| 88 |
+
"seed": 497033108,
|
| 89 |
+
"planning_result": {
|
| 90 |
+
"success": true,
|
| 91 |
+
"task_id": "E1",
|
| 92 |
+
"branch": "train",
|
| 93 |
+
"action_log": [
|
| 94 |
+
{
|
| 95 |
+
"action": "initial_state_observed",
|
| 96 |
+
"on": [
|
| 97 |
+
"B",
|
| 98 |
+
"C"
|
| 99 |
+
],
|
| 100 |
+
"restore_scope": [
|
| 101 |
+
"A",
|
| 102 |
+
"B",
|
| 103 |
+
"C"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
[
|
| 107 |
+
"switch",
|
| 108 |
+
"m36_restore_B",
|
| 109 |
+
true
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
"switch",
|
| 113 |
+
"m36_restore_C",
|
| 114 |
+
true
|
| 115 |
+
],
|
| 116 |
+
{
|
| 117 |
+
"action": "submit",
|
| 118 |
+
"expected": [
|
| 119 |
+
"B",
|
| 120 |
+
"C"
|
| 121 |
+
],
|
| 122 |
+
"actual": [
|
| 123 |
+
"B",
|
| 124 |
+
"C"
|
| 125 |
+
],
|
| 126 |
+
"state_valid": true
|
| 127 |
+
}
|
| 128 |
+
],
|
| 129 |
+
"event_timeline": [
|
| 130 |
+
{
|
| 131 |
+
"event": "phase_observe",
|
| 132 |
+
"frame": 0
|
| 133 |
+
},
|
| 134 |
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{
|
| 135 |
+
"event": "phase_observe",
|
| 136 |
+
"frame": 0
|
| 137 |
+
},
|
| 138 |
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{
|
| 139 |
+
"event": "m36_e1_initial_state_observed",
|
| 140 |
+
"frame": 0
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"event": "last_observable_step",
|
| 144 |
+
"frame": 0
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"event": "m36_e1_reset_started",
|
| 148 |
+
"frame": 0
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"event": "m36_e1_reset_completed",
|
| 152 |
+
"frame": 0
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"event": "phase_recall",
|
| 156 |
+
"frame": 0
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"event": "decision_step",
|
| 160 |
+
"frame": 0
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"event": "submit_started",
|
| 164 |
+
"frame": 0
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"event": "submit_completed",
|
| 168 |
+
"frame": 0
|
| 169 |
+
}
|
| 170 |
+
],
|
| 171 |
+
"randomization_records": [
|
| 172 |
+
{
|
| 173 |
+
"name": "button:confirm",
|
| 174 |
+
"base_xy": [
|
| 175 |
+
0.26,
|
| 176 |
+
-0.23
|
| 177 |
+
],
|
| 178 |
+
"sampled_xy": [
|
| 179 |
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0.25999999046325684,
|
| 180 |
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-0.23000000417232513
|
| 181 |
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],
|
| 182 |
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"offset_xy": [
|
| 183 |
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-9.536743172944284e-09,
|
| 184 |
+
-4.1723251242853365e-09
|
| 185 |
+
],
|
| 186 |
+
"yaw_degrees": 0.0,
|
| 187 |
+
"yaw_randomized": false
|
| 188 |
+
}
|
| 189 |
+
],
|
| 190 |
+
"placement_checks": [],
|
| 191 |
+
"grasp_checks": [],
|
| 192 |
+
"transport_events": [],
|
| 193 |
+
"final_scene_checks": [],
|
| 194 |
+
"button_press_checks": [],
|
| 195 |
+
"switch_checks": [],
|
| 196 |
+
"device_press_checks": [],
|
| 197 |
+
"press_counts": {
|
| 198 |
+
"reset": 1,
|
| 199 |
+
"confirm": 1
|
| 200 |
+
},
|
| 201 |
+
"p1_render_trace": []
|
| 202 |
+
},
|
| 203 |
+
"replay_result": {
|
| 204 |
+
"success": true,
|
| 205 |
+
"task_id": "E1",
|
| 206 |
+
"branch": "train",
|
| 207 |
+
"action_log": [
|
| 208 |
+
{
|
| 209 |
+
"action": "initial_state_observed",
|
| 210 |
+
"on": [
|
| 211 |
+
"B",
|
| 212 |
+
"C"
|
| 213 |
+
],
|
| 214 |
+
"restore_scope": [
|
| 215 |
+
"A",
|
| 216 |
+
"B",
|
| 217 |
+
"C"
|
| 218 |
+
]
|
| 219 |
+
},
|
| 220 |
+
[
|
| 221 |
+
"switch",
|
| 222 |
+
"m36_restore_B",
|
| 223 |
+
true
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
"switch",
|
| 227 |
+
"m36_restore_C",
|
| 228 |
+
true
|
| 229 |
+
],
|
| 230 |
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{
|
| 231 |
+
"action": "submit",
|
| 232 |
+
"expected": [
|
| 233 |
+
"B",
|
| 234 |
+
"C"
|
| 235 |
+
],
|
| 236 |
+
"actual": [
|
| 237 |
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"B",
|
| 238 |
+
"C"
|
| 239 |
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],
|
| 240 |
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"state_valid": true
|
| 241 |
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}
|
| 242 |
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],
|
| 243 |
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"event_timeline": [
|
| 244 |
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{
|
| 245 |
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"event": "phase_observe",
|
| 246 |
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"frame": 0
|
| 247 |
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},
|
| 248 |
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{
|
| 249 |
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"event": "phase_observe",
|
| 250 |
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"frame": 0
|
| 251 |
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},
|
| 252 |
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{
|
| 253 |
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"event": "m36_e1_initial_state_observed",
|
| 254 |
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"frame": 0
|
| 255 |
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},
|
| 256 |
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{
|
| 257 |
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"event": "last_observable_step",
|
| 258 |
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"frame": 0
|
| 259 |
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},
|
| 260 |
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{
|
| 261 |
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"event": "m36_e1_reset_started",
|
| 262 |
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"frame": 0
|
| 263 |
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},
|
| 264 |
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{
|
| 265 |
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"event": "m36_e1_reset_completed",
|
| 266 |
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"frame": 75
|
| 267 |
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},
|
| 268 |
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{
|
| 269 |
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"event": "phase_recall",
|
| 270 |
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"frame": 75
|
| 271 |
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},
|
| 272 |
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{
|
| 273 |
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"event": "decision_step",
|
| 274 |
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"frame": 76
|
| 275 |
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},
|
| 276 |
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{
|
| 277 |
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"event": "submit_started",
|
| 278 |
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"frame": 399
|
| 279 |
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},
|
| 280 |
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{
|
| 281 |
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"event": "submit_completed",
|
| 282 |
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"frame": 451
|
| 283 |
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}
|
| 284 |
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],
|
| 285 |
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"randomization_records": [
|
| 286 |
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{
|
| 287 |
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"name": "button:confirm",
|
| 288 |
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"base_xy": [
|
| 289 |
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0.26,
|
| 290 |
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|
| 291 |
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],
|
| 292 |
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"sampled_xy": [
|
| 293 |
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|
| 294 |
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|
| 295 |
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| 296 |
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"offset_xy": [
|
| 297 |
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|
| 298 |
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|
| 299 |
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],
|
| 300 |
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"yaw_degrees": 0.0,
|
| 301 |
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"yaw_randomized": false
|
| 302 |
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}
|
| 303 |
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],
|
| 304 |
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"placement_checks": [],
|
| 305 |
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"grasp_checks": [],
|
| 306 |
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"transport_events": [],
|
| 307 |
+
"final_scene_checks": [],
|
| 308 |
+
"button_press_checks": [
|
| 309 |
+
{
|
| 310 |
+
"key": "reset",
|
| 311 |
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"arm": "right",
|
| 312 |
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"frame": 63,
|
| 313 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 314 |
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|
| 315 |
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"closed_during_press": true
|
| 316 |
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},
|
| 317 |
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{
|
| 318 |
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"key": "confirm",
|
| 319 |
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"arm": "right",
|
| 320 |
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"frame": 439,
|
| 321 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 322 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 323 |
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"closed_during_press": true
|
| 324 |
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}
|
| 325 |
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],
|
| 326 |
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"switch_checks": [
|
| 327 |
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{
|
| 328 |
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"key": "m36_restore_B",
|
| 329 |
+
"arm": "left",
|
| 330 |
+
"requested_on": true,
|
| 331 |
+
"joint_reached": true,
|
| 332 |
+
"closed_gripper": true,
|
| 333 |
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"contact_count": 12,
|
| 334 |
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"native_joint_reached": false,
|
| 335 |
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"latched_on_contact": true,
|
| 336 |
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"gripper_qpos": 0.18181818181818182
|
| 337 |
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},
|
| 338 |
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{
|
| 339 |
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"key": "m36_restore_C",
|
| 340 |
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"arm": "left",
|
| 341 |
+
"requested_on": true,
|
| 342 |
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"joint_reached": true,
|
| 343 |
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"closed_gripper": true,
|
| 344 |
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"contact_count": 18,
|
| 345 |
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"native_joint_reached": false,
|
| 346 |
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"latched_on_contact": true,
|
| 347 |
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"gripper_qpos": 0.19637105376882988
|
| 348 |
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}
|
| 349 |
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],
|
| 350 |
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"device_press_checks": [],
|
| 351 |
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"press_counts": {
|
| 352 |
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"reset": 1,
|
| 353 |
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"confirm": 1
|
| 354 |
+
},
|
| 355 |
+
"p1_render_trace": []
|
| 356 |
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},
|
| 357 |
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"quality": {
|
| 358 |
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"frames": 452,
|
| 359 |
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"max_action_delta": 0.13846731185913086,
|
| 360 |
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"arm_motion_range": 2.9738286201018127,
|
| 361 |
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"gripper_motion_range": 1.3384759426116943,
|
| 362 |
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"camera_payload_bytes": 188383,
|
| 363 |
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"fingerprint": "6896b039850935fe3a15fecfee5433c7147c4c92a206f637e10564ed74aac72d"
|
| 364 |
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},
|
| 365 |
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"plan_success": true,
|
| 366 |
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"replay_success": true
|
| 367 |
+
}
|
| 368 |
+
],
|
| 369 |
+
"success": true
|
| 370 |
+
}
|
data/E1_base/private_records/episode000018.json
ADDED
|
@@ -0,0 +1,340 @@
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|
|
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|
|
|
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|
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|
|
|
|
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|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
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|
|
|
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|
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|
|
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|
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|
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|
|
|
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|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 18,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 6,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 6,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"red",
|
| 24 |
+
"red",
|
| 25 |
+
"neutral"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
+
"initial_on_count": 1,
|
| 40 |
+
"pre_action_count": 0,
|
| 41 |
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"red_count": 2,
|
| 42 |
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"blue_count": 0,
|
| 43 |
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"large_count": 0,
|
| 44 |
+
"small_count": 0,
|
| 45 |
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"restore_count": 3
|
| 46 |
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},
|
| 47 |
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"configuration_signature": "c37cbb49e22005625b7a0d68981168d59f333f1ec6e3e1be25fecc88b5149877",
|
| 48 |
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"episode_id": 18,
|
| 49 |
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"seed": 138471827
|
| 50 |
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},
|
| 51 |
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"configuration_signature": "c37cbb49e22005625b7a0d68981168d59f333f1ec6e3e1be25fecc88b5149877",
|
| 52 |
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"bench_values": {
|
| 53 |
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"_runtime_task_id": "E1",
|
| 54 |
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"difficulty": "base",
|
| 55 |
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"switch_count": 3,
|
| 56 |
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"initial_on": [
|
| 57 |
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"A"
|
| 58 |
+
],
|
| 59 |
+
"pre_actions": [],
|
| 60 |
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"switch_colors": [
|
| 61 |
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"red",
|
| 62 |
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"red",
|
| 63 |
+
"neutral"
|
| 64 |
+
],
|
| 65 |
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"switch_sizes": [
|
| 66 |
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"medium",
|
| 67 |
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"medium",
|
| 68 |
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"medium"
|
| 69 |
+
],
|
| 70 |
+
"restore_labels": [
|
| 71 |
+
"A",
|
| 72 |
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"B",
|
| 73 |
+
"C"
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"expected_answer": [
|
| 77 |
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"A"
|
| 78 |
+
],
|
| 79 |
+
"scene_seeds": [
|
| 80 |
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138471827
|
| 81 |
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],
|
| 82 |
+
"results": [
|
| 83 |
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{
|
| 84 |
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"scene": "episode",
|
| 85 |
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"seed": 138471827,
|
| 86 |
+
"planning_result": {
|
| 87 |
+
"success": true,
|
| 88 |
+
"task_id": "E1",
|
| 89 |
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"branch": "train",
|
| 90 |
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"action_log": [
|
| 91 |
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{
|
| 92 |
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"action": "initial_state_observed",
|
| 93 |
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"on": [
|
| 94 |
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"A"
|
| 95 |
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],
|
| 96 |
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"restore_scope": [
|
| 97 |
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"A",
|
| 98 |
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"B",
|
| 99 |
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"C"
|
| 100 |
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]
|
| 101 |
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},
|
| 102 |
+
[
|
| 103 |
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"switch",
|
| 104 |
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"m36_restore_A",
|
| 105 |
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true
|
| 106 |
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],
|
| 107 |
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{
|
| 108 |
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"action": "submit",
|
| 109 |
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"expected": [
|
| 110 |
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"A"
|
| 111 |
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],
|
| 112 |
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|
| 113 |
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|
| 114 |
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],
|
| 115 |
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"state_valid": true
|
| 116 |
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}
|
| 117 |
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],
|
| 118 |
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|
| 119 |
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{
|
| 120 |
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"event": "phase_observe",
|
| 121 |
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|
| 122 |
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|
| 123 |
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{
|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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{
|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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{
|
| 132 |
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"event": "last_observable_step",
|
| 133 |
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|
| 134 |
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|
| 135 |
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{
|
| 136 |
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|
| 137 |
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|
| 138 |
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},
|
| 139 |
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{
|
| 140 |
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"event": "m36_e1_reset_completed",
|
| 141 |
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"frame": 0
|
| 142 |
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|
| 143 |
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|
| 144 |
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"event": "phase_recall",
|
| 145 |
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"frame": 0
|
| 146 |
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|
| 147 |
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{
|
| 148 |
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"event": "decision_step",
|
| 149 |
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|
| 150 |
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},
|
| 151 |
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{
|
| 152 |
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"event": "submit_started",
|
| 153 |
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"frame": 0
|
| 154 |
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},
|
| 155 |
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{
|
| 156 |
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"event": "submit_completed",
|
| 157 |
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"frame": 0
|
| 158 |
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}
|
| 159 |
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],
|
| 160 |
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"randomization_records": [
|
| 161 |
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{
|
| 162 |
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"name": "button:confirm",
|
| 163 |
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"base_xy": [
|
| 164 |
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|
| 165 |
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|
| 166 |
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| 172 |
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|
| 173 |
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|
| 174 |
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],
|
| 175 |
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"yaw_degrees": 0.0,
|
| 176 |
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|
| 177 |
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}
|
| 178 |
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],
|
| 179 |
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"placement_checks": [],
|
| 180 |
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|
| 181 |
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"transport_events": [],
|
| 182 |
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|
| 183 |
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"button_press_checks": [],
|
| 184 |
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"switch_checks": [],
|
| 185 |
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"device_press_checks": [],
|
| 186 |
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"press_counts": {
|
| 187 |
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"reset": 1,
|
| 188 |
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"confirm": 1
|
| 189 |
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},
|
| 190 |
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"p1_render_trace": []
|
| 191 |
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},
|
| 192 |
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"replay_result": {
|
| 193 |
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"success": true,
|
| 194 |
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"task_id": "E1",
|
| 195 |
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"branch": "train",
|
| 196 |
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"action_log": [
|
| 197 |
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{
|
| 198 |
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"action": "initial_state_observed",
|
| 199 |
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"on": [
|
| 200 |
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"A"
|
| 201 |
+
],
|
| 202 |
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"restore_scope": [
|
| 203 |
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"A",
|
| 204 |
+
"B",
|
| 205 |
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"C"
|
| 206 |
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]
|
| 207 |
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},
|
| 208 |
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[
|
| 209 |
+
"switch",
|
| 210 |
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"m36_restore_A",
|
| 211 |
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true
|
| 212 |
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],
|
| 213 |
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{
|
| 214 |
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"action": "submit",
|
| 215 |
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"expected": [
|
| 216 |
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|
| 217 |
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],
|
| 218 |
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"actual": [
|
| 219 |
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|
| 220 |
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],
|
| 221 |
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|
| 222 |
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}
|
| 223 |
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],
|
| 224 |
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"event_timeline": [
|
| 225 |
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{
|
| 226 |
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"event": "phase_observe",
|
| 227 |
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|
| 228 |
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},
|
| 229 |
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{
|
| 230 |
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"event": "phase_observe",
|
| 231 |
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|
| 232 |
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},
|
| 233 |
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{
|
| 234 |
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"event": "m36_e1_initial_state_observed",
|
| 235 |
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"frame": 0
|
| 236 |
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},
|
| 237 |
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{
|
| 238 |
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"event": "last_observable_step",
|
| 239 |
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"frame": 0
|
| 240 |
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},
|
| 241 |
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{
|
| 242 |
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"event": "m36_e1_reset_started",
|
| 243 |
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"frame": 0
|
| 244 |
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},
|
| 245 |
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{
|
| 246 |
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"event": "m36_e1_reset_completed",
|
| 247 |
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"frame": 75
|
| 248 |
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},
|
| 249 |
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{
|
| 250 |
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"event": "phase_recall",
|
| 251 |
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"frame": 75
|
| 252 |
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},
|
| 253 |
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{
|
| 254 |
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"event": "decision_step",
|
| 255 |
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|
| 256 |
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| 257 |
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{
|
| 258 |
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"event": "submit_started",
|
| 259 |
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"frame": 225
|
| 260 |
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| 261 |
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{
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| 262 |
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}
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| 265 |
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],
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| 266 |
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|
| 268 |
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"name": "button:confirm",
|
| 269 |
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|
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|
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|
| 283 |
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|
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],
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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{
|
| 291 |
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"key": "reset",
|
| 292 |
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|
| 293 |
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"frame": 63,
|
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|
| 295 |
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|
| 296 |
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|
| 297 |
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},
|
| 298 |
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{
|
| 299 |
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"key": "confirm",
|
| 300 |
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"arm": "right",
|
| 301 |
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"frame": 266,
|
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|
| 303 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 304 |
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"closed_during_press": true
|
| 305 |
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}
|
| 306 |
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],
|
| 307 |
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"switch_checks": [
|
| 308 |
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{
|
| 309 |
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"key": "m36_restore_A",
|
| 310 |
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"arm": "left",
|
| 311 |
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"requested_on": true,
|
| 312 |
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"joint_reached": true,
|
| 313 |
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"closed_gripper": true,
|
| 314 |
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|
| 315 |
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|
| 316 |
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"latched_on_contact": true,
|
| 317 |
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}
|
| 319 |
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],
|
| 320 |
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"device_press_checks": [],
|
| 321 |
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"press_counts": {
|
| 322 |
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"reset": 1,
|
| 323 |
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"confirm": 1
|
| 324 |
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},
|
| 325 |
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"p1_render_trace": []
|
| 326 |
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},
|
| 327 |
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"quality": {
|
| 328 |
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|
| 329 |
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|
| 330 |
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|
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|
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|
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"fingerprint": "6cbbd02bcb1c1fca5e68e59eff18e147457345ec79cabf589401d0ca4d702a09"
|
| 334 |
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},
|
| 335 |
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"plan_success": true,
|
| 336 |
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"replay_success": true
|
| 337 |
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}
|
| 338 |
+
],
|
| 339 |
+
"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000019.json
ADDED
|
@@ -0,0 +1,370 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 19,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 17,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 17,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A",
|
| 20 |
+
"C"
|
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|
data/E1_base/private_records/episode000020.json
ADDED
|
@@ -0,0 +1,340 @@
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
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|
|
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|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
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|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 20,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 5,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 5,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"C"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"red",
|
| 24 |
+
"neutral",
|
| 25 |
+
"neutral"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
+
"initial_on_count": 1,
|
| 40 |
+
"pre_action_count": 0,
|
| 41 |
+
"red_count": 1,
|
| 42 |
+
"blue_count": 0,
|
| 43 |
+
"large_count": 0,
|
| 44 |
+
"small_count": 0,
|
| 45 |
+
"restore_count": 3
|
| 46 |
+
},
|
| 47 |
+
"configuration_signature": "a84f0247e139aac896c97692f652d9605f64f3fa7551ec3e6fe998f157c8ddd5",
|
| 48 |
+
"episode_id": 20,
|
| 49 |
+
"seed": 1898128794
|
| 50 |
+
},
|
| 51 |
+
"configuration_signature": "a84f0247e139aac896c97692f652d9605f64f3fa7551ec3e6fe998f157c8ddd5",
|
| 52 |
+
"bench_values": {
|
| 53 |
+
"_runtime_task_id": "E1",
|
| 54 |
+
"difficulty": "base",
|
| 55 |
+
"switch_count": 3,
|
| 56 |
+
"initial_on": [
|
| 57 |
+
"C"
|
| 58 |
+
],
|
| 59 |
+
"pre_actions": [],
|
| 60 |
+
"switch_colors": [
|
| 61 |
+
"red",
|
| 62 |
+
"neutral",
|
| 63 |
+
"neutral"
|
| 64 |
+
],
|
| 65 |
+
"switch_sizes": [
|
| 66 |
+
"medium",
|
| 67 |
+
"medium",
|
| 68 |
+
"medium"
|
| 69 |
+
],
|
| 70 |
+
"restore_labels": [
|
| 71 |
+
"A",
|
| 72 |
+
"B",
|
| 73 |
+
"C"
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"expected_answer": [
|
| 77 |
+
"C"
|
| 78 |
+
],
|
| 79 |
+
"scene_seeds": [
|
| 80 |
+
1898128794
|
| 81 |
+
],
|
| 82 |
+
"results": [
|
| 83 |
+
{
|
| 84 |
+
"scene": "episode",
|
| 85 |
+
"seed": 1898128794,
|
| 86 |
+
"planning_result": {
|
| 87 |
+
"success": true,
|
| 88 |
+
"task_id": "E1",
|
| 89 |
+
"branch": "train",
|
| 90 |
+
"action_log": [
|
| 91 |
+
{
|
| 92 |
+
"action": "initial_state_observed",
|
| 93 |
+
"on": [
|
| 94 |
+
"C"
|
| 95 |
+
],
|
| 96 |
+
"restore_scope": [
|
| 97 |
+
"A",
|
| 98 |
+
"B",
|
| 99 |
+
"C"
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
[
|
| 103 |
+
"switch",
|
| 104 |
+
"m36_restore_C",
|
| 105 |
+
true
|
| 106 |
+
],
|
| 107 |
+
{
|
| 108 |
+
"action": "submit",
|
| 109 |
+
"expected": [
|
| 110 |
+
"C"
|
| 111 |
+
],
|
| 112 |
+
"actual": [
|
| 113 |
+
"C"
|
| 114 |
+
],
|
| 115 |
+
"state_valid": true
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"event_timeline": [
|
| 119 |
+
{
|
| 120 |
+
"event": "phase_observe",
|
| 121 |
+
"frame": 0
|
| 122 |
+
},
|
| 123 |
+
{
|
| 124 |
+
"event": "phase_observe",
|
| 125 |
+
"frame": 0
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"event": "m36_e1_initial_state_observed",
|
| 129 |
+
"frame": 0
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"event": "last_observable_step",
|
| 133 |
+
"frame": 0
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"event": "m36_e1_reset_started",
|
| 137 |
+
"frame": 0
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"event": "m36_e1_reset_completed",
|
| 141 |
+
"frame": 0
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"event": "phase_recall",
|
| 145 |
+
"frame": 0
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"event": "decision_step",
|
| 149 |
+
"frame": 0
|
| 150 |
+
},
|
| 151 |
+
{
|
| 152 |
+
"event": "submit_started",
|
| 153 |
+
"frame": 0
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"event": "submit_completed",
|
| 157 |
+
"frame": 0
|
| 158 |
+
}
|
| 159 |
+
],
|
| 160 |
+
"randomization_records": [
|
| 161 |
+
{
|
| 162 |
+
"name": "button:confirm",
|
| 163 |
+
"base_xy": [
|
| 164 |
+
0.26,
|
| 165 |
+
-0.23
|
| 166 |
+
],
|
| 167 |
+
"sampled_xy": [
|
| 168 |
+
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|
| 169 |
+
-0.23000000417232513
|
| 170 |
+
],
|
| 171 |
+
"offset_xy": [
|
| 172 |
+
-9.536743172944284e-09,
|
| 173 |
+
-4.1723251242853365e-09
|
| 174 |
+
],
|
| 175 |
+
"yaw_degrees": 0.0,
|
| 176 |
+
"yaw_randomized": false
|
| 177 |
+
}
|
| 178 |
+
],
|
| 179 |
+
"placement_checks": [],
|
| 180 |
+
"grasp_checks": [],
|
| 181 |
+
"transport_events": [],
|
| 182 |
+
"final_scene_checks": [],
|
| 183 |
+
"button_press_checks": [],
|
| 184 |
+
"switch_checks": [],
|
| 185 |
+
"device_press_checks": [],
|
| 186 |
+
"press_counts": {
|
| 187 |
+
"reset": 1,
|
| 188 |
+
"confirm": 1
|
| 189 |
+
},
|
| 190 |
+
"p1_render_trace": []
|
| 191 |
+
},
|
| 192 |
+
"replay_result": {
|
| 193 |
+
"success": true,
|
| 194 |
+
"task_id": "E1",
|
| 195 |
+
"branch": "train",
|
| 196 |
+
"action_log": [
|
| 197 |
+
{
|
| 198 |
+
"action": "initial_state_observed",
|
| 199 |
+
"on": [
|
| 200 |
+
"C"
|
| 201 |
+
],
|
| 202 |
+
"restore_scope": [
|
| 203 |
+
"A",
|
| 204 |
+
"B",
|
| 205 |
+
"C"
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
[
|
| 209 |
+
"switch",
|
| 210 |
+
"m36_restore_C",
|
| 211 |
+
true
|
| 212 |
+
],
|
| 213 |
+
{
|
| 214 |
+
"action": "submit",
|
| 215 |
+
"expected": [
|
| 216 |
+
"C"
|
| 217 |
+
],
|
| 218 |
+
"actual": [
|
| 219 |
+
"C"
|
| 220 |
+
],
|
| 221 |
+
"state_valid": true
|
| 222 |
+
}
|
| 223 |
+
],
|
| 224 |
+
"event_timeline": [
|
| 225 |
+
{
|
| 226 |
+
"event": "phase_observe",
|
| 227 |
+
"frame": 0
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"event": "phase_observe",
|
| 231 |
+
"frame": 0
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"event": "m36_e1_initial_state_observed",
|
| 235 |
+
"frame": 0
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"event": "last_observable_step",
|
| 239 |
+
"frame": 0
|
| 240 |
+
},
|
| 241 |
+
{
|
| 242 |
+
"event": "m36_e1_reset_started",
|
| 243 |
+
"frame": 0
|
| 244 |
+
},
|
| 245 |
+
{
|
| 246 |
+
"event": "m36_e1_reset_completed",
|
| 247 |
+
"frame": 75
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"event": "phase_recall",
|
| 251 |
+
"frame": 75
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"event": "decision_step",
|
| 255 |
+
"frame": 76
|
| 256 |
+
},
|
| 257 |
+
{
|
| 258 |
+
"event": "submit_started",
|
| 259 |
+
"frame": 248
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"event": "submit_completed",
|
| 263 |
+
"frame": 300
|
| 264 |
+
}
|
| 265 |
+
],
|
| 266 |
+
"randomization_records": [
|
| 267 |
+
{
|
| 268 |
+
"name": "button:confirm",
|
| 269 |
+
"base_xy": [
|
| 270 |
+
0.26,
|
| 271 |
+
-0.23
|
| 272 |
+
],
|
| 273 |
+
"sampled_xy": [
|
| 274 |
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|
| 275 |
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|
| 276 |
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],
|
| 277 |
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"offset_xy": [
|
| 278 |
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|
| 279 |
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|
| 280 |
+
],
|
| 281 |
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"yaw_degrees": 0.0,
|
| 282 |
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"yaw_randomized": false
|
| 283 |
+
}
|
| 284 |
+
],
|
| 285 |
+
"placement_checks": [],
|
| 286 |
+
"grasp_checks": [],
|
| 287 |
+
"transport_events": [],
|
| 288 |
+
"final_scene_checks": [],
|
| 289 |
+
"button_press_checks": [
|
| 290 |
+
{
|
| 291 |
+
"key": "reset",
|
| 292 |
+
"arm": "right",
|
| 293 |
+
"frame": 63,
|
| 294 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 295 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 296 |
+
"closed_during_press": true
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"key": "confirm",
|
| 300 |
+
"arm": "right",
|
| 301 |
+
"frame": 288,
|
| 302 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 303 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 304 |
+
"closed_during_press": true
|
| 305 |
+
}
|
| 306 |
+
],
|
| 307 |
+
"switch_checks": [
|
| 308 |
+
{
|
| 309 |
+
"key": "m36_restore_C",
|
| 310 |
+
"arm": "left",
|
| 311 |
+
"requested_on": true,
|
| 312 |
+
"joint_reached": true,
|
| 313 |
+
"closed_gripper": true,
|
| 314 |
+
"contact_count": 18,
|
| 315 |
+
"native_joint_reached": false,
|
| 316 |
+
"latched_on_contact": true,
|
| 317 |
+
"gripper_qpos": 0.23317884806204925
|
| 318 |
+
}
|
| 319 |
+
],
|
| 320 |
+
"device_press_checks": [],
|
| 321 |
+
"press_counts": {
|
| 322 |
+
"reset": 1,
|
| 323 |
+
"confirm": 1
|
| 324 |
+
},
|
| 325 |
+
"p1_render_trace": []
|
| 326 |
+
},
|
| 327 |
+
"quality": {
|
| 328 |
+
"frames": 301,
|
| 329 |
+
"max_action_delta": 0.13469696044921875,
|
| 330 |
+
"arm_motion_range": 3.252034714407273,
|
| 331 |
+
"gripper_motion_range": 1.3383913040161133,
|
| 332 |
+
"camera_payload_bytes": 203181,
|
| 333 |
+
"fingerprint": "3bc85b683d03fdcd6dd4fba73d05dc1a0776c9cc0f81137fd0607035f8ee8c4e"
|
| 334 |
+
},
|
| 335 |
+
"plan_success": true,
|
| 336 |
+
"replay_success": true
|
| 337 |
+
}
|
| 338 |
+
],
|
| 339 |
+
"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000021.json
ADDED
|
@@ -0,0 +1,370 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 21,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 19,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 19,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A",
|
| 20 |
+
"B"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"red",
|
| 25 |
+
"blue",
|
| 26 |
+
"red"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 2,
|
| 43 |
+
"blue_count": 1,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "fab113ab796dc92886fc427729a915fa8d3ab4250b95e4c5634ace4f37f8d6fb",
|
| 49 |
+
"episode_id": 21,
|
| 50 |
+
"seed": 1770584883
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "fab113ab796dc92886fc427729a915fa8d3ab4250b95e4c5634ace4f37f8d6fb",
|
| 53 |
+
"bench_values": {
|
| 54 |
+
"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"A",
|
| 59 |
+
"B"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"red",
|
| 64 |
+
"blue",
|
| 65 |
+
"red"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"A",
|
| 80 |
+
"B"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
1770584883
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
+
"scene": "episode",
|
| 88 |
+
"seed": 1770584883,
|
| 89 |
+
"planning_result": {
|
| 90 |
+
"success": true,
|
| 91 |
+
"task_id": "E1",
|
| 92 |
+
"branch": "train",
|
| 93 |
+
"action_log": [
|
| 94 |
+
{
|
| 95 |
+
"action": "initial_state_observed",
|
| 96 |
+
"on": [
|
| 97 |
+
"A",
|
| 98 |
+
"B"
|
| 99 |
+
],
|
| 100 |
+
"restore_scope": [
|
| 101 |
+
"A",
|
| 102 |
+
"B",
|
| 103 |
+
"C"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
[
|
| 107 |
+
"switch",
|
| 108 |
+
"m36_restore_A",
|
| 109 |
+
true
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
"switch",
|
| 113 |
+
"m36_restore_B",
|
| 114 |
+
true
|
| 115 |
+
],
|
| 116 |
+
{
|
| 117 |
+
"action": "submit",
|
| 118 |
+
"expected": [
|
| 119 |
+
"A",
|
| 120 |
+
"B"
|
| 121 |
+
],
|
| 122 |
+
"actual": [
|
| 123 |
+
"A",
|
| 124 |
+
"B"
|
| 125 |
+
],
|
| 126 |
+
"state_valid": true
|
| 127 |
+
}
|
| 128 |
+
],
|
| 129 |
+
"event_timeline": [
|
| 130 |
+
{
|
| 131 |
+
"event": "phase_observe",
|
| 132 |
+
"frame": 0
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"event": "phase_observe",
|
| 136 |
+
"frame": 0
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"event": "m36_e1_initial_state_observed",
|
| 140 |
+
"frame": 0
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"event": "last_observable_step",
|
| 144 |
+
"frame": 0
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"event": "m36_e1_reset_started",
|
| 148 |
+
"frame": 0
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"event": "m36_e1_reset_completed",
|
| 152 |
+
"frame": 0
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"event": "phase_recall",
|
| 156 |
+
"frame": 0
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"event": "decision_step",
|
| 160 |
+
"frame": 0
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"event": "submit_started",
|
| 164 |
+
"frame": 0
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"event": "submit_completed",
|
| 168 |
+
"frame": 0
|
| 169 |
+
}
|
| 170 |
+
],
|
| 171 |
+
"randomization_records": [
|
| 172 |
+
{
|
| 173 |
+
"name": "button:confirm",
|
| 174 |
+
"base_xy": [
|
| 175 |
+
0.26,
|
| 176 |
+
-0.23
|
| 177 |
+
],
|
| 178 |
+
"sampled_xy": [
|
| 179 |
+
0.25999999046325684,
|
| 180 |
+
-0.23000000417232513
|
| 181 |
+
],
|
| 182 |
+
"offset_xy": [
|
| 183 |
+
-9.536743172944284e-09,
|
| 184 |
+
-4.1723251242853365e-09
|
| 185 |
+
],
|
| 186 |
+
"yaw_degrees": 0.0,
|
| 187 |
+
"yaw_randomized": false
|
| 188 |
+
}
|
| 189 |
+
],
|
| 190 |
+
"placement_checks": [],
|
| 191 |
+
"grasp_checks": [],
|
| 192 |
+
"transport_events": [],
|
| 193 |
+
"final_scene_checks": [],
|
| 194 |
+
"button_press_checks": [],
|
| 195 |
+
"switch_checks": [],
|
| 196 |
+
"device_press_checks": [],
|
| 197 |
+
"press_counts": {
|
| 198 |
+
"reset": 1,
|
| 199 |
+
"confirm": 1
|
| 200 |
+
},
|
| 201 |
+
"p1_render_trace": []
|
| 202 |
+
},
|
| 203 |
+
"replay_result": {
|
| 204 |
+
"success": true,
|
| 205 |
+
"task_id": "E1",
|
| 206 |
+
"branch": "train",
|
| 207 |
+
"action_log": [
|
| 208 |
+
{
|
| 209 |
+
"action": "initial_state_observed",
|
| 210 |
+
"on": [
|
| 211 |
+
"A",
|
| 212 |
+
"B"
|
| 213 |
+
],
|
| 214 |
+
"restore_scope": [
|
| 215 |
+
"A",
|
| 216 |
+
"B",
|
| 217 |
+
"C"
|
| 218 |
+
]
|
| 219 |
+
},
|
| 220 |
+
[
|
| 221 |
+
"switch",
|
| 222 |
+
"m36_restore_A",
|
| 223 |
+
true
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
"switch",
|
| 227 |
+
"m36_restore_B",
|
| 228 |
+
true
|
| 229 |
+
],
|
| 230 |
+
{
|
| 231 |
+
"action": "submit",
|
| 232 |
+
"expected": [
|
| 233 |
+
"A",
|
| 234 |
+
"B"
|
| 235 |
+
],
|
| 236 |
+
"actual": [
|
| 237 |
+
"A",
|
| 238 |
+
"B"
|
| 239 |
+
],
|
| 240 |
+
"state_valid": true
|
| 241 |
+
}
|
| 242 |
+
],
|
| 243 |
+
"event_timeline": [
|
| 244 |
+
{
|
| 245 |
+
"event": "phase_observe",
|
| 246 |
+
"frame": 0
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"event": "phase_observe",
|
| 250 |
+
"frame": 0
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"event": "m36_e1_initial_state_observed",
|
| 254 |
+
"frame": 0
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"event": "last_observable_step",
|
| 258 |
+
"frame": 0
|
| 259 |
+
},
|
| 260 |
+
{
|
| 261 |
+
"event": "m36_e1_reset_started",
|
| 262 |
+
"frame": 0
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"event": "m36_e1_reset_completed",
|
| 266 |
+
"frame": 75
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"event": "phase_recall",
|
| 270 |
+
"frame": 75
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"event": "decision_step",
|
| 274 |
+
"frame": 76
|
| 275 |
+
},
|
| 276 |
+
{
|
| 277 |
+
"event": "submit_started",
|
| 278 |
+
"frame": 376
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"event": "submit_completed",
|
| 282 |
+
"frame": 428
|
| 283 |
+
}
|
| 284 |
+
],
|
| 285 |
+
"randomization_records": [
|
| 286 |
+
{
|
| 287 |
+
"name": "button:confirm",
|
| 288 |
+
"base_xy": [
|
| 289 |
+
0.26,
|
| 290 |
+
-0.23
|
| 291 |
+
],
|
| 292 |
+
"sampled_xy": [
|
| 293 |
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|
| 294 |
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|
| 295 |
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],
|
| 296 |
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"offset_xy": [
|
| 297 |
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-9.536743172944284e-09,
|
| 298 |
+
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|
| 299 |
+
],
|
| 300 |
+
"yaw_degrees": 0.0,
|
| 301 |
+
"yaw_randomized": false
|
| 302 |
+
}
|
| 303 |
+
],
|
| 304 |
+
"placement_checks": [],
|
| 305 |
+
"grasp_checks": [],
|
| 306 |
+
"transport_events": [],
|
| 307 |
+
"final_scene_checks": [],
|
| 308 |
+
"button_press_checks": [
|
| 309 |
+
{
|
| 310 |
+
"key": "reset",
|
| 311 |
+
"arm": "right",
|
| 312 |
+
"frame": 63,
|
| 313 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 314 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 315 |
+
"closed_during_press": true
|
| 316 |
+
},
|
| 317 |
+
{
|
| 318 |
+
"key": "confirm",
|
| 319 |
+
"arm": "right",
|
| 320 |
+
"frame": 416,
|
| 321 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 322 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 323 |
+
"closed_during_press": true
|
| 324 |
+
}
|
| 325 |
+
],
|
| 326 |
+
"switch_checks": [
|
| 327 |
+
{
|
| 328 |
+
"key": "m36_restore_A",
|
| 329 |
+
"arm": "left",
|
| 330 |
+
"requested_on": true,
|
| 331 |
+
"joint_reached": true,
|
| 332 |
+
"closed_gripper": true,
|
| 333 |
+
"contact_count": 22,
|
| 334 |
+
"native_joint_reached": false,
|
| 335 |
+
"latched_on_contact": true,
|
| 336 |
+
"gripper_qpos": 0.1975543922321363
|
| 337 |
+
},
|
| 338 |
+
{
|
| 339 |
+
"key": "m36_restore_B",
|
| 340 |
+
"arm": "left",
|
| 341 |
+
"requested_on": true,
|
| 342 |
+
"joint_reached": true,
|
| 343 |
+
"closed_gripper": true,
|
| 344 |
+
"contact_count": 18,
|
| 345 |
+
"native_joint_reached": false,
|
| 346 |
+
"latched_on_contact": true,
|
| 347 |
+
"gripper_qpos": 0.19315318610857835
|
| 348 |
+
}
|
| 349 |
+
],
|
| 350 |
+
"device_press_checks": [],
|
| 351 |
+
"press_counts": {
|
| 352 |
+
"reset": 1,
|
| 353 |
+
"confirm": 1
|
| 354 |
+
},
|
| 355 |
+
"p1_render_trace": []
|
| 356 |
+
},
|
| 357 |
+
"quality": {
|
| 358 |
+
"frames": 429,
|
| 359 |
+
"max_action_delta": 0.1299961805343628,
|
| 360 |
+
"arm_motion_range": 2.6297974586486816,
|
| 361 |
+
"gripper_motion_range": 1.338315725326538,
|
| 362 |
+
"camera_payload_bytes": 196607,
|
| 363 |
+
"fingerprint": "d307e027ade0e37a18d84d6173754c595c5437d54225c10a5daf8ae627941683"
|
| 364 |
+
},
|
| 365 |
+
"plan_success": true,
|
| 366 |
+
"replay_success": true
|
| 367 |
+
}
|
| 368 |
+
],
|
| 369 |
+
"success": true
|
| 370 |
+
}
|
data/E1_base/private_records/episode000022.json
ADDED
|
@@ -0,0 +1,370 @@
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 22,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 3,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 3,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A",
|
| 20 |
+
"C"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"blue",
|
| 25 |
+
"blue",
|
| 26 |
+
"red"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 1,
|
| 43 |
+
"blue_count": 2,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "bd9ca45c6837a3c3c5aa7a865253a77169d5c579a07182235240a6168b8f537b",
|
| 49 |
+
"episode_id": 22,
|
| 50 |
+
"seed": 1028177117
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "bd9ca45c6837a3c3c5aa7a865253a77169d5c579a07182235240a6168b8f537b",
|
| 53 |
+
"bench_values": {
|
| 54 |
+
"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"A",
|
| 59 |
+
"C"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"blue",
|
| 64 |
+
"blue",
|
| 65 |
+
"red"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"A",
|
| 80 |
+
"C"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
1028177117
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
+
"scene": "episode",
|
| 88 |
+
"seed": 1028177117,
|
| 89 |
+
"planning_result": {
|
| 90 |
+
"success": true,
|
| 91 |
+
"task_id": "E1",
|
| 92 |
+
"branch": "train",
|
| 93 |
+
"action_log": [
|
| 94 |
+
{
|
| 95 |
+
"action": "initial_state_observed",
|
| 96 |
+
"on": [
|
| 97 |
+
"A",
|
| 98 |
+
"C"
|
| 99 |
+
],
|
| 100 |
+
"restore_scope": [
|
| 101 |
+
"A",
|
| 102 |
+
"B",
|
| 103 |
+
"C"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
[
|
| 107 |
+
"switch",
|
| 108 |
+
"m36_restore_A",
|
| 109 |
+
true
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
"switch",
|
| 113 |
+
"m36_restore_C",
|
| 114 |
+
true
|
| 115 |
+
],
|
| 116 |
+
{
|
| 117 |
+
"action": "submit",
|
| 118 |
+
"expected": [
|
| 119 |
+
"A",
|
| 120 |
+
"C"
|
| 121 |
+
],
|
| 122 |
+
"actual": [
|
| 123 |
+
"A",
|
| 124 |
+
"C"
|
| 125 |
+
],
|
| 126 |
+
"state_valid": true
|
| 127 |
+
}
|
| 128 |
+
],
|
| 129 |
+
"event_timeline": [
|
| 130 |
+
{
|
| 131 |
+
"event": "phase_observe",
|
| 132 |
+
"frame": 0
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"event": "phase_observe",
|
| 136 |
+
"frame": 0
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"event": "m36_e1_initial_state_observed",
|
| 140 |
+
"frame": 0
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"event": "last_observable_step",
|
| 144 |
+
"frame": 0
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"event": "m36_e1_reset_started",
|
| 148 |
+
"frame": 0
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"event": "m36_e1_reset_completed",
|
| 152 |
+
"frame": 0
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"event": "phase_recall",
|
| 156 |
+
"frame": 0
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"event": "decision_step",
|
| 160 |
+
"frame": 0
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"event": "submit_started",
|
| 164 |
+
"frame": 0
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"event": "submit_completed",
|
| 168 |
+
"frame": 0
|
| 169 |
+
}
|
| 170 |
+
],
|
| 171 |
+
"randomization_records": [
|
| 172 |
+
{
|
| 173 |
+
"name": "button:confirm",
|
| 174 |
+
"base_xy": [
|
| 175 |
+
0.26,
|
| 176 |
+
-0.23
|
| 177 |
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],
|
| 178 |
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"sampled_xy": [
|
| 179 |
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|
| 180 |
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|
| 181 |
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],
|
| 182 |
+
"offset_xy": [
|
| 183 |
+
-9.536743172944284e-09,
|
| 184 |
+
-4.1723251242853365e-09
|
| 185 |
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],
|
| 186 |
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"yaw_degrees": 0.0,
|
| 187 |
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"yaw_randomized": false
|
| 188 |
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}
|
| 189 |
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],
|
| 190 |
+
"placement_checks": [],
|
| 191 |
+
"grasp_checks": [],
|
| 192 |
+
"transport_events": [],
|
| 193 |
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"final_scene_checks": [],
|
| 194 |
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"button_press_checks": [],
|
| 195 |
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"switch_checks": [],
|
| 196 |
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"device_press_checks": [],
|
| 197 |
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"press_counts": {
|
| 198 |
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"reset": 1,
|
| 199 |
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"confirm": 1
|
| 200 |
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},
|
| 201 |
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"p1_render_trace": []
|
| 202 |
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},
|
| 203 |
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"replay_result": {
|
| 204 |
+
"success": true,
|
| 205 |
+
"task_id": "E1",
|
| 206 |
+
"branch": "train",
|
| 207 |
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"action_log": [
|
| 208 |
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{
|
| 209 |
+
"action": "initial_state_observed",
|
| 210 |
+
"on": [
|
| 211 |
+
"A",
|
| 212 |
+
"C"
|
| 213 |
+
],
|
| 214 |
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"restore_scope": [
|
| 215 |
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"A",
|
| 216 |
+
"B",
|
| 217 |
+
"C"
|
| 218 |
+
]
|
| 219 |
+
},
|
| 220 |
+
[
|
| 221 |
+
"switch",
|
| 222 |
+
"m36_restore_A",
|
| 223 |
+
true
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
"switch",
|
| 227 |
+
"m36_restore_C",
|
| 228 |
+
true
|
| 229 |
+
],
|
| 230 |
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{
|
| 231 |
+
"action": "submit",
|
| 232 |
+
"expected": [
|
| 233 |
+
"A",
|
| 234 |
+
"C"
|
| 235 |
+
],
|
| 236 |
+
"actual": [
|
| 237 |
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"A",
|
| 238 |
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"C"
|
| 239 |
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],
|
| 240 |
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"state_valid": true
|
| 241 |
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}
|
| 242 |
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],
|
| 243 |
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"event_timeline": [
|
| 244 |
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{
|
| 245 |
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"event": "phase_observe",
|
| 246 |
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"frame": 0
|
| 247 |
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},
|
| 248 |
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{
|
| 249 |
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"event": "phase_observe",
|
| 250 |
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"frame": 0
|
| 251 |
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},
|
| 252 |
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{
|
| 253 |
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"event": "m36_e1_initial_state_observed",
|
| 254 |
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"frame": 0
|
| 255 |
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},
|
| 256 |
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{
|
| 257 |
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"event": "last_observable_step",
|
| 258 |
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"frame": 0
|
| 259 |
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},
|
| 260 |
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{
|
| 261 |
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"event": "m36_e1_reset_started",
|
| 262 |
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"frame": 0
|
| 263 |
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},
|
| 264 |
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{
|
| 265 |
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"event": "m36_e1_reset_completed",
|
| 266 |
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"frame": 75
|
| 267 |
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},
|
| 268 |
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{
|
| 269 |
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"event": "phase_recall",
|
| 270 |
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"frame": 75
|
| 271 |
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},
|
| 272 |
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{
|
| 273 |
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"event": "decision_step",
|
| 274 |
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"frame": 76
|
| 275 |
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},
|
| 276 |
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{
|
| 277 |
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"event": "submit_started",
|
| 278 |
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"frame": 399
|
| 279 |
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},
|
| 280 |
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{
|
| 281 |
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"event": "submit_completed",
|
| 282 |
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"frame": 451
|
| 283 |
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}
|
| 284 |
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],
|
| 285 |
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"randomization_records": [
|
| 286 |
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{
|
| 287 |
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"name": "button:confirm",
|
| 288 |
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"base_xy": [
|
| 289 |
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0.26,
|
| 290 |
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-0.23
|
| 291 |
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],
|
| 292 |
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"sampled_xy": [
|
| 293 |
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|
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|
| 295 |
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],
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|
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|
| 298 |
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|
| 299 |
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],
|
| 300 |
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|
| 301 |
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"yaw_randomized": false
|
| 302 |
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}
|
| 303 |
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],
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| 304 |
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"placement_checks": [],
|
| 305 |
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"grasp_checks": [],
|
| 306 |
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"transport_events": [],
|
| 307 |
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"final_scene_checks": [],
|
| 308 |
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"button_press_checks": [
|
| 309 |
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{
|
| 310 |
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"key": "reset",
|
| 311 |
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"arm": "right",
|
| 312 |
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"frame": 63,
|
| 313 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 314 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 315 |
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"closed_during_press": true
|
| 316 |
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},
|
| 317 |
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{
|
| 318 |
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"key": "confirm",
|
| 319 |
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"arm": "right",
|
| 320 |
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"frame": 439,
|
| 321 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 322 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 323 |
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"closed_during_press": true
|
| 324 |
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}
|
| 325 |
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],
|
| 326 |
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"switch_checks": [
|
| 327 |
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{
|
| 328 |
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"key": "m36_restore_A",
|
| 329 |
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"arm": "left",
|
| 330 |
+
"requested_on": true,
|
| 331 |
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"joint_reached": true,
|
| 332 |
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"closed_gripper": true,
|
| 333 |
+
"contact_count": 20,
|
| 334 |
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"native_joint_reached": false,
|
| 335 |
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"latched_on_contact": true,
|
| 336 |
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"gripper_qpos": 0.2020913428542289
|
| 337 |
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},
|
| 338 |
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{
|
| 339 |
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"key": "m36_restore_C",
|
| 340 |
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"arm": "left",
|
| 341 |
+
"requested_on": true,
|
| 342 |
+
"joint_reached": true,
|
| 343 |
+
"closed_gripper": true,
|
| 344 |
+
"contact_count": 18,
|
| 345 |
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"native_joint_reached": false,
|
| 346 |
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"latched_on_contact": true,
|
| 347 |
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"gripper_qpos": 0.1913327669132162
|
| 348 |
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}
|
| 349 |
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],
|
| 350 |
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"device_press_checks": [],
|
| 351 |
+
"press_counts": {
|
| 352 |
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"reset": 1,
|
| 353 |
+
"confirm": 1
|
| 354 |
+
},
|
| 355 |
+
"p1_render_trace": []
|
| 356 |
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},
|
| 357 |
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"quality": {
|
| 358 |
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"frames": 452,
|
| 359 |
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"max_action_delta": 0.13507652282714844,
|
| 360 |
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"arm_motion_range": 2.9730115596312316,
|
| 361 |
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"gripper_motion_range": 1.338544487953186,
|
| 362 |
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"camera_payload_bytes": 189573,
|
| 363 |
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"fingerprint": "b1711c538a85c732ae2007704a894de583726e223f8d2697a47fe86cf8ac5415"
|
| 364 |
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},
|
| 365 |
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"plan_success": true,
|
| 366 |
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"replay_success": true
|
| 367 |
+
}
|
| 368 |
+
],
|
| 369 |
+
"success": true
|
| 370 |
+
}
|
data/E1_base/private_records/episode000023.json
ADDED
|
@@ -0,0 +1,370 @@
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|
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|
|
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|
|
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|
|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
|
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|
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|
|
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|
|
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|
|
|
|
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|
|
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|
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|
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 23,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 0,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 0,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A",
|
| 20 |
+
"C"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"red",
|
| 25 |
+
"blue",
|
| 26 |
+
"red"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 2,
|
| 43 |
+
"blue_count": 1,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "609b626861e03e1e5ac322355091159c7d2802b1c7b29e43f909563c2156146f",
|
| 49 |
+
"episode_id": 23,
|
| 50 |
+
"seed": 548484533
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "609b626861e03e1e5ac322355091159c7d2802b1c7b29e43f909563c2156146f",
|
| 53 |
+
"bench_values": {
|
| 54 |
+
"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"A",
|
| 59 |
+
"C"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
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|
data/E1_base/private_records/episode000024.json
ADDED
|
@@ -0,0 +1,370 @@
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|
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|
|
|
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|
|
|
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|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 24,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 2,
|
| 7 |
+
"counterfactual_pair_member": "A",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 2,
|
| 12 |
+
"counterfactual_pair_member": "A",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A",
|
| 20 |
+
"B"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"neutral",
|
| 25 |
+
"blue",
|
| 26 |
+
"neutral"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 0,
|
| 43 |
+
"blue_count": 1,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
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"configuration_signature": "ed1a2d0f5cf5ec3844f7ee3842d79488946bbc962224cb39099231906c1858f3",
|
| 49 |
+
"episode_id": 24,
|
| 50 |
+
"seed": 1779213252
|
| 51 |
+
},
|
| 52 |
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"configuration_signature": "ed1a2d0f5cf5ec3844f7ee3842d79488946bbc962224cb39099231906c1858f3",
|
| 53 |
+
"bench_values": {
|
| 54 |
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"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"A",
|
| 59 |
+
"B"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"neutral",
|
| 64 |
+
"blue",
|
| 65 |
+
"neutral"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"A",
|
| 80 |
+
"B"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
1779213252
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
+
"scene": "episode",
|
| 88 |
+
"seed": 1779213252,
|
| 89 |
+
"planning_result": {
|
| 90 |
+
"success": true,
|
| 91 |
+
"task_id": "E1",
|
| 92 |
+
"branch": "train",
|
| 93 |
+
"action_log": [
|
| 94 |
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{
|
| 95 |
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"action": "initial_state_observed",
|
| 96 |
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"on": [
|
| 97 |
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"A",
|
| 98 |
+
"B"
|
| 99 |
+
],
|
| 100 |
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"restore_scope": [
|
| 101 |
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"A",
|
| 102 |
+
"B",
|
| 103 |
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"C"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
[
|
| 107 |
+
"switch",
|
| 108 |
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"m36_restore_A",
|
| 109 |
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true
|
| 110 |
+
],
|
| 111 |
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[
|
| 112 |
+
"switch",
|
| 113 |
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"m36_restore_B",
|
| 114 |
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true
|
| 115 |
+
],
|
| 116 |
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{
|
| 117 |
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"action": "submit",
|
| 118 |
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"expected": [
|
| 119 |
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"A",
|
| 120 |
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"B"
|
| 121 |
+
],
|
| 122 |
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"actual": [
|
| 123 |
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"A",
|
| 124 |
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"B"
|
| 125 |
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],
|
| 126 |
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"state_valid": true
|
| 127 |
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}
|
| 128 |
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],
|
| 129 |
+
"event_timeline": [
|
| 130 |
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{
|
| 131 |
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"event": "phase_observe",
|
| 132 |
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"frame": 0
|
| 133 |
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},
|
| 134 |
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{
|
| 135 |
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"event": "phase_observe",
|
| 136 |
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"frame": 0
|
| 137 |
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},
|
| 138 |
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{
|
| 139 |
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"event": "m36_e1_initial_state_observed",
|
| 140 |
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"frame": 0
|
| 141 |
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},
|
| 142 |
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{
|
| 143 |
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"event": "last_observable_step",
|
| 144 |
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"frame": 0
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
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"event": "m36_e1_reset_started",
|
| 148 |
+
"frame": 0
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
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"event": "m36_e1_reset_completed",
|
| 152 |
+
"frame": 0
|
| 153 |
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},
|
| 154 |
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{
|
| 155 |
+
"event": "phase_recall",
|
| 156 |
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"frame": 0
|
| 157 |
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},
|
| 158 |
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{
|
| 159 |
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"event": "decision_step",
|
| 160 |
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"frame": 0
|
| 161 |
+
},
|
| 162 |
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{
|
| 163 |
+
"event": "submit_started",
|
| 164 |
+
"frame": 0
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"event": "submit_completed",
|
| 168 |
+
"frame": 0
|
| 169 |
+
}
|
| 170 |
+
],
|
| 171 |
+
"randomization_records": [
|
| 172 |
+
{
|
| 173 |
+
"name": "button:confirm",
|
| 174 |
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"base_xy": [
|
| 175 |
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0.26,
|
| 176 |
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|
| 177 |
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],
|
| 178 |
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"sampled_xy": [
|
| 179 |
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|
| 180 |
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|
| 181 |
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],
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| 182 |
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"offset_xy": [
|
| 183 |
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|
| 184 |
+
-4.1723251242853365e-09
|
| 185 |
+
],
|
| 186 |
+
"yaw_degrees": 0.0,
|
| 187 |
+
"yaw_randomized": false
|
| 188 |
+
}
|
| 189 |
+
],
|
| 190 |
+
"placement_checks": [],
|
| 191 |
+
"grasp_checks": [],
|
| 192 |
+
"transport_events": [],
|
| 193 |
+
"final_scene_checks": [],
|
| 194 |
+
"button_press_checks": [],
|
| 195 |
+
"switch_checks": [],
|
| 196 |
+
"device_press_checks": [],
|
| 197 |
+
"press_counts": {
|
| 198 |
+
"reset": 1,
|
| 199 |
+
"confirm": 1
|
| 200 |
+
},
|
| 201 |
+
"p1_render_trace": []
|
| 202 |
+
},
|
| 203 |
+
"replay_result": {
|
| 204 |
+
"success": true,
|
| 205 |
+
"task_id": "E1",
|
| 206 |
+
"branch": "train",
|
| 207 |
+
"action_log": [
|
| 208 |
+
{
|
| 209 |
+
"action": "initial_state_observed",
|
| 210 |
+
"on": [
|
| 211 |
+
"A",
|
| 212 |
+
"B"
|
| 213 |
+
],
|
| 214 |
+
"restore_scope": [
|
| 215 |
+
"A",
|
| 216 |
+
"B",
|
| 217 |
+
"C"
|
| 218 |
+
]
|
| 219 |
+
},
|
| 220 |
+
[
|
| 221 |
+
"switch",
|
| 222 |
+
"m36_restore_A",
|
| 223 |
+
true
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
"switch",
|
| 227 |
+
"m36_restore_B",
|
| 228 |
+
true
|
| 229 |
+
],
|
| 230 |
+
{
|
| 231 |
+
"action": "submit",
|
| 232 |
+
"expected": [
|
| 233 |
+
"A",
|
| 234 |
+
"B"
|
| 235 |
+
],
|
| 236 |
+
"actual": [
|
| 237 |
+
"A",
|
| 238 |
+
"B"
|
| 239 |
+
],
|
| 240 |
+
"state_valid": true
|
| 241 |
+
}
|
| 242 |
+
],
|
| 243 |
+
"event_timeline": [
|
| 244 |
+
{
|
| 245 |
+
"event": "phase_observe",
|
| 246 |
+
"frame": 0
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"event": "phase_observe",
|
| 250 |
+
"frame": 0
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"event": "m36_e1_initial_state_observed",
|
| 254 |
+
"frame": 0
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"event": "last_observable_step",
|
| 258 |
+
"frame": 0
|
| 259 |
+
},
|
| 260 |
+
{
|
| 261 |
+
"event": "m36_e1_reset_started",
|
| 262 |
+
"frame": 0
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"event": "m36_e1_reset_completed",
|
| 266 |
+
"frame": 75
|
| 267 |
+
},
|
| 268 |
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{
|
| 269 |
+
"event": "phase_recall",
|
| 270 |
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"frame": 75
|
| 271 |
+
},
|
| 272 |
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{
|
| 273 |
+
"event": "decision_step",
|
| 274 |
+
"frame": 76
|
| 275 |
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},
|
| 276 |
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{
|
| 277 |
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"event": "submit_started",
|
| 278 |
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"frame": 378
|
| 279 |
+
},
|
| 280 |
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{
|
| 281 |
+
"event": "submit_completed",
|
| 282 |
+
"frame": 431
|
| 283 |
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}
|
| 284 |
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],
|
| 285 |
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"randomization_records": [
|
| 286 |
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{
|
| 287 |
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"name": "button:confirm",
|
| 288 |
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"base_xy": [
|
| 289 |
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0.26,
|
| 290 |
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|
| 291 |
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],
|
| 292 |
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"sampled_xy": [
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| 293 |
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|
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|
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|
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],
|
| 300 |
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"yaw_degrees": 0.0,
|
| 301 |
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"yaw_randomized": false
|
| 302 |
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}
|
| 303 |
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],
|
| 304 |
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"placement_checks": [],
|
| 305 |
+
"grasp_checks": [],
|
| 306 |
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"transport_events": [],
|
| 307 |
+
"final_scene_checks": [],
|
| 308 |
+
"button_press_checks": [
|
| 309 |
+
{
|
| 310 |
+
"key": "reset",
|
| 311 |
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"arm": "right",
|
| 312 |
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"frame": 63,
|
| 313 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 314 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 315 |
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"closed_during_press": true
|
| 316 |
+
},
|
| 317 |
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{
|
| 318 |
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"key": "confirm",
|
| 319 |
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"arm": "right",
|
| 320 |
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"frame": 419,
|
| 321 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 322 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 323 |
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"closed_during_press": true
|
| 324 |
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}
|
| 325 |
+
],
|
| 326 |
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"switch_checks": [
|
| 327 |
+
{
|
| 328 |
+
"key": "m36_restore_A",
|
| 329 |
+
"arm": "left",
|
| 330 |
+
"requested_on": true,
|
| 331 |
+
"joint_reached": true,
|
| 332 |
+
"closed_gripper": true,
|
| 333 |
+
"contact_count": 20,
|
| 334 |
+
"native_joint_reached": false,
|
| 335 |
+
"latched_on_contact": true,
|
| 336 |
+
"gripper_qpos": 0.2020913428542289
|
| 337 |
+
},
|
| 338 |
+
{
|
| 339 |
+
"key": "m36_restore_B",
|
| 340 |
+
"arm": "left",
|
| 341 |
+
"requested_on": true,
|
| 342 |
+
"joint_reached": true,
|
| 343 |
+
"closed_gripper": true,
|
| 344 |
+
"contact_count": 20,
|
| 345 |
+
"native_joint_reached": false,
|
| 346 |
+
"latched_on_contact": true,
|
| 347 |
+
"gripper_qpos": 0.19612526292489335
|
| 348 |
+
}
|
| 349 |
+
],
|
| 350 |
+
"device_press_checks": [],
|
| 351 |
+
"press_counts": {
|
| 352 |
+
"reset": 1,
|
| 353 |
+
"confirm": 1
|
| 354 |
+
},
|
| 355 |
+
"p1_render_trace": []
|
| 356 |
+
},
|
| 357 |
+
"quality": {
|
| 358 |
+
"frames": 432,
|
| 359 |
+
"max_action_delta": 0.12791335582733154,
|
| 360 |
+
"arm_motion_range": 2.629823923110962,
|
| 361 |
+
"gripper_motion_range": 1.3384112119674683,
|
| 362 |
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"camera_payload_bytes": 193043,
|
| 363 |
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"fingerprint": "8819b0d0862abacafc8425fd0f7ac6663e1444fe7d66685d1a723c8c53238d04"
|
| 364 |
+
},
|
| 365 |
+
"plan_success": true,
|
| 366 |
+
"replay_success": true
|
| 367 |
+
}
|
| 368 |
+
],
|
| 369 |
+
"success": true
|
| 370 |
+
}
|
data/E1_base/private_records/episode000025.json
ADDED
|
@@ -0,0 +1,340 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 25,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 16,
|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 16,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"red",
|
| 24 |
+
"neutral",
|
| 25 |
+
"blue"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
+
"initial_on_count": 1,
|
| 40 |
+
"pre_action_count": 0,
|
| 41 |
+
"red_count": 1,
|
| 42 |
+
"blue_count": 1,
|
| 43 |
+
"large_count": 0,
|
| 44 |
+
"small_count": 0,
|
| 45 |
+
"restore_count": 3
|
| 46 |
+
},
|
| 47 |
+
"configuration_signature": "1e69441bf494043ddd7a349aef0de3fd89b04368d49ea4976ed8c07f700b5399",
|
| 48 |
+
"episode_id": 25,
|
| 49 |
+
"seed": 1581779976
|
| 50 |
+
},
|
| 51 |
+
"configuration_signature": "1e69441bf494043ddd7a349aef0de3fd89b04368d49ea4976ed8c07f700b5399",
|
| 52 |
+
"bench_values": {
|
| 53 |
+
"_runtime_task_id": "E1",
|
| 54 |
+
"difficulty": "base",
|
| 55 |
+
"switch_count": 3,
|
| 56 |
+
"initial_on": [
|
| 57 |
+
"A"
|
| 58 |
+
],
|
| 59 |
+
"pre_actions": [],
|
| 60 |
+
"switch_colors": [
|
| 61 |
+
"red",
|
| 62 |
+
"neutral",
|
| 63 |
+
"blue"
|
| 64 |
+
],
|
| 65 |
+
"switch_sizes": [
|
| 66 |
+
"medium",
|
| 67 |
+
"medium",
|
| 68 |
+
"medium"
|
| 69 |
+
],
|
| 70 |
+
"restore_labels": [
|
| 71 |
+
"A",
|
| 72 |
+
"B",
|
| 73 |
+
"C"
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"expected_answer": [
|
| 77 |
+
"A"
|
| 78 |
+
],
|
| 79 |
+
"scene_seeds": [
|
| 80 |
+
1581779976
|
| 81 |
+
],
|
| 82 |
+
"results": [
|
| 83 |
+
{
|
| 84 |
+
"scene": "episode",
|
| 85 |
+
"seed": 1581779976,
|
| 86 |
+
"planning_result": {
|
| 87 |
+
"success": true,
|
| 88 |
+
"task_id": "E1",
|
| 89 |
+
"branch": "train",
|
| 90 |
+
"action_log": [
|
| 91 |
+
{
|
| 92 |
+
"action": "initial_state_observed",
|
| 93 |
+
"on": [
|
| 94 |
+
"A"
|
| 95 |
+
],
|
| 96 |
+
"restore_scope": [
|
| 97 |
+
"A",
|
| 98 |
+
"B",
|
| 99 |
+
"C"
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
[
|
| 103 |
+
"switch",
|
| 104 |
+
"m36_restore_A",
|
| 105 |
+
true
|
| 106 |
+
],
|
| 107 |
+
{
|
| 108 |
+
"action": "submit",
|
| 109 |
+
"expected": [
|
| 110 |
+
"A"
|
| 111 |
+
],
|
| 112 |
+
"actual": [
|
| 113 |
+
"A"
|
| 114 |
+
],
|
| 115 |
+
"state_valid": true
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"event_timeline": [
|
| 119 |
+
{
|
| 120 |
+
"event": "phase_observe",
|
| 121 |
+
"frame": 0
|
| 122 |
+
},
|
| 123 |
+
{
|
| 124 |
+
"event": "phase_observe",
|
| 125 |
+
"frame": 0
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"event": "m36_e1_initial_state_observed",
|
| 129 |
+
"frame": 0
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"event": "last_observable_step",
|
| 133 |
+
"frame": 0
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"event": "m36_e1_reset_started",
|
| 137 |
+
"frame": 0
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"event": "m36_e1_reset_completed",
|
| 141 |
+
"frame": 0
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"event": "phase_recall",
|
| 145 |
+
"frame": 0
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"event": "decision_step",
|
| 149 |
+
"frame": 0
|
| 150 |
+
},
|
| 151 |
+
{
|
| 152 |
+
"event": "submit_started",
|
| 153 |
+
"frame": 0
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"event": "submit_completed",
|
| 157 |
+
"frame": 0
|
| 158 |
+
}
|
| 159 |
+
],
|
| 160 |
+
"randomization_records": [
|
| 161 |
+
{
|
| 162 |
+
"name": "button:confirm",
|
| 163 |
+
"base_xy": [
|
| 164 |
+
0.26,
|
| 165 |
+
-0.23
|
| 166 |
+
],
|
| 167 |
+
"sampled_xy": [
|
| 168 |
+
0.25999999046325684,
|
| 169 |
+
-0.23000000417232513
|
| 170 |
+
],
|
| 171 |
+
"offset_xy": [
|
| 172 |
+
-9.536743172944284e-09,
|
| 173 |
+
-4.1723251242853365e-09
|
| 174 |
+
],
|
| 175 |
+
"yaw_degrees": 0.0,
|
| 176 |
+
"yaw_randomized": false
|
| 177 |
+
}
|
| 178 |
+
],
|
| 179 |
+
"placement_checks": [],
|
| 180 |
+
"grasp_checks": [],
|
| 181 |
+
"transport_events": [],
|
| 182 |
+
"final_scene_checks": [],
|
| 183 |
+
"button_press_checks": [],
|
| 184 |
+
"switch_checks": [],
|
| 185 |
+
"device_press_checks": [],
|
| 186 |
+
"press_counts": {
|
| 187 |
+
"reset": 1,
|
| 188 |
+
"confirm": 1
|
| 189 |
+
},
|
| 190 |
+
"p1_render_trace": []
|
| 191 |
+
},
|
| 192 |
+
"replay_result": {
|
| 193 |
+
"success": true,
|
| 194 |
+
"task_id": "E1",
|
| 195 |
+
"branch": "train",
|
| 196 |
+
"action_log": [
|
| 197 |
+
{
|
| 198 |
+
"action": "initial_state_observed",
|
| 199 |
+
"on": [
|
| 200 |
+
"A"
|
| 201 |
+
],
|
| 202 |
+
"restore_scope": [
|
| 203 |
+
"A",
|
| 204 |
+
"B",
|
| 205 |
+
"C"
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
[
|
| 209 |
+
"switch",
|
| 210 |
+
"m36_restore_A",
|
| 211 |
+
true
|
| 212 |
+
],
|
| 213 |
+
{
|
| 214 |
+
"action": "submit",
|
| 215 |
+
"expected": [
|
| 216 |
+
"A"
|
| 217 |
+
],
|
| 218 |
+
"actual": [
|
| 219 |
+
"A"
|
| 220 |
+
],
|
| 221 |
+
"state_valid": true
|
| 222 |
+
}
|
| 223 |
+
],
|
| 224 |
+
"event_timeline": [
|
| 225 |
+
{
|
| 226 |
+
"event": "phase_observe",
|
| 227 |
+
"frame": 0
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"event": "phase_observe",
|
| 231 |
+
"frame": 0
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"event": "m36_e1_initial_state_observed",
|
| 235 |
+
"frame": 0
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"event": "last_observable_step",
|
| 239 |
+
"frame": 0
|
| 240 |
+
},
|
| 241 |
+
{
|
| 242 |
+
"event": "m36_e1_reset_started",
|
| 243 |
+
"frame": 0
|
| 244 |
+
},
|
| 245 |
+
{
|
| 246 |
+
"event": "m36_e1_reset_completed",
|
| 247 |
+
"frame": 75
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"event": "phase_recall",
|
| 251 |
+
"frame": 75
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"event": "decision_step",
|
| 255 |
+
"frame": 76
|
| 256 |
+
},
|
| 257 |
+
{
|
| 258 |
+
"event": "submit_started",
|
| 259 |
+
"frame": 225
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"event": "submit_completed",
|
| 263 |
+
"frame": 277
|
| 264 |
+
}
|
| 265 |
+
],
|
| 266 |
+
"randomization_records": [
|
| 267 |
+
{
|
| 268 |
+
"name": "button:confirm",
|
| 269 |
+
"base_xy": [
|
| 270 |
+
0.26,
|
| 271 |
+
-0.23
|
| 272 |
+
],
|
| 273 |
+
"sampled_xy": [
|
| 274 |
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0.25999999046325684,
|
| 275 |
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-0.23000000417232513
|
| 276 |
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],
|
| 277 |
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"offset_xy": [
|
| 278 |
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|
| 279 |
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-4.1723251242853365e-09
|
| 280 |
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],
|
| 281 |
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"yaw_degrees": 0.0,
|
| 282 |
+
"yaw_randomized": false
|
| 283 |
+
}
|
| 284 |
+
],
|
| 285 |
+
"placement_checks": [],
|
| 286 |
+
"grasp_checks": [],
|
| 287 |
+
"transport_events": [],
|
| 288 |
+
"final_scene_checks": [],
|
| 289 |
+
"button_press_checks": [
|
| 290 |
+
{
|
| 291 |
+
"key": "reset",
|
| 292 |
+
"arm": "right",
|
| 293 |
+
"frame": 63,
|
| 294 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 295 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 296 |
+
"closed_during_press": true
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"key": "confirm",
|
| 300 |
+
"arm": "right",
|
| 301 |
+
"frame": 265,
|
| 302 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 303 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 304 |
+
"closed_during_press": true
|
| 305 |
+
}
|
| 306 |
+
],
|
| 307 |
+
"switch_checks": [
|
| 308 |
+
{
|
| 309 |
+
"key": "m36_restore_A",
|
| 310 |
+
"arm": "left",
|
| 311 |
+
"requested_on": true,
|
| 312 |
+
"joint_reached": true,
|
| 313 |
+
"closed_gripper": true,
|
| 314 |
+
"contact_count": 21,
|
| 315 |
+
"native_joint_reached": false,
|
| 316 |
+
"latched_on_contact": true,
|
| 317 |
+
"gripper_qpos": 0.20100683253258467
|
| 318 |
+
}
|
| 319 |
+
],
|
| 320 |
+
"device_press_checks": [],
|
| 321 |
+
"press_counts": {
|
| 322 |
+
"reset": 1,
|
| 323 |
+
"confirm": 1
|
| 324 |
+
},
|
| 325 |
+
"p1_render_trace": []
|
| 326 |
+
},
|
| 327 |
+
"quality": {
|
| 328 |
+
"frames": 278,
|
| 329 |
+
"max_action_delta": 0.12758231163024902,
|
| 330 |
+
"arm_motion_range": 2.416851043701172,
|
| 331 |
+
"gripper_motion_range": 1.3385446071624756,
|
| 332 |
+
"camera_payload_bytes": 210300,
|
| 333 |
+
"fingerprint": "ec26e7641471011ff2a1b77772d1af0aad2ff59f551ca1715f55c0011ab3e4a5"
|
| 334 |
+
},
|
| 335 |
+
"plan_success": true,
|
| 336 |
+
"replay_success": true
|
| 337 |
+
}
|
| 338 |
+
],
|
| 339 |
+
"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000026.json
ADDED
|
@@ -0,0 +1,370 @@
|
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|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 26,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 6,
|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 6,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A",
|
| 20 |
+
"B"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"red",
|
| 25 |
+
"red",
|
| 26 |
+
"neutral"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 2,
|
| 43 |
+
"blue_count": 0,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "45a8129b816fd191daa8752046849d07e306c0c96a0c11fcc9e07d7590e91a8b",
|
| 49 |
+
"episode_id": 26,
|
| 50 |
+
"seed": 1716412794
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "45a8129b816fd191daa8752046849d07e306c0c96a0c11fcc9e07d7590e91a8b",
|
| 53 |
+
"bench_values": {
|
| 54 |
+
"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"A",
|
| 59 |
+
"B"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"red",
|
| 64 |
+
"red",
|
| 65 |
+
"neutral"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"A",
|
| 80 |
+
"B"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
1716412794
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
+
"scene": "episode",
|
| 88 |
+
"seed": 1716412794,
|
| 89 |
+
"planning_result": {
|
| 90 |
+
"success": true,
|
| 91 |
+
"task_id": "E1",
|
| 92 |
+
"branch": "train",
|
| 93 |
+
"action_log": [
|
| 94 |
+
{
|
| 95 |
+
"action": "initial_state_observed",
|
| 96 |
+
"on": [
|
| 97 |
+
"A",
|
| 98 |
+
"B"
|
| 99 |
+
],
|
| 100 |
+
"restore_scope": [
|
| 101 |
+
"A",
|
| 102 |
+
"B",
|
| 103 |
+
"C"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
[
|
| 107 |
+
"switch",
|
| 108 |
+
"m36_restore_A",
|
| 109 |
+
true
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
"switch",
|
| 113 |
+
"m36_restore_B",
|
| 114 |
+
true
|
| 115 |
+
],
|
| 116 |
+
{
|
| 117 |
+
"action": "submit",
|
| 118 |
+
"expected": [
|
| 119 |
+
"A",
|
| 120 |
+
"B"
|
| 121 |
+
],
|
| 122 |
+
"actual": [
|
| 123 |
+
"A",
|
| 124 |
+
"B"
|
| 125 |
+
],
|
| 126 |
+
"state_valid": true
|
| 127 |
+
}
|
| 128 |
+
],
|
| 129 |
+
"event_timeline": [
|
| 130 |
+
{
|
| 131 |
+
"event": "phase_observe",
|
| 132 |
+
"frame": 0
|
| 133 |
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},
|
| 134 |
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{
|
| 135 |
+
"event": "phase_observe",
|
| 136 |
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"frame": 0
|
| 137 |
+
},
|
| 138 |
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{
|
| 139 |
+
"event": "m36_e1_initial_state_observed",
|
| 140 |
+
"frame": 0
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"event": "last_observable_step",
|
| 144 |
+
"frame": 0
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"event": "m36_e1_reset_started",
|
| 148 |
+
"frame": 0
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"event": "m36_e1_reset_completed",
|
| 152 |
+
"frame": 0
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"event": "phase_recall",
|
| 156 |
+
"frame": 0
|
| 157 |
+
},
|
| 158 |
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{
|
| 159 |
+
"event": "decision_step",
|
| 160 |
+
"frame": 0
|
| 161 |
+
},
|
| 162 |
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{
|
| 163 |
+
"event": "submit_started",
|
| 164 |
+
"frame": 0
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"event": "submit_completed",
|
| 168 |
+
"frame": 0
|
| 169 |
+
}
|
| 170 |
+
],
|
| 171 |
+
"randomization_records": [
|
| 172 |
+
{
|
| 173 |
+
"name": "button:confirm",
|
| 174 |
+
"base_xy": [
|
| 175 |
+
0.26,
|
| 176 |
+
-0.23
|
| 177 |
+
],
|
| 178 |
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"sampled_xy": [
|
| 179 |
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0.25999999046325684,
|
| 180 |
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-0.23000000417232513
|
| 181 |
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],
|
| 182 |
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"offset_xy": [
|
| 183 |
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-9.536743172944284e-09,
|
| 184 |
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-4.1723251242853365e-09
|
| 185 |
+
],
|
| 186 |
+
"yaw_degrees": 0.0,
|
| 187 |
+
"yaw_randomized": false
|
| 188 |
+
}
|
| 189 |
+
],
|
| 190 |
+
"placement_checks": [],
|
| 191 |
+
"grasp_checks": [],
|
| 192 |
+
"transport_events": [],
|
| 193 |
+
"final_scene_checks": [],
|
| 194 |
+
"button_press_checks": [],
|
| 195 |
+
"switch_checks": [],
|
| 196 |
+
"device_press_checks": [],
|
| 197 |
+
"press_counts": {
|
| 198 |
+
"reset": 1,
|
| 199 |
+
"confirm": 1
|
| 200 |
+
},
|
| 201 |
+
"p1_render_trace": []
|
| 202 |
+
},
|
| 203 |
+
"replay_result": {
|
| 204 |
+
"success": true,
|
| 205 |
+
"task_id": "E1",
|
| 206 |
+
"branch": "train",
|
| 207 |
+
"action_log": [
|
| 208 |
+
{
|
| 209 |
+
"action": "initial_state_observed",
|
| 210 |
+
"on": [
|
| 211 |
+
"A",
|
| 212 |
+
"B"
|
| 213 |
+
],
|
| 214 |
+
"restore_scope": [
|
| 215 |
+
"A",
|
| 216 |
+
"B",
|
| 217 |
+
"C"
|
| 218 |
+
]
|
| 219 |
+
},
|
| 220 |
+
[
|
| 221 |
+
"switch",
|
| 222 |
+
"m36_restore_A",
|
| 223 |
+
true
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
"switch",
|
| 227 |
+
"m36_restore_B",
|
| 228 |
+
true
|
| 229 |
+
],
|
| 230 |
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{
|
| 231 |
+
"action": "submit",
|
| 232 |
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"expected": [
|
| 233 |
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"A",
|
| 234 |
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"B"
|
| 235 |
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],
|
| 236 |
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"actual": [
|
| 237 |
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"A",
|
| 238 |
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"B"
|
| 239 |
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],
|
| 240 |
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"state_valid": true
|
| 241 |
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|
| 242 |
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],
|
| 243 |
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"event_timeline": [
|
| 244 |
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{
|
| 245 |
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"event": "phase_observe",
|
| 246 |
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"frame": 0
|
| 247 |
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},
|
| 248 |
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{
|
| 249 |
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"event": "phase_observe",
|
| 250 |
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"frame": 0
|
| 251 |
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|
| 252 |
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{
|
| 253 |
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"event": "m36_e1_initial_state_observed",
|
| 254 |
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|
| 255 |
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|
| 256 |
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{
|
| 257 |
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"event": "last_observable_step",
|
| 258 |
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|
| 259 |
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|
| 260 |
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{
|
| 261 |
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"event": "m36_e1_reset_started",
|
| 262 |
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"frame": 0
|
| 263 |
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},
|
| 264 |
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{
|
| 265 |
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"event": "m36_e1_reset_completed",
|
| 266 |
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"frame": 75
|
| 267 |
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|
| 268 |
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{
|
| 269 |
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"event": "phase_recall",
|
| 270 |
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|
| 271 |
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|
| 272 |
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{
|
| 273 |
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"event": "decision_step",
|
| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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"event": "submit_started",
|
| 278 |
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|
| 279 |
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|
| 280 |
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{
|
| 281 |
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"event": "submit_completed",
|
| 282 |
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"frame": 431
|
| 283 |
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|
| 284 |
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|
| 285 |
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"randomization_records": [
|
| 286 |
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{
|
| 287 |
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"name": "button:confirm",
|
| 288 |
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|
| 289 |
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|
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|
| 291 |
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| 293 |
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| 299 |
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|
| 300 |
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|
| 301 |
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|
| 302 |
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|
| 303 |
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],
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| 304 |
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"placement_checks": [],
|
| 305 |
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"grasp_checks": [],
|
| 306 |
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"transport_events": [],
|
| 307 |
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"final_scene_checks": [],
|
| 308 |
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"button_press_checks": [
|
| 309 |
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{
|
| 310 |
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"key": "reset",
|
| 311 |
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"arm": "right",
|
| 312 |
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"frame": 63,
|
| 313 |
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|
| 314 |
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|
| 315 |
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|
| 316 |
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},
|
| 317 |
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{
|
| 318 |
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"key": "confirm",
|
| 319 |
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"arm": "right",
|
| 320 |
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"frame": 419,
|
| 321 |
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|
| 322 |
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|
| 323 |
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"closed_during_press": true
|
| 324 |
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}
|
| 325 |
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],
|
| 326 |
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"switch_checks": [
|
| 327 |
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{
|
| 328 |
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"key": "m36_restore_A",
|
| 329 |
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"arm": "left",
|
| 330 |
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"requested_on": true,
|
| 331 |
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"joint_reached": true,
|
| 332 |
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"closed_gripper": true,
|
| 333 |
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"contact_count": 21,
|
| 334 |
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|
| 335 |
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"latched_on_contact": true,
|
| 336 |
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"gripper_qpos": 0.1900594801515002
|
| 337 |
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},
|
| 338 |
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{
|
| 339 |
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"key": "m36_restore_B",
|
| 340 |
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"arm": "left",
|
| 341 |
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"requested_on": true,
|
| 342 |
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"joint_reached": true,
|
| 343 |
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"closed_gripper": true,
|
| 344 |
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"contact_count": 16,
|
| 345 |
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|
| 346 |
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|
| 347 |
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|
| 348 |
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}
|
| 349 |
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],
|
| 350 |
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"device_press_checks": [],
|
| 351 |
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"press_counts": {
|
| 352 |
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"reset": 1,
|
| 353 |
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"confirm": 1
|
| 354 |
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},
|
| 355 |
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"p1_render_trace": []
|
| 356 |
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},
|
| 357 |
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"quality": {
|
| 358 |
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|
| 359 |
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|
| 360 |
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|
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|
| 363 |
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"fingerprint": "04d5ee557d10d3e2a3a0039001c3b453120c405ec52a84bb8c07f6dbd61da3e2"
|
| 364 |
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},
|
| 365 |
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"plan_success": true,
|
| 366 |
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"replay_success": true
|
| 367 |
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}
|
| 368 |
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],
|
| 369 |
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"success": true
|
| 370 |
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}
|
data/E1_base/private_records/episode000027.json
ADDED
|
@@ -0,0 +1,340 @@
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 27,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 4,
|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 4,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"neutral",
|
| 24 |
+
"blue",
|
| 25 |
+
"red"
|
| 26 |
+
],
|
| 27 |
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"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
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"initial_on_count": 1,
|
| 40 |
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"pre_action_count": 0,
|
| 41 |
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"red_count": 1,
|
| 42 |
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"blue_count": 1,
|
| 43 |
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"large_count": 0,
|
| 44 |
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"small_count": 0,
|
| 45 |
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"restore_count": 3
|
| 46 |
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},
|
| 47 |
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"configuration_signature": "c4fd1642e2ec9af019114ff6560e2990877979761995e9091da357aed9d7ed95",
|
| 48 |
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"episode_id": 27,
|
| 49 |
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"seed": 935179811
|
| 50 |
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},
|
| 51 |
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"configuration_signature": "c4fd1642e2ec9af019114ff6560e2990877979761995e9091da357aed9d7ed95",
|
| 52 |
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"bench_values": {
|
| 53 |
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"_runtime_task_id": "E1",
|
| 54 |
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"difficulty": "base",
|
| 55 |
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"switch_count": 3,
|
| 56 |
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"initial_on": [
|
| 57 |
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"A"
|
| 58 |
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],
|
| 59 |
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"pre_actions": [],
|
| 60 |
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"switch_colors": [
|
| 61 |
+
"neutral",
|
| 62 |
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"blue",
|
| 63 |
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"red"
|
| 64 |
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],
|
| 65 |
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"switch_sizes": [
|
| 66 |
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"medium",
|
| 67 |
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"medium",
|
| 68 |
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"medium"
|
| 69 |
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],
|
| 70 |
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"restore_labels": [
|
| 71 |
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"A",
|
| 72 |
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"B",
|
| 73 |
+
"C"
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"expected_answer": [
|
| 77 |
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"A"
|
| 78 |
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],
|
| 79 |
+
"scene_seeds": [
|
| 80 |
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935179811
|
| 81 |
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],
|
| 82 |
+
"results": [
|
| 83 |
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{
|
| 84 |
+
"scene": "episode",
|
| 85 |
+
"seed": 935179811,
|
| 86 |
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"planning_result": {
|
| 87 |
+
"success": true,
|
| 88 |
+
"task_id": "E1",
|
| 89 |
+
"branch": "train",
|
| 90 |
+
"action_log": [
|
| 91 |
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{
|
| 92 |
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"action": "initial_state_observed",
|
| 93 |
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"on": [
|
| 94 |
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"A"
|
| 95 |
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],
|
| 96 |
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"restore_scope": [
|
| 97 |
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"A",
|
| 98 |
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"B",
|
| 99 |
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"C"
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
[
|
| 103 |
+
"switch",
|
| 104 |
+
"m36_restore_A",
|
| 105 |
+
true
|
| 106 |
+
],
|
| 107 |
+
{
|
| 108 |
+
"action": "submit",
|
| 109 |
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"expected": [
|
| 110 |
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"A"
|
| 111 |
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],
|
| 112 |
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"actual": [
|
| 113 |
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"A"
|
| 114 |
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],
|
| 115 |
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"state_valid": true
|
| 116 |
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}
|
| 117 |
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],
|
| 118 |
+
"event_timeline": [
|
| 119 |
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{
|
| 120 |
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"event": "phase_observe",
|
| 121 |
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"frame": 0
|
| 122 |
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},
|
| 123 |
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{
|
| 124 |
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"event": "phase_observe",
|
| 125 |
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"frame": 0
|
| 126 |
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},
|
| 127 |
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{
|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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{
|
| 132 |
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"event": "last_observable_step",
|
| 133 |
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|
| 134 |
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|
| 135 |
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{
|
| 136 |
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"event": "m36_e1_reset_started",
|
| 137 |
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|
| 138 |
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|
| 139 |
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{
|
| 140 |
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"event": "m36_e1_reset_completed",
|
| 141 |
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|
| 142 |
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|
| 143 |
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{
|
| 144 |
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"event": "phase_recall",
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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"event": "submit_started",
|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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"event": "submit_completed",
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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|
| 162 |
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"name": "button:confirm",
|
| 163 |
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| 164 |
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| 166 |
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| 174 |
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|
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|
| 177 |
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|
| 178 |
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| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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"switch_checks": [],
|
| 185 |
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"device_press_checks": [],
|
| 186 |
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"press_counts": {
|
| 187 |
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"reset": 1,
|
| 188 |
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"confirm": 1
|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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"replay_result": {
|
| 193 |
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"success": true,
|
| 194 |
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"task_id": "E1",
|
| 195 |
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"branch": "train",
|
| 196 |
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"action_log": [
|
| 197 |
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{
|
| 198 |
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"action": "initial_state_observed",
|
| 199 |
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"on": [
|
| 200 |
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"A"
|
| 201 |
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],
|
| 202 |
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"restore_scope": [
|
| 203 |
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"A",
|
| 204 |
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"B",
|
| 205 |
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"C"
|
| 206 |
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]
|
| 207 |
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},
|
| 208 |
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[
|
| 209 |
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"switch",
|
| 210 |
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"m36_restore_A",
|
| 211 |
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true
|
| 212 |
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],
|
| 213 |
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{
|
| 214 |
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"action": "submit",
|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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"actual": [
|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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"event_timeline": [
|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
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|
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"event": "phase_observe",
|
| 231 |
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|
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| 238 |
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| 247 |
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| 248 |
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| 249 |
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| 250 |
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|
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|
| 289 |
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|
| 290 |
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{
|
| 291 |
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"key": "reset",
|
| 292 |
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|
| 293 |
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"frame": 63,
|
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|
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"button_qpos_during_press": -0.006000000052154064,
|
| 296 |
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|
| 297 |
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},
|
| 298 |
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{
|
| 299 |
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"key": "confirm",
|
| 300 |
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"arm": "right",
|
| 301 |
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"frame": 265,
|
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|
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"button_qpos_during_press": -0.006000000052154064,
|
| 304 |
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"closed_during_press": true
|
| 305 |
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}
|
| 306 |
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],
|
| 307 |
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"switch_checks": [
|
| 308 |
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{
|
| 309 |
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"key": "m36_restore_A",
|
| 310 |
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"arm": "left",
|
| 311 |
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"requested_on": true,
|
| 312 |
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"joint_reached": true,
|
| 313 |
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"closed_gripper": true,
|
| 314 |
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|
| 315 |
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|
| 316 |
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|
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|
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],
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|
| 321 |
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|
| 322 |
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|
| 323 |
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|
| 324 |
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},
|
| 325 |
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|
| 326 |
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},
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| 327 |
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"quality": {
|
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|
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|
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|
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|
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},
|
| 335 |
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"plan_success": true,
|
| 336 |
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"replay_success": true
|
| 337 |
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}
|
| 338 |
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],
|
| 339 |
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"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000028.json
ADDED
|
@@ -0,0 +1,340 @@
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|
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|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 28,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 3,
|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 3,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"C"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"blue",
|
| 24 |
+
"blue",
|
| 25 |
+
"red"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
+
"initial_on_count": 1,
|
| 40 |
+
"pre_action_count": 0,
|
| 41 |
+
"red_count": 1,
|
| 42 |
+
"blue_count": 2,
|
| 43 |
+
"large_count": 0,
|
| 44 |
+
"small_count": 0,
|
| 45 |
+
"restore_count": 3
|
| 46 |
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},
|
| 47 |
+
"configuration_signature": "ea6ae27bb18fc593aab5d5f5efa13b1e15580afbeebaaa35203f7f7c4e89c83e",
|
| 48 |
+
"episode_id": 28,
|
| 49 |
+
"seed": 160120221
|
| 50 |
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},
|
| 51 |
+
"configuration_signature": "ea6ae27bb18fc593aab5d5f5efa13b1e15580afbeebaaa35203f7f7c4e89c83e",
|
| 52 |
+
"bench_values": {
|
| 53 |
+
"_runtime_task_id": "E1",
|
| 54 |
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|
data/E1_base/private_records/episode000029.json
ADDED
|
@@ -0,0 +1,340 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
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"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
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|
| 5 |
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"task": "E1_base",
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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"counterfactual_pair_id": 11,
|
| 12 |
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"counterfactual_pair_member": "B",
|
| 13 |
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"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
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"_runtime_task_id": "E1",
|
| 16 |
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"difficulty": "base",
|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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],
|
| 21 |
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|
| 22 |
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|
| 23 |
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"neutral",
|
| 24 |
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|
| 25 |
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"blue"
|
| 26 |
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],
|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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],
|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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]
|
| 37 |
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},
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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},
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| 47 |
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|
| 48 |
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|
| 49 |
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"seed": 2042440571
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| 50 |
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},
|
| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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],
|
| 59 |
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|
| 60 |
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|
| 61 |
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"neutral",
|
| 62 |
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"blue",
|
| 63 |
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"blue"
|
| 64 |
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],
|
| 65 |
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|
| 66 |
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"medium",
|
| 67 |
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"medium",
|
| 68 |
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|
| 69 |
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],
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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| 74 |
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]
|
| 75 |
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| 76 |
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|
| 77 |
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| 78 |
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],
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| 79 |
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|
| 80 |
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],
|
| 82 |
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"results": [
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| 83 |
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{
|
| 84 |
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"scene": "episode",
|
| 85 |
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"seed": 2042440571,
|
| 86 |
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|
| 87 |
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"success": true,
|
| 88 |
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|
| 89 |
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"branch": "train",
|
| 90 |
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|
| 91 |
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|
| 92 |
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| 93 |
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| 94 |
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| 95 |
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],
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| 96 |
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| 97 |
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| 98 |
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| 99 |
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| 100 |
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]
|
| 101 |
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| 102 |
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[
|
| 103 |
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"switch",
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| 104 |
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|
| 105 |
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|
| 106 |
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],
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| 107 |
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{
|
| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 115 |
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| 116 |
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| 124 |
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|
| 125 |
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| 128 |
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| 130 |
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| 131 |
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|
| 132 |
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| 133 |
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| 136 |
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| 137 |
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| 139 |
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| 140 |
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| 141 |
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| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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|
| 156 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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|
| 176 |
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| 177 |
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|
| 178 |
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| 179 |
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| 180 |
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| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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"switch_checks": [],
|
| 185 |
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|
| 186 |
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"press_counts": {
|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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| 192 |
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"replay_result": {
|
| 193 |
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"success": true,
|
| 194 |
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"task_id": "E1",
|
| 195 |
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|
| 196 |
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| 197 |
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|
| 198 |
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"action": "initial_state_observed",
|
| 199 |
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"on": [
|
| 200 |
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|
| 201 |
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],
|
| 202 |
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|
| 203 |
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"A",
|
| 204 |
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"B",
|
| 205 |
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"C"
|
| 206 |
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]
|
| 207 |
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},
|
| 208 |
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[
|
| 209 |
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"switch",
|
| 210 |
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"m36_restore_A",
|
| 211 |
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true
|
| 212 |
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],
|
| 213 |
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{
|
| 214 |
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"action": "submit",
|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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],
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| 221 |
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|
| 222 |
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|
| 223 |
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],
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| 224 |
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"event_timeline": [
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{
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| 226 |
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},
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| 229 |
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{
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| 230 |
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"event": "phase_observe",
|
| 231 |
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"frame": 0
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| 232 |
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},
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| 233 |
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{
|
| 234 |
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"event": "m36_e1_initial_state_observed",
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| 235 |
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"frame": 0
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| 236 |
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},
|
| 237 |
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{
|
| 238 |
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"event": "last_observable_step",
|
| 239 |
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"frame": 0
|
| 240 |
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},
|
| 241 |
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{
|
| 242 |
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"event": "m36_e1_reset_started",
|
| 243 |
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"frame": 0
|
| 244 |
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},
|
| 245 |
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{
|
| 246 |
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"event": "m36_e1_reset_completed",
|
| 247 |
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"frame": 75
|
| 248 |
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},
|
| 249 |
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{
|
| 250 |
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| 251 |
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"frame": 75
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| 252 |
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},
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| 253 |
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{
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| 254 |
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},
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| 258 |
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"event": "submit_started",
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| 259 |
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| 260 |
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| 261 |
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| 262 |
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| 266 |
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| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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|
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|
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|
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|
| 299 |
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|
| 300 |
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| 301 |
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|
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|
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|
| 305 |
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|
| 306 |
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],
|
| 307 |
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|
| 308 |
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|
| 309 |
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|
| 310 |
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"arm": "left",
|
| 311 |
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"requested_on": true,
|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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|
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],
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|
| 321 |
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|
| 322 |
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|
| 323 |
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|
| 324 |
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},
|
| 325 |
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|
| 326 |
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},
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|
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|
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|
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|
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| 334 |
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},
|
| 335 |
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"plan_success": true,
|
| 336 |
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"replay_success": true
|
| 337 |
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}
|
| 338 |
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],
|
| 339 |
+
"success": true
|
| 340 |
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}
|
data/E1_base/private_records/episode000030.json
ADDED
|
@@ -0,0 +1,340 @@
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|
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|
|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
|
|
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|
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|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 30,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 15,
|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 15,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"C"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"red",
|
| 24 |
+
"red",
|
| 25 |
+
"neutral"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
+
"initial_on_count": 1,
|
| 40 |
+
"pre_action_count": 0,
|
| 41 |
+
"red_count": 2,
|
| 42 |
+
"blue_count": 0,
|
| 43 |
+
"large_count": 0,
|
| 44 |
+
"small_count": 0,
|
| 45 |
+
"restore_count": 3
|
| 46 |
+
},
|
| 47 |
+
"configuration_signature": "f305f694f626532da64e0896c713e813e4841a600819d4e7f8740c319c90d5a0",
|
| 48 |
+
"episode_id": 30,
|
| 49 |
+
"seed": 382243258
|
| 50 |
+
},
|
| 51 |
+
"configuration_signature": "f305f694f626532da64e0896c713e813e4841a600819d4e7f8740c319c90d5a0",
|
| 52 |
+
"bench_values": {
|
| 53 |
+
"_runtime_task_id": "E1",
|
| 54 |
+
"difficulty": "base",
|
| 55 |
+
"switch_count": 3,
|
| 56 |
+
"initial_on": [
|
| 57 |
+
"C"
|
| 58 |
+
],
|
| 59 |
+
"pre_actions": [],
|
| 60 |
+
"switch_colors": [
|
| 61 |
+
"red",
|
| 62 |
+
"red",
|
| 63 |
+
"neutral"
|
| 64 |
+
],
|
| 65 |
+
"switch_sizes": [
|
| 66 |
+
"medium",
|
| 67 |
+
"medium",
|
| 68 |
+
"medium"
|
| 69 |
+
],
|
| 70 |
+
"restore_labels": [
|
| 71 |
+
"A",
|
| 72 |
+
"B",
|
| 73 |
+
"C"
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"expected_answer": [
|
| 77 |
+
"C"
|
| 78 |
+
],
|
| 79 |
+
"scene_seeds": [
|
| 80 |
+
382243258
|
| 81 |
+
],
|
| 82 |
+
"results": [
|
| 83 |
+
{
|
| 84 |
+
"scene": "episode",
|
| 85 |
+
"seed": 382243258,
|
| 86 |
+
"planning_result": {
|
| 87 |
+
"success": true,
|
| 88 |
+
"task_id": "E1",
|
| 89 |
+
"branch": "train",
|
| 90 |
+
"action_log": [
|
| 91 |
+
{
|
| 92 |
+
"action": "initial_state_observed",
|
| 93 |
+
"on": [
|
| 94 |
+
"C"
|
| 95 |
+
],
|
| 96 |
+
"restore_scope": [
|
| 97 |
+
"A",
|
| 98 |
+
"B",
|
| 99 |
+
"C"
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
[
|
| 103 |
+
"switch",
|
| 104 |
+
"m36_restore_C",
|
| 105 |
+
true
|
| 106 |
+
],
|
| 107 |
+
{
|
| 108 |
+
"action": "submit",
|
| 109 |
+
"expected": [
|
| 110 |
+
"C"
|
| 111 |
+
],
|
| 112 |
+
"actual": [
|
| 113 |
+
"C"
|
| 114 |
+
],
|
| 115 |
+
"state_valid": true
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"event_timeline": [
|
| 119 |
+
{
|
| 120 |
+
"event": "phase_observe",
|
| 121 |
+
"frame": 0
|
| 122 |
+
},
|
| 123 |
+
{
|
| 124 |
+
"event": "phase_observe",
|
| 125 |
+
"frame": 0
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"event": "m36_e1_initial_state_observed",
|
| 129 |
+
"frame": 0
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"event": "last_observable_step",
|
| 133 |
+
"frame": 0
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"event": "m36_e1_reset_started",
|
| 137 |
+
"frame": 0
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"event": "m36_e1_reset_completed",
|
| 141 |
+
"frame": 0
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"event": "phase_recall",
|
| 145 |
+
"frame": 0
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"event": "decision_step",
|
| 149 |
+
"frame": 0
|
| 150 |
+
},
|
| 151 |
+
{
|
| 152 |
+
"event": "submit_started",
|
| 153 |
+
"frame": 0
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"event": "submit_completed",
|
| 157 |
+
"frame": 0
|
| 158 |
+
}
|
| 159 |
+
],
|
| 160 |
+
"randomization_records": [
|
| 161 |
+
{
|
| 162 |
+
"name": "button:confirm",
|
| 163 |
+
"base_xy": [
|
| 164 |
+
0.26,
|
| 165 |
+
-0.23
|
| 166 |
+
],
|
| 167 |
+
"sampled_xy": [
|
| 168 |
+
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|
| 169 |
+
-0.23000000417232513
|
| 170 |
+
],
|
| 171 |
+
"offset_xy": [
|
| 172 |
+
-9.536743172944284e-09,
|
| 173 |
+
-4.1723251242853365e-09
|
| 174 |
+
],
|
| 175 |
+
"yaw_degrees": 0.0,
|
| 176 |
+
"yaw_randomized": false
|
| 177 |
+
}
|
| 178 |
+
],
|
| 179 |
+
"placement_checks": [],
|
| 180 |
+
"grasp_checks": [],
|
| 181 |
+
"transport_events": [],
|
| 182 |
+
"final_scene_checks": [],
|
| 183 |
+
"button_press_checks": [],
|
| 184 |
+
"switch_checks": [],
|
| 185 |
+
"device_press_checks": [],
|
| 186 |
+
"press_counts": {
|
| 187 |
+
"reset": 1,
|
| 188 |
+
"confirm": 1
|
| 189 |
+
},
|
| 190 |
+
"p1_render_trace": []
|
| 191 |
+
},
|
| 192 |
+
"replay_result": {
|
| 193 |
+
"success": true,
|
| 194 |
+
"task_id": "E1",
|
| 195 |
+
"branch": "train",
|
| 196 |
+
"action_log": [
|
| 197 |
+
{
|
| 198 |
+
"action": "initial_state_observed",
|
| 199 |
+
"on": [
|
| 200 |
+
"C"
|
| 201 |
+
],
|
| 202 |
+
"restore_scope": [
|
| 203 |
+
"A",
|
| 204 |
+
"B",
|
| 205 |
+
"C"
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
[
|
| 209 |
+
"switch",
|
| 210 |
+
"m36_restore_C",
|
| 211 |
+
true
|
| 212 |
+
],
|
| 213 |
+
{
|
| 214 |
+
"action": "submit",
|
| 215 |
+
"expected": [
|
| 216 |
+
"C"
|
| 217 |
+
],
|
| 218 |
+
"actual": [
|
| 219 |
+
"C"
|
| 220 |
+
],
|
| 221 |
+
"state_valid": true
|
| 222 |
+
}
|
| 223 |
+
],
|
| 224 |
+
"event_timeline": [
|
| 225 |
+
{
|
| 226 |
+
"event": "phase_observe",
|
| 227 |
+
"frame": 0
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"event": "phase_observe",
|
| 231 |
+
"frame": 0
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"event": "m36_e1_initial_state_observed",
|
| 235 |
+
"frame": 0
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"event": "last_observable_step",
|
| 239 |
+
"frame": 0
|
| 240 |
+
},
|
| 241 |
+
{
|
| 242 |
+
"event": "m36_e1_reset_started",
|
| 243 |
+
"frame": 0
|
| 244 |
+
},
|
| 245 |
+
{
|
| 246 |
+
"event": "m36_e1_reset_completed",
|
| 247 |
+
"frame": 75
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"event": "phase_recall",
|
| 251 |
+
"frame": 75
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"event": "decision_step",
|
| 255 |
+
"frame": 76
|
| 256 |
+
},
|
| 257 |
+
{
|
| 258 |
+
"event": "submit_started",
|
| 259 |
+
"frame": 247
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"event": "submit_completed",
|
| 263 |
+
"frame": 300
|
| 264 |
+
}
|
| 265 |
+
],
|
| 266 |
+
"randomization_records": [
|
| 267 |
+
{
|
| 268 |
+
"name": "button:confirm",
|
| 269 |
+
"base_xy": [
|
| 270 |
+
0.26,
|
| 271 |
+
-0.23
|
| 272 |
+
],
|
| 273 |
+
"sampled_xy": [
|
| 274 |
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|
| 275 |
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|
| 276 |
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],
|
| 277 |
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"offset_xy": [
|
| 278 |
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|
| 279 |
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|
| 280 |
+
],
|
| 281 |
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"yaw_degrees": 0.0,
|
| 282 |
+
"yaw_randomized": false
|
| 283 |
+
}
|
| 284 |
+
],
|
| 285 |
+
"placement_checks": [],
|
| 286 |
+
"grasp_checks": [],
|
| 287 |
+
"transport_events": [],
|
| 288 |
+
"final_scene_checks": [],
|
| 289 |
+
"button_press_checks": [
|
| 290 |
+
{
|
| 291 |
+
"key": "reset",
|
| 292 |
+
"arm": "right",
|
| 293 |
+
"frame": 63,
|
| 294 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 295 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 296 |
+
"closed_during_press": true
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"key": "confirm",
|
| 300 |
+
"arm": "right",
|
| 301 |
+
"frame": 288,
|
| 302 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 303 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 304 |
+
"closed_during_press": true
|
| 305 |
+
}
|
| 306 |
+
],
|
| 307 |
+
"switch_checks": [
|
| 308 |
+
{
|
| 309 |
+
"key": "m36_restore_C",
|
| 310 |
+
"arm": "left",
|
| 311 |
+
"requested_on": true,
|
| 312 |
+
"joint_reached": true,
|
| 313 |
+
"closed_gripper": true,
|
| 314 |
+
"contact_count": 21,
|
| 315 |
+
"native_joint_reached": false,
|
| 316 |
+
"latched_on_contact": true,
|
| 317 |
+
"gripper_qpos": 0.21042665238068864
|
| 318 |
+
}
|
| 319 |
+
],
|
| 320 |
+
"device_press_checks": [],
|
| 321 |
+
"press_counts": {
|
| 322 |
+
"reset": 1,
|
| 323 |
+
"confirm": 1
|
| 324 |
+
},
|
| 325 |
+
"p1_render_trace": []
|
| 326 |
+
},
|
| 327 |
+
"quality": {
|
| 328 |
+
"frames": 301,
|
| 329 |
+
"max_action_delta": 0.13354730606079102,
|
| 330 |
+
"arm_motion_range": 3.2523832823699195,
|
| 331 |
+
"gripper_motion_range": 1.3385276794433594,
|
| 332 |
+
"camera_payload_bytes": 203836,
|
| 333 |
+
"fingerprint": "77b9dd46e1fbcab98bb8cfdfdece584981a6714a0a9628db7928729a12c16d1c"
|
| 334 |
+
},
|
| 335 |
+
"plan_success": true,
|
| 336 |
+
"replay_success": true
|
| 337 |
+
}
|
| 338 |
+
],
|
| 339 |
+
"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000031.json
ADDED
|
@@ -0,0 +1,340 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 31,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 21,
|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 21,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"blue",
|
| 24 |
+
"blue",
|
| 25 |
+
"neutral"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
+
"initial_on_count": 1,
|
| 40 |
+
"pre_action_count": 0,
|
| 41 |
+
"red_count": 0,
|
| 42 |
+
"blue_count": 2,
|
| 43 |
+
"large_count": 0,
|
| 44 |
+
"small_count": 0,
|
| 45 |
+
"restore_count": 3
|
| 46 |
+
},
|
| 47 |
+
"configuration_signature": "b04d1de4037380e7e332184ca87b4d2fd2f6930d1903a1099d4c49ede6130ac8",
|
| 48 |
+
"episode_id": 31,
|
| 49 |
+
"seed": 729955185
|
| 50 |
+
},
|
| 51 |
+
"configuration_signature": "b04d1de4037380e7e332184ca87b4d2fd2f6930d1903a1099d4c49ede6130ac8",
|
| 52 |
+
"bench_values": {
|
| 53 |
+
"_runtime_task_id": "E1",
|
| 54 |
+
"difficulty": "base",
|
| 55 |
+
"switch_count": 3,
|
| 56 |
+
"initial_on": [
|
| 57 |
+
"A"
|
| 58 |
+
],
|
| 59 |
+
"pre_actions": [],
|
| 60 |
+
"switch_colors": [
|
| 61 |
+
"blue",
|
| 62 |
+
"blue",
|
| 63 |
+
"neutral"
|
| 64 |
+
],
|
| 65 |
+
"switch_sizes": [
|
| 66 |
+
"medium",
|
| 67 |
+
"medium",
|
| 68 |
+
"medium"
|
| 69 |
+
],
|
| 70 |
+
"restore_labels": [
|
| 71 |
+
"A",
|
| 72 |
+
"B",
|
| 73 |
+
"C"
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"expected_answer": [
|
| 77 |
+
"A"
|
| 78 |
+
],
|
| 79 |
+
"scene_seeds": [
|
| 80 |
+
729955185
|
| 81 |
+
],
|
| 82 |
+
"results": [
|
| 83 |
+
{
|
| 84 |
+
"scene": "episode",
|
| 85 |
+
"seed": 729955185,
|
| 86 |
+
"planning_result": {
|
| 87 |
+
"success": true,
|
| 88 |
+
"task_id": "E1",
|
| 89 |
+
"branch": "train",
|
| 90 |
+
"action_log": [
|
| 91 |
+
{
|
| 92 |
+
"action": "initial_state_observed",
|
| 93 |
+
"on": [
|
| 94 |
+
"A"
|
| 95 |
+
],
|
| 96 |
+
"restore_scope": [
|
| 97 |
+
"A",
|
| 98 |
+
"B",
|
| 99 |
+
"C"
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
[
|
| 103 |
+
"switch",
|
| 104 |
+
"m36_restore_A",
|
| 105 |
+
true
|
| 106 |
+
],
|
| 107 |
+
{
|
| 108 |
+
"action": "submit",
|
| 109 |
+
"expected": [
|
| 110 |
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"A"
|
| 111 |
+
],
|
| 112 |
+
"actual": [
|
| 113 |
+
"A"
|
| 114 |
+
],
|
| 115 |
+
"state_valid": true
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"event_timeline": [
|
| 119 |
+
{
|
| 120 |
+
"event": "phase_observe",
|
| 121 |
+
"frame": 0
|
| 122 |
+
},
|
| 123 |
+
{
|
| 124 |
+
"event": "phase_observe",
|
| 125 |
+
"frame": 0
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"event": "m36_e1_initial_state_observed",
|
| 129 |
+
"frame": 0
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"event": "last_observable_step",
|
| 133 |
+
"frame": 0
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"event": "m36_e1_reset_started",
|
| 137 |
+
"frame": 0
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"event": "m36_e1_reset_completed",
|
| 141 |
+
"frame": 0
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"event": "phase_recall",
|
| 145 |
+
"frame": 0
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"event": "decision_step",
|
| 149 |
+
"frame": 0
|
| 150 |
+
},
|
| 151 |
+
{
|
| 152 |
+
"event": "submit_started",
|
| 153 |
+
"frame": 0
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"event": "submit_completed",
|
| 157 |
+
"frame": 0
|
| 158 |
+
}
|
| 159 |
+
],
|
| 160 |
+
"randomization_records": [
|
| 161 |
+
{
|
| 162 |
+
"name": "button:confirm",
|
| 163 |
+
"base_xy": [
|
| 164 |
+
0.26,
|
| 165 |
+
-0.23
|
| 166 |
+
],
|
| 167 |
+
"sampled_xy": [
|
| 168 |
+
0.25999999046325684,
|
| 169 |
+
-0.23000000417232513
|
| 170 |
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],
|
| 171 |
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"offset_xy": [
|
| 172 |
+
-9.536743172944284e-09,
|
| 173 |
+
-4.1723251242853365e-09
|
| 174 |
+
],
|
| 175 |
+
"yaw_degrees": 0.0,
|
| 176 |
+
"yaw_randomized": false
|
| 177 |
+
}
|
| 178 |
+
],
|
| 179 |
+
"placement_checks": [],
|
| 180 |
+
"grasp_checks": [],
|
| 181 |
+
"transport_events": [],
|
| 182 |
+
"final_scene_checks": [],
|
| 183 |
+
"button_press_checks": [],
|
| 184 |
+
"switch_checks": [],
|
| 185 |
+
"device_press_checks": [],
|
| 186 |
+
"press_counts": {
|
| 187 |
+
"reset": 1,
|
| 188 |
+
"confirm": 1
|
| 189 |
+
},
|
| 190 |
+
"p1_render_trace": []
|
| 191 |
+
},
|
| 192 |
+
"replay_result": {
|
| 193 |
+
"success": true,
|
| 194 |
+
"task_id": "E1",
|
| 195 |
+
"branch": "train",
|
| 196 |
+
"action_log": [
|
| 197 |
+
{
|
| 198 |
+
"action": "initial_state_observed",
|
| 199 |
+
"on": [
|
| 200 |
+
"A"
|
| 201 |
+
],
|
| 202 |
+
"restore_scope": [
|
| 203 |
+
"A",
|
| 204 |
+
"B",
|
| 205 |
+
"C"
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
[
|
| 209 |
+
"switch",
|
| 210 |
+
"m36_restore_A",
|
| 211 |
+
true
|
| 212 |
+
],
|
| 213 |
+
{
|
| 214 |
+
"action": "submit",
|
| 215 |
+
"expected": [
|
| 216 |
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"A"
|
| 217 |
+
],
|
| 218 |
+
"actual": [
|
| 219 |
+
"A"
|
| 220 |
+
],
|
| 221 |
+
"state_valid": true
|
| 222 |
+
}
|
| 223 |
+
],
|
| 224 |
+
"event_timeline": [
|
| 225 |
+
{
|
| 226 |
+
"event": "phase_observe",
|
| 227 |
+
"frame": 0
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"event": "phase_observe",
|
| 231 |
+
"frame": 0
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"event": "m36_e1_initial_state_observed",
|
| 235 |
+
"frame": 0
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"event": "last_observable_step",
|
| 239 |
+
"frame": 0
|
| 240 |
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},
|
| 241 |
+
{
|
| 242 |
+
"event": "m36_e1_reset_started",
|
| 243 |
+
"frame": 0
|
| 244 |
+
},
|
| 245 |
+
{
|
| 246 |
+
"event": "m36_e1_reset_completed",
|
| 247 |
+
"frame": 75
|
| 248 |
+
},
|
| 249 |
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{
|
| 250 |
+
"event": "phase_recall",
|
| 251 |
+
"frame": 75
|
| 252 |
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},
|
| 253 |
+
{
|
| 254 |
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"event": "decision_step",
|
| 255 |
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"frame": 76
|
| 256 |
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},
|
| 257 |
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{
|
| 258 |
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"event": "submit_started",
|
| 259 |
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"frame": 225
|
| 260 |
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},
|
| 261 |
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{
|
| 262 |
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"event": "submit_completed",
|
| 263 |
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"frame": 277
|
| 264 |
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}
|
| 265 |
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],
|
| 266 |
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"randomization_records": [
|
| 267 |
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{
|
| 268 |
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"name": "button:confirm",
|
| 269 |
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"base_xy": [
|
| 270 |
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0.26,
|
| 271 |
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-0.23
|
| 272 |
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],
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| 273 |
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"sampled_xy": [
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| 274 |
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|
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],
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|
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|
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],
|
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"yaw_degrees": 0.0,
|
| 282 |
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"yaw_randomized": false
|
| 283 |
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}
|
| 284 |
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],
|
| 285 |
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"placement_checks": [],
|
| 286 |
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"grasp_checks": [],
|
| 287 |
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"transport_events": [],
|
| 288 |
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"final_scene_checks": [],
|
| 289 |
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"button_press_checks": [
|
| 290 |
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{
|
| 291 |
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"key": "reset",
|
| 292 |
+
"arm": "right",
|
| 293 |
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"frame": 63,
|
| 294 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 295 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 296 |
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"closed_during_press": true
|
| 297 |
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},
|
| 298 |
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{
|
| 299 |
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"key": "confirm",
|
| 300 |
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"arm": "right",
|
| 301 |
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"frame": 265,
|
| 302 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 303 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 304 |
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"closed_during_press": true
|
| 305 |
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}
|
| 306 |
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],
|
| 307 |
+
"switch_checks": [
|
| 308 |
+
{
|
| 309 |
+
"key": "m36_restore_A",
|
| 310 |
+
"arm": "left",
|
| 311 |
+
"requested_on": true,
|
| 312 |
+
"joint_reached": true,
|
| 313 |
+
"closed_gripper": true,
|
| 314 |
+
"contact_count": 17,
|
| 315 |
+
"native_joint_reached": false,
|
| 316 |
+
"latched_on_contact": true,
|
| 317 |
+
"gripper_qpos": 0.18181818181818182
|
| 318 |
+
}
|
| 319 |
+
],
|
| 320 |
+
"device_press_checks": [],
|
| 321 |
+
"press_counts": {
|
| 322 |
+
"reset": 1,
|
| 323 |
+
"confirm": 1
|
| 324 |
+
},
|
| 325 |
+
"p1_render_trace": []
|
| 326 |
+
},
|
| 327 |
+
"quality": {
|
| 328 |
+
"frames": 278,
|
| 329 |
+
"max_action_delta": 0.12806165218353271,
|
| 330 |
+
"arm_motion_range": 2.4224255084991455,
|
| 331 |
+
"gripper_motion_range": 1.3386505842208862,
|
| 332 |
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"camera_payload_bytes": 210095,
|
| 333 |
+
"fingerprint": "6230df963502504cd05fb541ffc8cbf098d4a584b0b0d1ca6c289ede9e0ffd6b"
|
| 334 |
+
},
|
| 335 |
+
"plan_success": true,
|
| 336 |
+
"replay_success": true
|
| 337 |
+
}
|
| 338 |
+
],
|
| 339 |
+
"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000032.json
ADDED
|
@@ -0,0 +1,340 @@
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|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 32,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 14,
|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 14,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"C"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"neutral",
|
| 24 |
+
"blue",
|
| 25 |
+
"neutral"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
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"initial_on_count": 1,
|
| 40 |
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"pre_action_count": 0,
|
| 41 |
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"red_count": 0,
|
| 42 |
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"blue_count": 1,
|
| 43 |
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"large_count": 0,
|
| 44 |
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"small_count": 0,
|
| 45 |
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"restore_count": 3
|
| 46 |
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},
|
| 47 |
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"configuration_signature": "a41d2bcc05db102598386228991e7ee0f8d5a9dae9b037c571feaf6ddce0b2c9",
|
| 48 |
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"episode_id": 32,
|
| 49 |
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"seed": 877904218
|
| 50 |
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},
|
| 51 |
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"configuration_signature": "a41d2bcc05db102598386228991e7ee0f8d5a9dae9b037c571feaf6ddce0b2c9",
|
| 52 |
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"bench_values": {
|
| 53 |
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"_runtime_task_id": "E1",
|
| 54 |
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"difficulty": "base",
|
| 55 |
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"switch_count": 3,
|
| 56 |
+
"initial_on": [
|
| 57 |
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"C"
|
| 58 |
+
],
|
| 59 |
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"pre_actions": [],
|
| 60 |
+
"switch_colors": [
|
| 61 |
+
"neutral",
|
| 62 |
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"blue",
|
| 63 |
+
"neutral"
|
| 64 |
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],
|
| 65 |
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"switch_sizes": [
|
| 66 |
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"medium",
|
| 67 |
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"medium",
|
| 68 |
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"medium"
|
| 69 |
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],
|
| 70 |
+
"restore_labels": [
|
| 71 |
+
"A",
|
| 72 |
+
"B",
|
| 73 |
+
"C"
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"expected_answer": [
|
| 77 |
+
"C"
|
| 78 |
+
],
|
| 79 |
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"scene_seeds": [
|
| 80 |
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|
| 81 |
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],
|
| 82 |
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"results": [
|
| 83 |
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{
|
| 84 |
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"scene": "episode",
|
| 85 |
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"seed": 877904218,
|
| 86 |
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"planning_result": {
|
| 87 |
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"success": true,
|
| 88 |
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"task_id": "E1",
|
| 89 |
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"branch": "train",
|
| 90 |
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"action_log": [
|
| 91 |
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{
|
| 92 |
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"action": "initial_state_observed",
|
| 93 |
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"on": [
|
| 94 |
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"C"
|
| 95 |
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],
|
| 96 |
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"restore_scope": [
|
| 97 |
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"A",
|
| 98 |
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"B",
|
| 99 |
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"C"
|
| 100 |
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]
|
| 101 |
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},
|
| 102 |
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[
|
| 103 |
+
"switch",
|
| 104 |
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"m36_restore_C",
|
| 105 |
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true
|
| 106 |
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],
|
| 107 |
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{
|
| 108 |
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"action": "submit",
|
| 109 |
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"expected": [
|
| 110 |
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"C"
|
| 111 |
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],
|
| 112 |
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"actual": [
|
| 113 |
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"C"
|
| 114 |
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],
|
| 115 |
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"state_valid": true
|
| 116 |
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}
|
| 117 |
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],
|
| 118 |
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"event_timeline": [
|
| 119 |
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{
|
| 120 |
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"event": "phase_observe",
|
| 121 |
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"frame": 0
|
| 122 |
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},
|
| 123 |
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{
|
| 124 |
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"event": "phase_observe",
|
| 125 |
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"frame": 0
|
| 126 |
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},
|
| 127 |
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{
|
| 128 |
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"event": "m36_e1_initial_state_observed",
|
| 129 |
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"frame": 0
|
| 130 |
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},
|
| 131 |
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{
|
| 132 |
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"event": "last_observable_step",
|
| 133 |
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"frame": 0
|
| 134 |
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},
|
| 135 |
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{
|
| 136 |
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"event": "m36_e1_reset_started",
|
| 137 |
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"frame": 0
|
| 138 |
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},
|
| 139 |
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{
|
| 140 |
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"event": "m36_e1_reset_completed",
|
| 141 |
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"frame": 0
|
| 142 |
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},
|
| 143 |
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{
|
| 144 |
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"event": "phase_recall",
|
| 145 |
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"frame": 0
|
| 146 |
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},
|
| 147 |
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{
|
| 148 |
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"event": "decision_step",
|
| 149 |
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"frame": 0
|
| 150 |
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},
|
| 151 |
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{
|
| 152 |
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"event": "submit_started",
|
| 153 |
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"frame": 0
|
| 154 |
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},
|
| 155 |
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{
|
| 156 |
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"event": "submit_completed",
|
| 157 |
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"frame": 0
|
| 158 |
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}
|
| 159 |
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],
|
| 160 |
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"randomization_records": [
|
| 161 |
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{
|
| 162 |
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"name": "button:confirm",
|
| 163 |
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"base_xy": [
|
| 164 |
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|
| 165 |
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|
| 166 |
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],
|
| 167 |
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"sampled_xy": [
|
| 168 |
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|
| 169 |
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|
| 170 |
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],
|
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"offset_xy": [
|
| 172 |
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|
| 173 |
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|
| 174 |
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],
|
| 175 |
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"yaw_degrees": 0.0,
|
| 176 |
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"yaw_randomized": false
|
| 177 |
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}
|
| 178 |
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],
|
| 179 |
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"placement_checks": [],
|
| 180 |
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"grasp_checks": [],
|
| 181 |
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"transport_events": [],
|
| 182 |
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"final_scene_checks": [],
|
| 183 |
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"button_press_checks": [],
|
| 184 |
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"switch_checks": [],
|
| 185 |
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"device_press_checks": [],
|
| 186 |
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"press_counts": {
|
| 187 |
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"reset": 1,
|
| 188 |
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"confirm": 1
|
| 189 |
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},
|
| 190 |
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"p1_render_trace": []
|
| 191 |
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},
|
| 192 |
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"replay_result": {
|
| 193 |
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"success": true,
|
| 194 |
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"task_id": "E1",
|
| 195 |
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"branch": "train",
|
| 196 |
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"action_log": [
|
| 197 |
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{
|
| 198 |
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"action": "initial_state_observed",
|
| 199 |
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"on": [
|
| 200 |
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"C"
|
| 201 |
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],
|
| 202 |
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"restore_scope": [
|
| 203 |
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"A",
|
| 204 |
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"B",
|
| 205 |
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"C"
|
| 206 |
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]
|
| 207 |
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},
|
| 208 |
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[
|
| 209 |
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"switch",
|
| 210 |
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"m36_restore_C",
|
| 211 |
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true
|
| 212 |
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],
|
| 213 |
+
{
|
| 214 |
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"action": "submit",
|
| 215 |
+
"expected": [
|
| 216 |
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"C"
|
| 217 |
+
],
|
| 218 |
+
"actual": [
|
| 219 |
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"C"
|
| 220 |
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],
|
| 221 |
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"state_valid": true
|
| 222 |
+
}
|
| 223 |
+
],
|
| 224 |
+
"event_timeline": [
|
| 225 |
+
{
|
| 226 |
+
"event": "phase_observe",
|
| 227 |
+
"frame": 0
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"event": "phase_observe",
|
| 231 |
+
"frame": 0
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"event": "m36_e1_initial_state_observed",
|
| 235 |
+
"frame": 0
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"event": "last_observable_step",
|
| 239 |
+
"frame": 0
|
| 240 |
+
},
|
| 241 |
+
{
|
| 242 |
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"event": "m36_e1_reset_started",
|
| 243 |
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"frame": 0
|
| 244 |
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},
|
| 245 |
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{
|
| 246 |
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"event": "m36_e1_reset_completed",
|
| 247 |
+
"frame": 75
|
| 248 |
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},
|
| 249 |
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{
|
| 250 |
+
"event": "phase_recall",
|
| 251 |
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"frame": 75
|
| 252 |
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},
|
| 253 |
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{
|
| 254 |
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"event": "decision_step",
|
| 255 |
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"frame": 76
|
| 256 |
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},
|
| 257 |
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{
|
| 258 |
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"event": "submit_started",
|
| 259 |
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"frame": 247
|
| 260 |
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},
|
| 261 |
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{
|
| 262 |
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"event": "submit_completed",
|
| 263 |
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"frame": 299
|
| 264 |
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}
|
| 265 |
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],
|
| 266 |
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"randomization_records": [
|
| 267 |
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{
|
| 268 |
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"name": "button:confirm",
|
| 269 |
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|
| 270 |
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| 271 |
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| 272 |
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| 274 |
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| 278 |
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| 279 |
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| 280 |
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|
| 281 |
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|
| 282 |
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"yaw_randomized": false
|
| 283 |
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}
|
| 284 |
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],
|
| 285 |
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"placement_checks": [],
|
| 286 |
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"grasp_checks": [],
|
| 287 |
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"transport_events": [],
|
| 288 |
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"final_scene_checks": [],
|
| 289 |
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"button_press_checks": [
|
| 290 |
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{
|
| 291 |
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"key": "reset",
|
| 292 |
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"arm": "right",
|
| 293 |
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"frame": 63,
|
| 294 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 295 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 296 |
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"closed_during_press": true
|
| 297 |
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},
|
| 298 |
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{
|
| 299 |
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"key": "confirm",
|
| 300 |
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"arm": "right",
|
| 301 |
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"frame": 287,
|
| 302 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 303 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 304 |
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"closed_during_press": true
|
| 305 |
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}
|
| 306 |
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],
|
| 307 |
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"switch_checks": [
|
| 308 |
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{
|
| 309 |
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"key": "m36_restore_C",
|
| 310 |
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"arm": "left",
|
| 311 |
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"requested_on": true,
|
| 312 |
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"joint_reached": true,
|
| 313 |
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"closed_gripper": true,
|
| 314 |
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"contact_count": 18,
|
| 315 |
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|
| 316 |
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"latched_on_contact": true,
|
| 317 |
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"gripper_qpos": 0.2296551467681473
|
| 318 |
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}
|
| 319 |
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],
|
| 320 |
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"device_press_checks": [],
|
| 321 |
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"press_counts": {
|
| 322 |
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"reset": 1,
|
| 323 |
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"confirm": 1
|
| 324 |
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},
|
| 325 |
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"p1_render_trace": []
|
| 326 |
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},
|
| 327 |
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"quality": {
|
| 328 |
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"frames": 300,
|
| 329 |
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"max_action_delta": 0.13445842266082764,
|
| 330 |
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|
| 331 |
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"gripper_motion_range": 1.3384395837783813,
|
| 332 |
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"camera_payload_bytes": 202727,
|
| 333 |
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"fingerprint": "931801dde76c9810d5ec75fa969c17e947cf93b5218aca15d3750debdcec8c93"
|
| 334 |
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},
|
| 335 |
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"plan_success": true,
|
| 336 |
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"replay_success": true
|
| 337 |
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}
|
| 338 |
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],
|
| 339 |
+
"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000033.json
ADDED
|
@@ -0,0 +1,340 @@
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|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
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|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 33,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 0,
|
| 7 |
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"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 0,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
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"initial_on": [
|
| 19 |
+
"A"
|
| 20 |
+
],
|
| 21 |
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"pre_actions": [],
|
| 22 |
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"switch_colors": [
|
| 23 |
+
"red",
|
| 24 |
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"blue",
|
| 25 |
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"red"
|
| 26 |
+
],
|
| 27 |
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"switch_sizes": [
|
| 28 |
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"medium",
|
| 29 |
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"medium",
|
| 30 |
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"medium"
|
| 31 |
+
],
|
| 32 |
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"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
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"B",
|
| 35 |
+
"C"
|
| 36 |
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]
|
| 37 |
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},
|
| 38 |
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"strata": {
|
| 39 |
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"initial_on_count": 1,
|
| 40 |
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|
| 41 |
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"red_count": 2,
|
| 42 |
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"blue_count": 1,
|
| 43 |
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|
| 44 |
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"small_count": 0,
|
| 45 |
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"restore_count": 3
|
| 46 |
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},
|
| 47 |
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"configuration_signature": "c5c857955542a309822ead7f100755e7949cd459aa3077325e10bb130b04f339",
|
| 48 |
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"episode_id": 33,
|
| 49 |
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"seed": 1691152702
|
| 50 |
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},
|
| 51 |
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"configuration_signature": "c5c857955542a309822ead7f100755e7949cd459aa3077325e10bb130b04f339",
|
| 52 |
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"bench_values": {
|
| 53 |
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"_runtime_task_id": "E1",
|
| 54 |
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"difficulty": "base",
|
| 55 |
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"switch_count": 3,
|
| 56 |
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"initial_on": [
|
| 57 |
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"A"
|
| 58 |
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],
|
| 59 |
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"pre_actions": [],
|
| 60 |
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"switch_colors": [
|
| 61 |
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"red",
|
| 62 |
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"blue",
|
| 63 |
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"red"
|
| 64 |
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],
|
| 65 |
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"switch_sizes": [
|
| 66 |
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"medium",
|
| 67 |
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"medium",
|
| 68 |
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"medium"
|
| 69 |
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],
|
| 70 |
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"restore_labels": [
|
| 71 |
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"A",
|
| 72 |
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"B",
|
| 73 |
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"C"
|
| 74 |
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]
|
| 75 |
+
},
|
| 76 |
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"expected_answer": [
|
| 77 |
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"A"
|
| 78 |
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],
|
| 79 |
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"scene_seeds": [
|
| 80 |
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|
| 81 |
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],
|
| 82 |
+
"results": [
|
| 83 |
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{
|
| 84 |
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"scene": "episode",
|
| 85 |
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"seed": 1691152702,
|
| 86 |
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"planning_result": {
|
| 87 |
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"success": true,
|
| 88 |
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"task_id": "E1",
|
| 89 |
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"branch": "train",
|
| 90 |
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"action_log": [
|
| 91 |
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{
|
| 92 |
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"action": "initial_state_observed",
|
| 93 |
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"on": [
|
| 94 |
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"A"
|
| 95 |
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],
|
| 96 |
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"restore_scope": [
|
| 97 |
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"A",
|
| 98 |
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"B",
|
| 99 |
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"C"
|
| 100 |
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]
|
| 101 |
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},
|
| 102 |
+
[
|
| 103 |
+
"switch",
|
| 104 |
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"m36_restore_A",
|
| 105 |
+
true
|
| 106 |
+
],
|
| 107 |
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{
|
| 108 |
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"action": "submit",
|
| 109 |
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"expected": [
|
| 110 |
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"A"
|
| 111 |
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],
|
| 112 |
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"actual": [
|
| 113 |
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"A"
|
| 114 |
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],
|
| 115 |
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"state_valid": true
|
| 116 |
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}
|
| 117 |
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],
|
| 118 |
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"event_timeline": [
|
| 119 |
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{
|
| 120 |
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"event": "phase_observe",
|
| 121 |
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"frame": 0
|
| 122 |
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},
|
| 123 |
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{
|
| 124 |
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"event": "phase_observe",
|
| 125 |
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"frame": 0
|
| 126 |
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},
|
| 127 |
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{
|
| 128 |
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"event": "m36_e1_initial_state_observed",
|
| 129 |
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"frame": 0
|
| 130 |
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},
|
| 131 |
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{
|
| 132 |
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"event": "last_observable_step",
|
| 133 |
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"frame": 0
|
| 134 |
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},
|
| 135 |
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{
|
| 136 |
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"event": "m36_e1_reset_started",
|
| 137 |
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"frame": 0
|
| 138 |
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},
|
| 139 |
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{
|
| 140 |
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"event": "m36_e1_reset_completed",
|
| 141 |
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"frame": 0
|
| 142 |
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},
|
| 143 |
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{
|
| 144 |
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"event": "phase_recall",
|
| 145 |
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"frame": 0
|
| 146 |
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},
|
| 147 |
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{
|
| 148 |
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"event": "decision_step",
|
| 149 |
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"frame": 0
|
| 150 |
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},
|
| 151 |
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{
|
| 152 |
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"event": "submit_started",
|
| 153 |
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"frame": 0
|
| 154 |
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},
|
| 155 |
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{
|
| 156 |
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"event": "submit_completed",
|
| 157 |
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"frame": 0
|
| 158 |
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}
|
| 159 |
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],
|
| 160 |
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"randomization_records": [
|
| 161 |
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{
|
| 162 |
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"name": "button:confirm",
|
| 163 |
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| 164 |
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| 165 |
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| 166 |
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],
|
| 167 |
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| 168 |
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| 169 |
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| 170 |
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],
|
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| 172 |
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| 173 |
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| 174 |
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|
| 176 |
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|
| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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"action": "initial_state_observed",
|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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[
|
| 209 |
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"switch",
|
| 210 |
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"m36_restore_A",
|
| 211 |
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|
| 212 |
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|
| 213 |
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{
|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
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| 219 |
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|
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|
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|
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|
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|
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|
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|
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|
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| 250 |
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|
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|
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{
|
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|
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|
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{
|
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"key": "confirm",
|
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"arm": "right",
|
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"frame": 264,
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|
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}
|
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],
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"switch_checks": [
|
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{
|
| 309 |
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"key": "m36_restore_A",
|
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"arm": "left",
|
| 311 |
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"requested_on": true,
|
| 312 |
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|
| 313 |
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|
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|
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|
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|
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|
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],
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|
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|
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|
| 323 |
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|
| 324 |
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},
|
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|
| 326 |
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},
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|
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|
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|
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|
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|
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"replay_success": true
|
| 337 |
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}
|
| 338 |
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],
|
| 339 |
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"success": true
|
| 340 |
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}
|
data/E1_base/private_records/episode000034.json
ADDED
|
@@ -0,0 +1,340 @@
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|
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|
|
|
|
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|
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|
|
|
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|
|
|
|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
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|
|
|
|
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|
|
|
|
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|
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|
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|
|
|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 34,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
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"counterfactual_pair_id": 17,
|
| 7 |
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"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
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"task_id": "E1_base",
|
| 10 |
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"difficulty": "base",
|
| 11 |
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"counterfactual_pair_id": 17,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
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"switch_count": 3,
|
| 18 |
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"initial_on": [
|
| 19 |
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"C"
|
| 20 |
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],
|
| 21 |
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"pre_actions": [],
|
| 22 |
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"switch_colors": [
|
| 23 |
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"red",
|
| 24 |
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"neutral",
|
| 25 |
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"red"
|
| 26 |
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],
|
| 27 |
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"switch_sizes": [
|
| 28 |
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"medium",
|
| 29 |
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"medium",
|
| 30 |
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"medium"
|
| 31 |
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],
|
| 32 |
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"restore_labels": [
|
| 33 |
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"A",
|
| 34 |
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"B",
|
| 35 |
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"C"
|
| 36 |
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]
|
| 37 |
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},
|
| 38 |
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"strata": {
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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"small_count": 0,
|
| 45 |
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"restore_count": 3
|
| 46 |
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},
|
| 47 |
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"configuration_signature": "f0295928b43be1e27f584e6f9dc6eed6acb7a8d6f524b56609a465dbd8db8bda",
|
| 48 |
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"episode_id": 34,
|
| 49 |
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"seed": 336893975
|
| 50 |
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},
|
| 51 |
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"configuration_signature": "f0295928b43be1e27f584e6f9dc6eed6acb7a8d6f524b56609a465dbd8db8bda",
|
| 52 |
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"bench_values": {
|
| 53 |
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"_runtime_task_id": "E1",
|
| 54 |
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"difficulty": "base",
|
| 55 |
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|
| 56 |
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"initial_on": [
|
| 57 |
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"C"
|
| 58 |
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],
|
| 59 |
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"pre_actions": [],
|
| 60 |
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"switch_colors": [
|
| 61 |
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"red",
|
| 62 |
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"neutral",
|
| 63 |
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"red"
|
| 64 |
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],
|
| 65 |
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"switch_sizes": [
|
| 66 |
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"medium",
|
| 67 |
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"medium",
|
| 68 |
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"medium"
|
| 69 |
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],
|
| 70 |
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"restore_labels": [
|
| 71 |
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"A",
|
| 72 |
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"B",
|
| 73 |
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"C"
|
| 74 |
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]
|
| 75 |
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},
|
| 76 |
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"expected_answer": [
|
| 77 |
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"C"
|
| 78 |
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],
|
| 79 |
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"scene_seeds": [
|
| 80 |
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|
| 81 |
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],
|
| 82 |
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"results": [
|
| 83 |
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{
|
| 84 |
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"scene": "episode",
|
| 85 |
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"seed": 336893975,
|
| 86 |
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"planning_result": {
|
| 87 |
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"success": true,
|
| 88 |
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"task_id": "E1",
|
| 89 |
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"branch": "train",
|
| 90 |
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"action_log": [
|
| 91 |
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{
|
| 92 |
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"action": "initial_state_observed",
|
| 93 |
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"on": [
|
| 94 |
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"C"
|
| 95 |
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],
|
| 96 |
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"restore_scope": [
|
| 97 |
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"A",
|
| 98 |
+
"B",
|
| 99 |
+
"C"
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
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[
|
| 103 |
+
"switch",
|
| 104 |
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"m36_restore_C",
|
| 105 |
+
true
|
| 106 |
+
],
|
| 107 |
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{
|
| 108 |
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"action": "submit",
|
| 109 |
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"expected": [
|
| 110 |
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"C"
|
| 111 |
+
],
|
| 112 |
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"actual": [
|
| 113 |
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"C"
|
| 114 |
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],
|
| 115 |
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"state_valid": true
|
| 116 |
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}
|
| 117 |
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],
|
| 118 |
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"event_timeline": [
|
| 119 |
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{
|
| 120 |
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"event": "phase_observe",
|
| 121 |
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"frame": 0
|
| 122 |
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},
|
| 123 |
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{
|
| 124 |
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"event": "phase_observe",
|
| 125 |
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|
| 126 |
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},
|
| 127 |
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{
|
| 128 |
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|
| 129 |
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"frame": 0
|
| 130 |
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},
|
| 131 |
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{
|
| 132 |
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"event": "last_observable_step",
|
| 133 |
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|
| 134 |
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},
|
| 135 |
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{
|
| 136 |
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"event": "m36_e1_reset_started",
|
| 137 |
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"frame": 0
|
| 138 |
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},
|
| 139 |
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{
|
| 140 |
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"event": "m36_e1_reset_completed",
|
| 141 |
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"frame": 0
|
| 142 |
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},
|
| 143 |
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{
|
| 144 |
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"event": "phase_recall",
|
| 145 |
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"frame": 0
|
| 146 |
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},
|
| 147 |
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{
|
| 148 |
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"event": "decision_step",
|
| 149 |
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"frame": 0
|
| 150 |
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},
|
| 151 |
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{
|
| 152 |
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"event": "submit_started",
|
| 153 |
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"frame": 0
|
| 154 |
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},
|
| 155 |
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{
|
| 156 |
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"event": "submit_completed",
|
| 157 |
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"frame": 0
|
| 158 |
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}
|
| 159 |
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],
|
| 160 |
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"randomization_records": [
|
| 161 |
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{
|
| 162 |
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"name": "button:confirm",
|
| 163 |
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"base_xy": [
|
| 164 |
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|
| 165 |
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|
| 166 |
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"sampled_xy": [
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"offset_xy": [
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| 172 |
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|
| 173 |
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|
| 174 |
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],
|
| 175 |
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"yaw_degrees": 0.0,
|
| 176 |
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"yaw_randomized": false
|
| 177 |
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}
|
| 178 |
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],
|
| 179 |
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"placement_checks": [],
|
| 180 |
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"grasp_checks": [],
|
| 181 |
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"transport_events": [],
|
| 182 |
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"final_scene_checks": [],
|
| 183 |
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"button_press_checks": [],
|
| 184 |
+
"switch_checks": [],
|
| 185 |
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"device_press_checks": [],
|
| 186 |
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"press_counts": {
|
| 187 |
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"reset": 1,
|
| 188 |
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"confirm": 1
|
| 189 |
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},
|
| 190 |
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"p1_render_trace": []
|
| 191 |
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},
|
| 192 |
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"replay_result": {
|
| 193 |
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"success": true,
|
| 194 |
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"task_id": "E1",
|
| 195 |
+
"branch": "train",
|
| 196 |
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"action_log": [
|
| 197 |
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{
|
| 198 |
+
"action": "initial_state_observed",
|
| 199 |
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"on": [
|
| 200 |
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"C"
|
| 201 |
+
],
|
| 202 |
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"restore_scope": [
|
| 203 |
+
"A",
|
| 204 |
+
"B",
|
| 205 |
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"C"
|
| 206 |
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]
|
| 207 |
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},
|
| 208 |
+
[
|
| 209 |
+
"switch",
|
| 210 |
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"m36_restore_C",
|
| 211 |
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true
|
| 212 |
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],
|
| 213 |
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{
|
| 214 |
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"action": "submit",
|
| 215 |
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"expected": [
|
| 216 |
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"C"
|
| 217 |
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],
|
| 218 |
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"actual": [
|
| 219 |
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"C"
|
| 220 |
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],
|
| 221 |
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"state_valid": true
|
| 222 |
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}
|
| 223 |
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],
|
| 224 |
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"event_timeline": [
|
| 225 |
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{
|
| 226 |
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"event": "phase_observe",
|
| 227 |
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"frame": 0
|
| 228 |
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},
|
| 229 |
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{
|
| 230 |
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"event": "phase_observe",
|
| 231 |
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"frame": 0
|
| 232 |
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},
|
| 233 |
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{
|
| 234 |
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"event": "m36_e1_initial_state_observed",
|
| 235 |
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"frame": 0
|
| 236 |
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},
|
| 237 |
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{
|
| 238 |
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"event": "last_observable_step",
|
| 239 |
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"frame": 0
|
| 240 |
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},
|
| 241 |
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{
|
| 242 |
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"event": "m36_e1_reset_started",
|
| 243 |
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"frame": 0
|
| 244 |
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},
|
| 245 |
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{
|
| 246 |
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"event": "m36_e1_reset_completed",
|
| 247 |
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"frame": 75
|
| 248 |
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},
|
| 249 |
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{
|
| 250 |
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"event": "phase_recall",
|
| 251 |
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"frame": 75
|
| 252 |
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},
|
| 253 |
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{
|
| 254 |
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"event": "decision_step",
|
| 255 |
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"frame": 76
|
| 256 |
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},
|
| 257 |
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{
|
| 258 |
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"event": "submit_started",
|
| 259 |
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"frame": 247
|
| 260 |
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},
|
| 261 |
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{
|
| 262 |
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"event": "submit_completed",
|
| 263 |
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"frame": 300
|
| 264 |
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}
|
| 265 |
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],
|
| 266 |
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"randomization_records": [
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| 267 |
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{
|
| 268 |
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"name": "button:confirm",
|
| 269 |
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"base_xy": [
|
| 270 |
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|
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|
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],
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|
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|
| 282 |
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|
| 283 |
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}
|
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],
|
| 285 |
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|
| 286 |
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"grasp_checks": [],
|
| 287 |
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"transport_events": [],
|
| 288 |
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|
| 289 |
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"button_press_checks": [
|
| 290 |
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{
|
| 291 |
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"key": "reset",
|
| 292 |
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"arm": "right",
|
| 293 |
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"frame": 63,
|
| 294 |
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|
| 295 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 296 |
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"closed_during_press": true
|
| 297 |
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},
|
| 298 |
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{
|
| 299 |
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"key": "confirm",
|
| 300 |
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"arm": "right",
|
| 301 |
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"frame": 288,
|
| 302 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 303 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 304 |
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"closed_during_press": true
|
| 305 |
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}
|
| 306 |
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],
|
| 307 |
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"switch_checks": [
|
| 308 |
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{
|
| 309 |
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"key": "m36_restore_C",
|
| 310 |
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"arm": "left",
|
| 311 |
+
"requested_on": true,
|
| 312 |
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"joint_reached": true,
|
| 313 |
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"closed_gripper": true,
|
| 314 |
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"contact_count": 18,
|
| 315 |
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"native_joint_reached": false,
|
| 316 |
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"latched_on_contact": true,
|
| 317 |
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"gripper_qpos": 0.2291080243885517
|
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}
|
| 319 |
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],
|
| 320 |
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"device_press_checks": [],
|
| 321 |
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"press_counts": {
|
| 322 |
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"reset": 1,
|
| 323 |
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"confirm": 1
|
| 324 |
+
},
|
| 325 |
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"p1_render_trace": []
|
| 326 |
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},
|
| 327 |
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"quality": {
|
| 328 |
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"frames": 301,
|
| 329 |
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"max_action_delta": 0.13436424732208252,
|
| 330 |
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|
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|
| 332 |
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|
| 333 |
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"fingerprint": "8abab5721d3652e2127a4c47aae36eee65a0ff1dbc3552345c736991c54f6201"
|
| 334 |
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},
|
| 335 |
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"plan_success": true,
|
| 336 |
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"replay_success": true
|
| 337 |
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}
|
| 338 |
+
],
|
| 339 |
+
"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000035.json
ADDED
|
@@ -0,0 +1,340 @@
|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 35,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 19,
|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 19,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"B"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"red",
|
| 24 |
+
"blue",
|
| 25 |
+
"red"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
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|
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|
data/E1_base/private_records/episode000036.json
ADDED
|
@@ -0,0 +1,340 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 36,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 9,
|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 9,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
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|
| 18 |
+
"initial_on": [
|
| 19 |
+
"B"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"blue",
|
| 24 |
+
"blue",
|
| 25 |
+
"red"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
+
"initial_on_count": 1,
|
| 40 |
+
"pre_action_count": 0,
|
| 41 |
+
"red_count": 1,
|
| 42 |
+
"blue_count": 2,
|
| 43 |
+
"large_count": 0,
|
| 44 |
+
"small_count": 0,
|
| 45 |
+
"restore_count": 3
|
| 46 |
+
},
|
| 47 |
+
"configuration_signature": "121bf23c044859e54deaf5eec86d3ad8d0e544ca4e0eceb2d0def7a37a234769",
|
| 48 |
+
"episode_id": 36,
|
| 49 |
+
"seed": 2027780723
|
| 50 |
+
},
|
| 51 |
+
"configuration_signature": "121bf23c044859e54deaf5eec86d3ad8d0e544ca4e0eceb2d0def7a37a234769",
|
| 52 |
+
"bench_values": {
|
| 53 |
+
"_runtime_task_id": "E1",
|
| 54 |
+
"difficulty": "base",
|
| 55 |
+
"switch_count": 3,
|
| 56 |
+
"initial_on": [
|
| 57 |
+
"B"
|
| 58 |
+
],
|
| 59 |
+
"pre_actions": [],
|
| 60 |
+
"switch_colors": [
|
| 61 |
+
"blue",
|
| 62 |
+
"blue",
|
| 63 |
+
"red"
|
| 64 |
+
],
|
| 65 |
+
"switch_sizes": [
|
| 66 |
+
"medium",
|
| 67 |
+
"medium",
|
| 68 |
+
"medium"
|
| 69 |
+
],
|
| 70 |
+
"restore_labels": [
|
| 71 |
+
"A",
|
| 72 |
+
"B",
|
| 73 |
+
"C"
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"expected_answer": [
|
| 77 |
+
"B"
|
| 78 |
+
],
|
| 79 |
+
"scene_seeds": [
|
| 80 |
+
2027780723
|
| 81 |
+
],
|
| 82 |
+
"results": [
|
| 83 |
+
{
|
| 84 |
+
"scene": "episode",
|
| 85 |
+
"seed": 2027780723,
|
| 86 |
+
"planning_result": {
|
| 87 |
+
"success": true,
|
| 88 |
+
"task_id": "E1",
|
| 89 |
+
"branch": "train",
|
| 90 |
+
"action_log": [
|
| 91 |
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{
|
| 92 |
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"action": "initial_state_observed",
|
| 93 |
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"on": [
|
| 94 |
+
"B"
|
| 95 |
+
],
|
| 96 |
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"restore_scope": [
|
| 97 |
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"A",
|
| 98 |
+
"B",
|
| 99 |
+
"C"
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
[
|
| 103 |
+
"switch",
|
| 104 |
+
"m36_restore_B",
|
| 105 |
+
true
|
| 106 |
+
],
|
| 107 |
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{
|
| 108 |
+
"action": "submit",
|
| 109 |
+
"expected": [
|
| 110 |
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"B"
|
| 111 |
+
],
|
| 112 |
+
"actual": [
|
| 113 |
+
"B"
|
| 114 |
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],
|
| 115 |
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"state_valid": true
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"event_timeline": [
|
| 119 |
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{
|
| 120 |
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"event": "phase_observe",
|
| 121 |
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"frame": 0
|
| 122 |
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},
|
| 123 |
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{
|
| 124 |
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"event": "phase_observe",
|
| 125 |
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"frame": 0
|
| 126 |
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},
|
| 127 |
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{
|
| 128 |
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"event": "m36_e1_initial_state_observed",
|
| 129 |
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"frame": 0
|
| 130 |
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},
|
| 131 |
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{
|
| 132 |
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"event": "last_observable_step",
|
| 133 |
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"frame": 0
|
| 134 |
+
},
|
| 135 |
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{
|
| 136 |
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"event": "m36_e1_reset_started",
|
| 137 |
+
"frame": 0
|
| 138 |
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},
|
| 139 |
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{
|
| 140 |
+
"event": "m36_e1_reset_completed",
|
| 141 |
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"frame": 0
|
| 142 |
+
},
|
| 143 |
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{
|
| 144 |
+
"event": "phase_recall",
|
| 145 |
+
"frame": 0
|
| 146 |
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},
|
| 147 |
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{
|
| 148 |
+
"event": "decision_step",
|
| 149 |
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"frame": 0
|
| 150 |
+
},
|
| 151 |
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{
|
| 152 |
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"event": "submit_started",
|
| 153 |
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"frame": 0
|
| 154 |
+
},
|
| 155 |
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{
|
| 156 |
+
"event": "submit_completed",
|
| 157 |
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"frame": 0
|
| 158 |
+
}
|
| 159 |
+
],
|
| 160 |
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"randomization_records": [
|
| 161 |
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{
|
| 162 |
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"name": "button:confirm",
|
| 163 |
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"base_xy": [
|
| 164 |
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|
| 165 |
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|
| 166 |
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],
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| 167 |
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"sampled_xy": [
|
| 168 |
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| 169 |
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| 170 |
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],
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| 171 |
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"offset_xy": [
|
| 172 |
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|
| 173 |
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|
| 174 |
+
],
|
| 175 |
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"yaw_degrees": 0.0,
|
| 176 |
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"yaw_randomized": false
|
| 177 |
+
}
|
| 178 |
+
],
|
| 179 |
+
"placement_checks": [],
|
| 180 |
+
"grasp_checks": [],
|
| 181 |
+
"transport_events": [],
|
| 182 |
+
"final_scene_checks": [],
|
| 183 |
+
"button_press_checks": [],
|
| 184 |
+
"switch_checks": [],
|
| 185 |
+
"device_press_checks": [],
|
| 186 |
+
"press_counts": {
|
| 187 |
+
"reset": 1,
|
| 188 |
+
"confirm": 1
|
| 189 |
+
},
|
| 190 |
+
"p1_render_trace": []
|
| 191 |
+
},
|
| 192 |
+
"replay_result": {
|
| 193 |
+
"success": true,
|
| 194 |
+
"task_id": "E1",
|
| 195 |
+
"branch": "train",
|
| 196 |
+
"action_log": [
|
| 197 |
+
{
|
| 198 |
+
"action": "initial_state_observed",
|
| 199 |
+
"on": [
|
| 200 |
+
"B"
|
| 201 |
+
],
|
| 202 |
+
"restore_scope": [
|
| 203 |
+
"A",
|
| 204 |
+
"B",
|
| 205 |
+
"C"
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
[
|
| 209 |
+
"switch",
|
| 210 |
+
"m36_restore_B",
|
| 211 |
+
true
|
| 212 |
+
],
|
| 213 |
+
{
|
| 214 |
+
"action": "submit",
|
| 215 |
+
"expected": [
|
| 216 |
+
"B"
|
| 217 |
+
],
|
| 218 |
+
"actual": [
|
| 219 |
+
"B"
|
| 220 |
+
],
|
| 221 |
+
"state_valid": true
|
| 222 |
+
}
|
| 223 |
+
],
|
| 224 |
+
"event_timeline": [
|
| 225 |
+
{
|
| 226 |
+
"event": "phase_observe",
|
| 227 |
+
"frame": 0
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"event": "phase_observe",
|
| 231 |
+
"frame": 0
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"event": "m36_e1_initial_state_observed",
|
| 235 |
+
"frame": 0
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"event": "last_observable_step",
|
| 239 |
+
"frame": 0
|
| 240 |
+
},
|
| 241 |
+
{
|
| 242 |
+
"event": "m36_e1_reset_started",
|
| 243 |
+
"frame": 0
|
| 244 |
+
},
|
| 245 |
+
{
|
| 246 |
+
"event": "m36_e1_reset_completed",
|
| 247 |
+
"frame": 75
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"event": "phase_recall",
|
| 251 |
+
"frame": 75
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"event": "decision_step",
|
| 255 |
+
"frame": 76
|
| 256 |
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},
|
| 257 |
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{
|
| 258 |
+
"event": "submit_started",
|
| 259 |
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"frame": 228
|
| 260 |
+
},
|
| 261 |
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{
|
| 262 |
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"event": "submit_completed",
|
| 263 |
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"frame": 281
|
| 264 |
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}
|
| 265 |
+
],
|
| 266 |
+
"randomization_records": [
|
| 267 |
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{
|
| 268 |
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"name": "button:confirm",
|
| 269 |
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"base_xy": [
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| 270 |
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|
| 271 |
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|
| 272 |
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],
|
| 273 |
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"sampled_xy": [
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| 274 |
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|
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],
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|
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|
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],
|
| 281 |
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"yaw_degrees": 0.0,
|
| 282 |
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"yaw_randomized": false
|
| 283 |
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}
|
| 284 |
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],
|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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"final_scene_checks": [],
|
| 289 |
+
"button_press_checks": [
|
| 290 |
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{
|
| 291 |
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"key": "reset",
|
| 292 |
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"arm": "right",
|
| 293 |
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"frame": 63,
|
| 294 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 295 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 296 |
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"closed_during_press": true
|
| 297 |
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},
|
| 298 |
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{
|
| 299 |
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"key": "confirm",
|
| 300 |
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"arm": "right",
|
| 301 |
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"frame": 269,
|
| 302 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 303 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 304 |
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"closed_during_press": true
|
| 305 |
+
}
|
| 306 |
+
],
|
| 307 |
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"switch_checks": [
|
| 308 |
+
{
|
| 309 |
+
"key": "m36_restore_B",
|
| 310 |
+
"arm": "left",
|
| 311 |
+
"requested_on": true,
|
| 312 |
+
"joint_reached": true,
|
| 313 |
+
"closed_gripper": true,
|
| 314 |
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"contact_count": 16,
|
| 315 |
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"native_joint_reached": false,
|
| 316 |
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"latched_on_contact": true,
|
| 317 |
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"gripper_qpos": 0.18181818181818182
|
| 318 |
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}
|
| 319 |
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],
|
| 320 |
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"device_press_checks": [],
|
| 321 |
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"press_counts": {
|
| 322 |
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"reset": 1,
|
| 323 |
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"confirm": 1
|
| 324 |
+
},
|
| 325 |
+
"p1_render_trace": []
|
| 326 |
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},
|
| 327 |
+
"quality": {
|
| 328 |
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"frames": 282,
|
| 329 |
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"max_action_delta": 0.13422882556915283,
|
| 330 |
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"arm_motion_range": 2.635322093963623,
|
| 331 |
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"gripper_motion_range": 1.3384132385253906,
|
| 332 |
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"camera_payload_bytes": 211938,
|
| 333 |
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"fingerprint": "77266d1a1ca5bc52d15f7f7166bef3bb5342655b170bc4db87aa7ab9902359ac"
|
| 334 |
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},
|
| 335 |
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"plan_success": true,
|
| 336 |
+
"replay_success": true
|
| 337 |
+
}
|
| 338 |
+
],
|
| 339 |
+
"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000037.json
ADDED
|
@@ -0,0 +1,340 @@
|
|
|
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|
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|
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|
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|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
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|
|
|
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|
|
|
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|
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|
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|
|
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|
|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
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|
|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 37,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 23,
|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 23,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"C"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"neutral",
|
| 24 |
+
"blue",
|
| 25 |
+
"red"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
+
"initial_on_count": 1,
|
| 40 |
+
"pre_action_count": 0,
|
| 41 |
+
"red_count": 1,
|
| 42 |
+
"blue_count": 1,
|
| 43 |
+
"large_count": 0,
|
| 44 |
+
"small_count": 0,
|
| 45 |
+
"restore_count": 3
|
| 46 |
+
},
|
| 47 |
+
"configuration_signature": "21317141ef2960c4e7099ecad6bcbb307c68898d42278362e79aca4d9c4898f8",
|
| 48 |
+
"episode_id": 37,
|
| 49 |
+
"seed": 439209561
|
| 50 |
+
},
|
| 51 |
+
"configuration_signature": "21317141ef2960c4e7099ecad6bcbb307c68898d42278362e79aca4d9c4898f8",
|
| 52 |
+
"bench_values": {
|
| 53 |
+
"_runtime_task_id": "E1",
|
| 54 |
+
"difficulty": "base",
|
| 55 |
+
"switch_count": 3,
|
| 56 |
+
"initial_on": [
|
| 57 |
+
"C"
|
| 58 |
+
],
|
| 59 |
+
"pre_actions": [],
|
| 60 |
+
"switch_colors": [
|
| 61 |
+
"neutral",
|
| 62 |
+
"blue",
|
| 63 |
+
"red"
|
| 64 |
+
],
|
| 65 |
+
"switch_sizes": [
|
| 66 |
+
"medium",
|
| 67 |
+
"medium",
|
| 68 |
+
"medium"
|
| 69 |
+
],
|
| 70 |
+
"restore_labels": [
|
| 71 |
+
"A",
|
| 72 |
+
"B",
|
| 73 |
+
"C"
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"expected_answer": [
|
| 77 |
+
"C"
|
| 78 |
+
],
|
| 79 |
+
"scene_seeds": [
|
| 80 |
+
439209561
|
| 81 |
+
],
|
| 82 |
+
"results": [
|
| 83 |
+
{
|
| 84 |
+
"scene": "episode",
|
| 85 |
+
"seed": 439209561,
|
| 86 |
+
"planning_result": {
|
| 87 |
+
"success": true,
|
| 88 |
+
"task_id": "E1",
|
| 89 |
+
"branch": "train",
|
| 90 |
+
"action_log": [
|
| 91 |
+
{
|
| 92 |
+
"action": "initial_state_observed",
|
| 93 |
+
"on": [
|
| 94 |
+
"C"
|
| 95 |
+
],
|
| 96 |
+
"restore_scope": [
|
| 97 |
+
"A",
|
| 98 |
+
"B",
|
| 99 |
+
"C"
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
[
|
| 103 |
+
"switch",
|
| 104 |
+
"m36_restore_C",
|
| 105 |
+
true
|
| 106 |
+
],
|
| 107 |
+
{
|
| 108 |
+
"action": "submit",
|
| 109 |
+
"expected": [
|
| 110 |
+
"C"
|
| 111 |
+
],
|
| 112 |
+
"actual": [
|
| 113 |
+
"C"
|
| 114 |
+
],
|
| 115 |
+
"state_valid": true
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"event_timeline": [
|
| 119 |
+
{
|
| 120 |
+
"event": "phase_observe",
|
| 121 |
+
"frame": 0
|
| 122 |
+
},
|
| 123 |
+
{
|
| 124 |
+
"event": "phase_observe",
|
| 125 |
+
"frame": 0
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"event": "m36_e1_initial_state_observed",
|
| 129 |
+
"frame": 0
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"event": "last_observable_step",
|
| 133 |
+
"frame": 0
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"event": "m36_e1_reset_started",
|
| 137 |
+
"frame": 0
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"event": "m36_e1_reset_completed",
|
| 141 |
+
"frame": 0
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"event": "phase_recall",
|
| 145 |
+
"frame": 0
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"event": "decision_step",
|
| 149 |
+
"frame": 0
|
| 150 |
+
},
|
| 151 |
+
{
|
| 152 |
+
"event": "submit_started",
|
| 153 |
+
"frame": 0
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"event": "submit_completed",
|
| 157 |
+
"frame": 0
|
| 158 |
+
}
|
| 159 |
+
],
|
| 160 |
+
"randomization_records": [
|
| 161 |
+
{
|
| 162 |
+
"name": "button:confirm",
|
| 163 |
+
"base_xy": [
|
| 164 |
+
0.26,
|
| 165 |
+
-0.23
|
| 166 |
+
],
|
| 167 |
+
"sampled_xy": [
|
| 168 |
+
0.25999999046325684,
|
| 169 |
+
-0.23000000417232513
|
| 170 |
+
],
|
| 171 |
+
"offset_xy": [
|
| 172 |
+
-9.536743172944284e-09,
|
| 173 |
+
-4.1723251242853365e-09
|
| 174 |
+
],
|
| 175 |
+
"yaw_degrees": 0.0,
|
| 176 |
+
"yaw_randomized": false
|
| 177 |
+
}
|
| 178 |
+
],
|
| 179 |
+
"placement_checks": [],
|
| 180 |
+
"grasp_checks": [],
|
| 181 |
+
"transport_events": [],
|
| 182 |
+
"final_scene_checks": [],
|
| 183 |
+
"button_press_checks": [],
|
| 184 |
+
"switch_checks": [],
|
| 185 |
+
"device_press_checks": [],
|
| 186 |
+
"press_counts": {
|
| 187 |
+
"reset": 1,
|
| 188 |
+
"confirm": 1
|
| 189 |
+
},
|
| 190 |
+
"p1_render_trace": []
|
| 191 |
+
},
|
| 192 |
+
"replay_result": {
|
| 193 |
+
"success": true,
|
| 194 |
+
"task_id": "E1",
|
| 195 |
+
"branch": "train",
|
| 196 |
+
"action_log": [
|
| 197 |
+
{
|
| 198 |
+
"action": "initial_state_observed",
|
| 199 |
+
"on": [
|
| 200 |
+
"C"
|
| 201 |
+
],
|
| 202 |
+
"restore_scope": [
|
| 203 |
+
"A",
|
| 204 |
+
"B",
|
| 205 |
+
"C"
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
[
|
| 209 |
+
"switch",
|
| 210 |
+
"m36_restore_C",
|
| 211 |
+
true
|
| 212 |
+
],
|
| 213 |
+
{
|
| 214 |
+
"action": "submit",
|
| 215 |
+
"expected": [
|
| 216 |
+
"C"
|
| 217 |
+
],
|
| 218 |
+
"actual": [
|
| 219 |
+
"C"
|
| 220 |
+
],
|
| 221 |
+
"state_valid": true
|
| 222 |
+
}
|
| 223 |
+
],
|
| 224 |
+
"event_timeline": [
|
| 225 |
+
{
|
| 226 |
+
"event": "phase_observe",
|
| 227 |
+
"frame": 0
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"event": "phase_observe",
|
| 231 |
+
"frame": 0
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"event": "m36_e1_initial_state_observed",
|
| 235 |
+
"frame": 0
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"event": "last_observable_step",
|
| 239 |
+
"frame": 0
|
| 240 |
+
},
|
| 241 |
+
{
|
| 242 |
+
"event": "m36_e1_reset_started",
|
| 243 |
+
"frame": 0
|
| 244 |
+
},
|
| 245 |
+
{
|
| 246 |
+
"event": "m36_e1_reset_completed",
|
| 247 |
+
"frame": 75
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"event": "phase_recall",
|
| 251 |
+
"frame": 75
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"event": "decision_step",
|
| 255 |
+
"frame": 76
|
| 256 |
+
},
|
| 257 |
+
{
|
| 258 |
+
"event": "submit_started",
|
| 259 |
+
"frame": 247
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"event": "submit_completed",
|
| 263 |
+
"frame": 300
|
| 264 |
+
}
|
| 265 |
+
],
|
| 266 |
+
"randomization_records": [
|
| 267 |
+
{
|
| 268 |
+
"name": "button:confirm",
|
| 269 |
+
"base_xy": [
|
| 270 |
+
0.26,
|
| 271 |
+
-0.23
|
| 272 |
+
],
|
| 273 |
+
"sampled_xy": [
|
| 274 |
+
0.25999999046325684,
|
| 275 |
+
-0.23000000417232513
|
| 276 |
+
],
|
| 277 |
+
"offset_xy": [
|
| 278 |
+
-9.536743172944284e-09,
|
| 279 |
+
-4.1723251242853365e-09
|
| 280 |
+
],
|
| 281 |
+
"yaw_degrees": 0.0,
|
| 282 |
+
"yaw_randomized": false
|
| 283 |
+
}
|
| 284 |
+
],
|
| 285 |
+
"placement_checks": [],
|
| 286 |
+
"grasp_checks": [],
|
| 287 |
+
"transport_events": [],
|
| 288 |
+
"final_scene_checks": [],
|
| 289 |
+
"button_press_checks": [
|
| 290 |
+
{
|
| 291 |
+
"key": "reset",
|
| 292 |
+
"arm": "right",
|
| 293 |
+
"frame": 63,
|
| 294 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 295 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 296 |
+
"closed_during_press": true
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"key": "confirm",
|
| 300 |
+
"arm": "right",
|
| 301 |
+
"frame": 288,
|
| 302 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 303 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 304 |
+
"closed_during_press": true
|
| 305 |
+
}
|
| 306 |
+
],
|
| 307 |
+
"switch_checks": [
|
| 308 |
+
{
|
| 309 |
+
"key": "m36_restore_C",
|
| 310 |
+
"arm": "left",
|
| 311 |
+
"requested_on": true,
|
| 312 |
+
"joint_reached": true,
|
| 313 |
+
"closed_gripper": true,
|
| 314 |
+
"contact_count": 18,
|
| 315 |
+
"native_joint_reached": false,
|
| 316 |
+
"latched_on_contact": true,
|
| 317 |
+
"gripper_qpos": 0.21839862757108428
|
| 318 |
+
}
|
| 319 |
+
],
|
| 320 |
+
"device_press_checks": [],
|
| 321 |
+
"press_counts": {
|
| 322 |
+
"reset": 1,
|
| 323 |
+
"confirm": 1
|
| 324 |
+
},
|
| 325 |
+
"p1_render_trace": []
|
| 326 |
+
},
|
| 327 |
+
"quality": {
|
| 328 |
+
"frames": 301,
|
| 329 |
+
"max_action_delta": 0.13382959365844727,
|
| 330 |
+
"arm_motion_range": 3.2527027632659156,
|
| 331 |
+
"gripper_motion_range": 1.3385484218597412,
|
| 332 |
+
"camera_payload_bytes": 203875,
|
| 333 |
+
"fingerprint": "d18149ab8d2c991448ebe25938a380e335e95afcdc2db0041379e91dea7d74aa"
|
| 334 |
+
},
|
| 335 |
+
"plan_success": true,
|
| 336 |
+
"replay_success": true
|
| 337 |
+
}
|
| 338 |
+
],
|
| 339 |
+
"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000038.json
ADDED
|
@@ -0,0 +1,340 @@
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 38,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 20,
|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 20,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"C"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"red",
|
| 24 |
+
"red",
|
| 25 |
+
"blue"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
+
"initial_on_count": 1,
|
| 40 |
+
"pre_action_count": 0,
|
| 41 |
+
"red_count": 2,
|
| 42 |
+
"blue_count": 1,
|
| 43 |
+
"large_count": 0,
|
| 44 |
+
"small_count": 0,
|
| 45 |
+
"restore_count": 3
|
| 46 |
+
},
|
| 47 |
+
"configuration_signature": "b74fc2dc8bb07fd6b7a77521bfd5c9a6a92ff659155de14a80cb8171513747b0",
|
| 48 |
+
"episode_id": 38,
|
| 49 |
+
"seed": 73841170
|
| 50 |
+
},
|
| 51 |
+
"configuration_signature": "b74fc2dc8bb07fd6b7a77521bfd5c9a6a92ff659155de14a80cb8171513747b0",
|
| 52 |
+
"bench_values": {
|
| 53 |
+
"_runtime_task_id": "E1",
|
| 54 |
+
"difficulty": "base",
|
| 55 |
+
"switch_count": 3,
|
| 56 |
+
"initial_on": [
|
| 57 |
+
"C"
|
| 58 |
+
],
|
| 59 |
+
"pre_actions": [],
|
| 60 |
+
"switch_colors": [
|
| 61 |
+
"red",
|
| 62 |
+
"red",
|
| 63 |
+
"blue"
|
| 64 |
+
],
|
| 65 |
+
"switch_sizes": [
|
| 66 |
+
"medium",
|
| 67 |
+
"medium",
|
| 68 |
+
"medium"
|
| 69 |
+
],
|
| 70 |
+
"restore_labels": [
|
| 71 |
+
"A",
|
| 72 |
+
"B",
|
| 73 |
+
"C"
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"expected_answer": [
|
| 77 |
+
"C"
|
| 78 |
+
],
|
| 79 |
+
"scene_seeds": [
|
| 80 |
+
73841170
|
| 81 |
+
],
|
| 82 |
+
"results": [
|
| 83 |
+
{
|
| 84 |
+
"scene": "episode",
|
| 85 |
+
"seed": 73841170,
|
| 86 |
+
"planning_result": {
|
| 87 |
+
"success": true,
|
| 88 |
+
"task_id": "E1",
|
| 89 |
+
"branch": "train",
|
| 90 |
+
"action_log": [
|
| 91 |
+
{
|
| 92 |
+
"action": "initial_state_observed",
|
| 93 |
+
"on": [
|
| 94 |
+
"C"
|
| 95 |
+
],
|
| 96 |
+
"restore_scope": [
|
| 97 |
+
"A",
|
| 98 |
+
"B",
|
| 99 |
+
"C"
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
[
|
| 103 |
+
"switch",
|
| 104 |
+
"m36_restore_C",
|
| 105 |
+
true
|
| 106 |
+
],
|
| 107 |
+
{
|
| 108 |
+
"action": "submit",
|
| 109 |
+
"expected": [
|
| 110 |
+
"C"
|
| 111 |
+
],
|
| 112 |
+
"actual": [
|
| 113 |
+
"C"
|
| 114 |
+
],
|
| 115 |
+
"state_valid": true
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"event_timeline": [
|
| 119 |
+
{
|
| 120 |
+
"event": "phase_observe",
|
| 121 |
+
"frame": 0
|
| 122 |
+
},
|
| 123 |
+
{
|
| 124 |
+
"event": "phase_observe",
|
| 125 |
+
"frame": 0
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"event": "m36_e1_initial_state_observed",
|
| 129 |
+
"frame": 0
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"event": "last_observable_step",
|
| 133 |
+
"frame": 0
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"event": "m36_e1_reset_started",
|
| 137 |
+
"frame": 0
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"event": "m36_e1_reset_completed",
|
| 141 |
+
"frame": 0
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"event": "phase_recall",
|
| 145 |
+
"frame": 0
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"event": "decision_step",
|
| 149 |
+
"frame": 0
|
| 150 |
+
},
|
| 151 |
+
{
|
| 152 |
+
"event": "submit_started",
|
| 153 |
+
"frame": 0
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"event": "submit_completed",
|
| 157 |
+
"frame": 0
|
| 158 |
+
}
|
| 159 |
+
],
|
| 160 |
+
"randomization_records": [
|
| 161 |
+
{
|
| 162 |
+
"name": "button:confirm",
|
| 163 |
+
"base_xy": [
|
| 164 |
+
0.26,
|
| 165 |
+
-0.23
|
| 166 |
+
],
|
| 167 |
+
"sampled_xy": [
|
| 168 |
+
0.25999999046325684,
|
| 169 |
+
-0.23000000417232513
|
| 170 |
+
],
|
| 171 |
+
"offset_xy": [
|
| 172 |
+
-9.536743172944284e-09,
|
| 173 |
+
-4.1723251242853365e-09
|
| 174 |
+
],
|
| 175 |
+
"yaw_degrees": 0.0,
|
| 176 |
+
"yaw_randomized": false
|
| 177 |
+
}
|
| 178 |
+
],
|
| 179 |
+
"placement_checks": [],
|
| 180 |
+
"grasp_checks": [],
|
| 181 |
+
"transport_events": [],
|
| 182 |
+
"final_scene_checks": [],
|
| 183 |
+
"button_press_checks": [],
|
| 184 |
+
"switch_checks": [],
|
| 185 |
+
"device_press_checks": [],
|
| 186 |
+
"press_counts": {
|
| 187 |
+
"reset": 1,
|
| 188 |
+
"confirm": 1
|
| 189 |
+
},
|
| 190 |
+
"p1_render_trace": []
|
| 191 |
+
},
|
| 192 |
+
"replay_result": {
|
| 193 |
+
"success": true,
|
| 194 |
+
"task_id": "E1",
|
| 195 |
+
"branch": "train",
|
| 196 |
+
"action_log": [
|
| 197 |
+
{
|
| 198 |
+
"action": "initial_state_observed",
|
| 199 |
+
"on": [
|
| 200 |
+
"C"
|
| 201 |
+
],
|
| 202 |
+
"restore_scope": [
|
| 203 |
+
"A",
|
| 204 |
+
"B",
|
| 205 |
+
"C"
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
[
|
| 209 |
+
"switch",
|
| 210 |
+
"m36_restore_C",
|
| 211 |
+
true
|
| 212 |
+
],
|
| 213 |
+
{
|
| 214 |
+
"action": "submit",
|
| 215 |
+
"expected": [
|
| 216 |
+
"C"
|
| 217 |
+
],
|
| 218 |
+
"actual": [
|
| 219 |
+
"C"
|
| 220 |
+
],
|
| 221 |
+
"state_valid": true
|
| 222 |
+
}
|
| 223 |
+
],
|
| 224 |
+
"event_timeline": [
|
| 225 |
+
{
|
| 226 |
+
"event": "phase_observe",
|
| 227 |
+
"frame": 0
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"event": "phase_observe",
|
| 231 |
+
"frame": 0
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"event": "m36_e1_initial_state_observed",
|
| 235 |
+
"frame": 0
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"event": "last_observable_step",
|
| 239 |
+
"frame": 0
|
| 240 |
+
},
|
| 241 |
+
{
|
| 242 |
+
"event": "m36_e1_reset_started",
|
| 243 |
+
"frame": 0
|
| 244 |
+
},
|
| 245 |
+
{
|
| 246 |
+
"event": "m36_e1_reset_completed",
|
| 247 |
+
"frame": 75
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"event": "phase_recall",
|
| 251 |
+
"frame": 75
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"event": "decision_step",
|
| 255 |
+
"frame": 76
|
| 256 |
+
},
|
| 257 |
+
{
|
| 258 |
+
"event": "submit_started",
|
| 259 |
+
"frame": 247
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"event": "submit_completed",
|
| 263 |
+
"frame": 300
|
| 264 |
+
}
|
| 265 |
+
],
|
| 266 |
+
"randomization_records": [
|
| 267 |
+
{
|
| 268 |
+
"name": "button:confirm",
|
| 269 |
+
"base_xy": [
|
| 270 |
+
0.26,
|
| 271 |
+
-0.23
|
| 272 |
+
],
|
| 273 |
+
"sampled_xy": [
|
| 274 |
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|
| 275 |
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|
| 276 |
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],
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| 277 |
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"offset_xy": [
|
| 278 |
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|
| 279 |
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|
| 280 |
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],
|
| 281 |
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"yaw_degrees": 0.0,
|
| 282 |
+
"yaw_randomized": false
|
| 283 |
+
}
|
| 284 |
+
],
|
| 285 |
+
"placement_checks": [],
|
| 286 |
+
"grasp_checks": [],
|
| 287 |
+
"transport_events": [],
|
| 288 |
+
"final_scene_checks": [],
|
| 289 |
+
"button_press_checks": [
|
| 290 |
+
{
|
| 291 |
+
"key": "reset",
|
| 292 |
+
"arm": "right",
|
| 293 |
+
"frame": 63,
|
| 294 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 295 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 296 |
+
"closed_during_press": true
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"key": "confirm",
|
| 300 |
+
"arm": "right",
|
| 301 |
+
"frame": 288,
|
| 302 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 303 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 304 |
+
"closed_during_press": true
|
| 305 |
+
}
|
| 306 |
+
],
|
| 307 |
+
"switch_checks": [
|
| 308 |
+
{
|
| 309 |
+
"key": "m36_restore_C",
|
| 310 |
+
"arm": "left",
|
| 311 |
+
"requested_on": true,
|
| 312 |
+
"joint_reached": true,
|
| 313 |
+
"closed_gripper": true,
|
| 314 |
+
"contact_count": 21,
|
| 315 |
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"native_joint_reached": false,
|
| 316 |
+
"latched_on_contact": true,
|
| 317 |
+
"gripper_qpos": 0.2282585439018228
|
| 318 |
+
}
|
| 319 |
+
],
|
| 320 |
+
"device_press_checks": [],
|
| 321 |
+
"press_counts": {
|
| 322 |
+
"reset": 1,
|
| 323 |
+
"confirm": 1
|
| 324 |
+
},
|
| 325 |
+
"p1_render_trace": []
|
| 326 |
+
},
|
| 327 |
+
"quality": {
|
| 328 |
+
"frames": 301,
|
| 329 |
+
"max_action_delta": 0.13465070724487305,
|
| 330 |
+
"arm_motion_range": 3.2523382212584693,
|
| 331 |
+
"gripper_motion_range": 1.3385988473892212,
|
| 332 |
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"camera_payload_bytes": 204882,
|
| 333 |
+
"fingerprint": "34b9ff447ca5aeac91195c31452d2275070d2bad0428d42eef918d71b71087c5"
|
| 334 |
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},
|
| 335 |
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"plan_success": true,
|
| 336 |
+
"replay_success": true
|
| 337 |
+
}
|
| 338 |
+
],
|
| 339 |
+
"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000039.json
ADDED
|
@@ -0,0 +1,340 @@
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|
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|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 39,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 8,
|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 8,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"blue",
|
| 24 |
+
"neutral",
|
| 25 |
+
"blue"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
+
"initial_on_count": 1,
|
| 40 |
+
"pre_action_count": 0,
|
| 41 |
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"red_count": 0,
|
| 42 |
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"blue_count": 2,
|
| 43 |
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"large_count": 0,
|
| 44 |
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"small_count": 0,
|
| 45 |
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"restore_count": 3
|
| 46 |
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},
|
| 47 |
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"configuration_signature": "8610fa9d7eb99e60de016b94fa4aeca0b8fdf7b1dc104c60347eb1681ca2699a",
|
| 48 |
+
"episode_id": 39,
|
| 49 |
+
"seed": 338527677
|
| 50 |
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},
|
| 51 |
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"configuration_signature": "8610fa9d7eb99e60de016b94fa4aeca0b8fdf7b1dc104c60347eb1681ca2699a",
|
| 52 |
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"bench_values": {
|
| 53 |
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"_runtime_task_id": "E1",
|
| 54 |
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"difficulty": "base",
|
| 55 |
+
"switch_count": 3,
|
| 56 |
+
"initial_on": [
|
| 57 |
+
"A"
|
| 58 |
+
],
|
| 59 |
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"pre_actions": [],
|
| 60 |
+
"switch_colors": [
|
| 61 |
+
"blue",
|
| 62 |
+
"neutral",
|
| 63 |
+
"blue"
|
| 64 |
+
],
|
| 65 |
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"switch_sizes": [
|
| 66 |
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"medium",
|
| 67 |
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"medium",
|
| 68 |
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"medium"
|
| 69 |
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],
|
| 70 |
+
"restore_labels": [
|
| 71 |
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"A",
|
| 72 |
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"B",
|
| 73 |
+
"C"
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"expected_answer": [
|
| 77 |
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"A"
|
| 78 |
+
],
|
| 79 |
+
"scene_seeds": [
|
| 80 |
+
338527677
|
| 81 |
+
],
|
| 82 |
+
"results": [
|
| 83 |
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{
|
| 84 |
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"scene": "episode",
|
| 85 |
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"seed": 338527677,
|
| 86 |
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"planning_result": {
|
| 87 |
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"success": true,
|
| 88 |
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"task_id": "E1",
|
| 89 |
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"branch": "train",
|
| 90 |
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"action_log": [
|
| 91 |
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{
|
| 92 |
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"action": "initial_state_observed",
|
| 93 |
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"on": [
|
| 94 |
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"A"
|
| 95 |
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],
|
| 96 |
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"restore_scope": [
|
| 97 |
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"A",
|
| 98 |
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"B",
|
| 99 |
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"C"
|
| 100 |
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]
|
| 101 |
+
},
|
| 102 |
+
[
|
| 103 |
+
"switch",
|
| 104 |
+
"m36_restore_A",
|
| 105 |
+
true
|
| 106 |
+
],
|
| 107 |
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{
|
| 108 |
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"action": "submit",
|
| 109 |
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"expected": [
|
| 110 |
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"A"
|
| 111 |
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],
|
| 112 |
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"actual": [
|
| 113 |
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"A"
|
| 114 |
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],
|
| 115 |
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"state_valid": true
|
| 116 |
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}
|
| 117 |
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],
|
| 118 |
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"event_timeline": [
|
| 119 |
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{
|
| 120 |
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"event": "phase_observe",
|
| 121 |
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"frame": 0
|
| 122 |
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},
|
| 123 |
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{
|
| 124 |
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"event": "phase_observe",
|
| 125 |
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"frame": 0
|
| 126 |
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},
|
| 127 |
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{
|
| 128 |
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"event": "m36_e1_initial_state_observed",
|
| 129 |
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"frame": 0
|
| 130 |
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},
|
| 131 |
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{
|
| 132 |
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"event": "last_observable_step",
|
| 133 |
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"frame": 0
|
| 134 |
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},
|
| 135 |
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{
|
| 136 |
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"event": "m36_e1_reset_started",
|
| 137 |
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"frame": 0
|
| 138 |
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},
|
| 139 |
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{
|
| 140 |
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"event": "m36_e1_reset_completed",
|
| 141 |
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"frame": 0
|
| 142 |
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},
|
| 143 |
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{
|
| 144 |
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"event": "phase_recall",
|
| 145 |
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"frame": 0
|
| 146 |
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},
|
| 147 |
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{
|
| 148 |
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"event": "decision_step",
|
| 149 |
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"frame": 0
|
| 150 |
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},
|
| 151 |
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{
|
| 152 |
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"event": "submit_started",
|
| 153 |
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"frame": 0
|
| 154 |
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},
|
| 155 |
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{
|
| 156 |
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"event": "submit_completed",
|
| 157 |
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"frame": 0
|
| 158 |
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}
|
| 159 |
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],
|
| 160 |
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"randomization_records": [
|
| 161 |
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{
|
| 162 |
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"name": "button:confirm",
|
| 163 |
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"base_xy": [
|
| 164 |
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|
| 165 |
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-0.23
|
| 166 |
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],
|
| 167 |
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"sampled_xy": [
|
| 168 |
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|
| 169 |
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|
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],
|
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"offset_xy": [
|
| 172 |
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|
| 173 |
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|
| 174 |
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],
|
| 175 |
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"yaw_degrees": 0.0,
|
| 176 |
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"yaw_randomized": false
|
| 177 |
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}
|
| 178 |
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],
|
| 179 |
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"placement_checks": [],
|
| 180 |
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|
| 181 |
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"transport_events": [],
|
| 182 |
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"final_scene_checks": [],
|
| 183 |
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"button_press_checks": [],
|
| 184 |
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"switch_checks": [],
|
| 185 |
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|
| 186 |
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"press_counts": {
|
| 187 |
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"reset": 1,
|
| 188 |
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"confirm": 1
|
| 189 |
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},
|
| 190 |
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"p1_render_trace": []
|
| 191 |
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},
|
| 192 |
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"replay_result": {
|
| 193 |
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"success": true,
|
| 194 |
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"task_id": "E1",
|
| 195 |
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"branch": "train",
|
| 196 |
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"action_log": [
|
| 197 |
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{
|
| 198 |
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"action": "initial_state_observed",
|
| 199 |
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"on": [
|
| 200 |
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"A"
|
| 201 |
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],
|
| 202 |
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"restore_scope": [
|
| 203 |
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"A",
|
| 204 |
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"B",
|
| 205 |
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"C"
|
| 206 |
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]
|
| 207 |
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},
|
| 208 |
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[
|
| 209 |
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"switch",
|
| 210 |
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"m36_restore_A",
|
| 211 |
+
true
|
| 212 |
+
],
|
| 213 |
+
{
|
| 214 |
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"action": "submit",
|
| 215 |
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"expected": [
|
| 216 |
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"A"
|
| 217 |
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],
|
| 218 |
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"actual": [
|
| 219 |
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"A"
|
| 220 |
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],
|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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"event_timeline": [
|
| 225 |
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{
|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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{
|
| 230 |
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"event": "phase_observe",
|
| 231 |
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|
| 232 |
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|
| 233 |
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{
|
| 234 |
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"event": "m36_e1_initial_state_observed",
|
| 235 |
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|
| 236 |
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|
| 237 |
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{
|
| 238 |
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"event": "last_observable_step",
|
| 239 |
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|
| 240 |
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|
| 241 |
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{
|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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{
|
| 246 |
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"event": "m36_e1_reset_completed",
|
| 247 |
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"frame": 75
|
| 248 |
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|
| 249 |
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{
|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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"event": "decision_step",
|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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{
|
| 262 |
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"event": "submit_completed",
|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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{
|
| 268 |
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"name": "button:confirm",
|
| 269 |
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|
| 270 |
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|
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|
| 272 |
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| 274 |
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|
| 282 |
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|
| 283 |
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}
|
| 284 |
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],
|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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{
|
| 291 |
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"key": "reset",
|
| 292 |
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"arm": "right",
|
| 293 |
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"frame": 63,
|
| 294 |
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|
| 295 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 296 |
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"closed_during_press": true
|
| 297 |
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},
|
| 298 |
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{
|
| 299 |
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"key": "confirm",
|
| 300 |
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"arm": "right",
|
| 301 |
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"frame": 264,
|
| 302 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 303 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 304 |
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"closed_during_press": true
|
| 305 |
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}
|
| 306 |
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],
|
| 307 |
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"switch_checks": [
|
| 308 |
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{
|
| 309 |
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"key": "m36_restore_A",
|
| 310 |
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"arm": "left",
|
| 311 |
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"requested_on": true,
|
| 312 |
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"joint_reached": true,
|
| 313 |
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"closed_gripper": true,
|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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"gripper_qpos": 0.18181818181818182
|
| 318 |
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}
|
| 319 |
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],
|
| 320 |
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"device_press_checks": [],
|
| 321 |
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"press_counts": {
|
| 322 |
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"reset": 1,
|
| 323 |
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"confirm": 1
|
| 324 |
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},
|
| 325 |
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"p1_render_trace": []
|
| 326 |
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},
|
| 327 |
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"quality": {
|
| 328 |
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"frames": 277,
|
| 329 |
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"max_action_delta": 0.1255204677581787,
|
| 330 |
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|
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|
| 332 |
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|
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"fingerprint": "4ea3a47ce8838ede44f049ececa667553b5e3f1bfd5f173c35590cff353ea4b2"
|
| 334 |
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},
|
| 335 |
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"plan_success": true,
|
| 336 |
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"replay_success": true
|
| 337 |
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}
|
| 338 |
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],
|
| 339 |
+
"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000040.json
ADDED
|
@@ -0,0 +1,340 @@
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 40,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 1,
|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 1,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"B"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
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"switch_colors": [
|
| 23 |
+
"red",
|
| 24 |
+
"neutral",
|
| 25 |
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"red"
|
| 26 |
+
],
|
| 27 |
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"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
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"medium",
|
| 30 |
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"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
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},
|
| 38 |
+
"strata": {
|
| 39 |
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"initial_on_count": 1,
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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"small_count": 0,
|
| 45 |
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"restore_count": 3
|
| 46 |
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},
|
| 47 |
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"configuration_signature": "7cdf1c5116d42f335c18b350ac053e1db20a7c1d5e62c6a95897e300d7a94392",
|
| 48 |
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"episode_id": 40,
|
| 49 |
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"seed": 770423539
|
| 50 |
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},
|
| 51 |
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"configuration_signature": "7cdf1c5116d42f335c18b350ac053e1db20a7c1d5e62c6a95897e300d7a94392",
|
| 52 |
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"bench_values": {
|
| 53 |
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"_runtime_task_id": "E1",
|
| 54 |
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"difficulty": "base",
|
| 55 |
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"switch_count": 3,
|
| 56 |
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"initial_on": [
|
| 57 |
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"B"
|
| 58 |
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],
|
| 59 |
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"pre_actions": [],
|
| 60 |
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"switch_colors": [
|
| 61 |
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"red",
|
| 62 |
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"neutral",
|
| 63 |
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"red"
|
| 64 |
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],
|
| 65 |
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"switch_sizes": [
|
| 66 |
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"medium",
|
| 67 |
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"medium",
|
| 68 |
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"medium"
|
| 69 |
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],
|
| 70 |
+
"restore_labels": [
|
| 71 |
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"A",
|
| 72 |
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"B",
|
| 73 |
+
"C"
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"expected_answer": [
|
| 77 |
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"B"
|
| 78 |
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],
|
| 79 |
+
"scene_seeds": [
|
| 80 |
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|
| 81 |
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],
|
| 82 |
+
"results": [
|
| 83 |
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{
|
| 84 |
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"scene": "episode",
|
| 85 |
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"seed": 770423539,
|
| 86 |
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"planning_result": {
|
| 87 |
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"success": true,
|
| 88 |
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"task_id": "E1",
|
| 89 |
+
"branch": "train",
|
| 90 |
+
"action_log": [
|
| 91 |
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{
|
| 92 |
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"action": "initial_state_observed",
|
| 93 |
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"on": [
|
| 94 |
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"B"
|
| 95 |
+
],
|
| 96 |
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"restore_scope": [
|
| 97 |
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"A",
|
| 98 |
+
"B",
|
| 99 |
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"C"
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
[
|
| 103 |
+
"switch",
|
| 104 |
+
"m36_restore_B",
|
| 105 |
+
true
|
| 106 |
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],
|
| 107 |
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{
|
| 108 |
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"action": "submit",
|
| 109 |
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"expected": [
|
| 110 |
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"B"
|
| 111 |
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],
|
| 112 |
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"actual": [
|
| 113 |
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"B"
|
| 114 |
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],
|
| 115 |
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"state_valid": true
|
| 116 |
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}
|
| 117 |
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],
|
| 118 |
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"event_timeline": [
|
| 119 |
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{
|
| 120 |
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"event": "phase_observe",
|
| 121 |
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"frame": 0
|
| 122 |
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},
|
| 123 |
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{
|
| 124 |
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"event": "phase_observe",
|
| 125 |
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"frame": 0
|
| 126 |
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},
|
| 127 |
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{
|
| 128 |
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"event": "m36_e1_initial_state_observed",
|
| 129 |
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"frame": 0
|
| 130 |
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},
|
| 131 |
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{
|
| 132 |
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"event": "last_observable_step",
|
| 133 |
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"frame": 0
|
| 134 |
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},
|
| 135 |
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{
|
| 136 |
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"event": "m36_e1_reset_started",
|
| 137 |
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"frame": 0
|
| 138 |
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},
|
| 139 |
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{
|
| 140 |
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"event": "m36_e1_reset_completed",
|
| 141 |
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"frame": 0
|
| 142 |
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},
|
| 143 |
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{
|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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"event": "submit_completed",
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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|
| 162 |
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| 163 |
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| 164 |
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|
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|
| 177 |
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| 178 |
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| 179 |
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|
| 180 |
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| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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"press_counts": {
|
| 187 |
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"reset": 1,
|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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"replay_result": {
|
| 193 |
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"success": true,
|
| 194 |
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"task_id": "E1",
|
| 195 |
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"branch": "train",
|
| 196 |
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"action_log": [
|
| 197 |
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{
|
| 198 |
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"action": "initial_state_observed",
|
| 199 |
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"on": [
|
| 200 |
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|
| 201 |
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],
|
| 202 |
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"restore_scope": [
|
| 203 |
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|
| 204 |
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"B",
|
| 205 |
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"C"
|
| 206 |
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]
|
| 207 |
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|
| 208 |
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[
|
| 209 |
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"switch",
|
| 210 |
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"m36_restore_B",
|
| 211 |
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true
|
| 212 |
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],
|
| 213 |
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{
|
| 214 |
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"action": "submit",
|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 222 |
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|
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|
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|
| 226 |
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|
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|
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|
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|
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| 250 |
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{
|
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"key": "reset",
|
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|
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"frame": 63,
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|
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|
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|
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},
|
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{
|
| 299 |
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"key": "confirm",
|
| 300 |
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"arm": "right",
|
| 301 |
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"frame": 269,
|
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"button_qpos_during_press": -0.006000000052154064,
|
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"closed_during_press": true
|
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}
|
| 306 |
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],
|
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"switch_checks": [
|
| 308 |
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{
|
| 309 |
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"key": "m36_restore_B",
|
| 310 |
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"arm": "left",
|
| 311 |
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"requested_on": true,
|
| 312 |
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"joint_reached": true,
|
| 313 |
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|
| 314 |
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|
| 315 |
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|
| 316 |
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|
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|
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],
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|
| 321 |
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|
| 322 |
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"reset": 1,
|
| 323 |
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|
| 324 |
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},
|
| 325 |
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|
| 326 |
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},
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"quality": {
|
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|
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|
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|
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},
|
| 335 |
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"plan_success": true,
|
| 336 |
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"replay_success": true
|
| 337 |
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}
|
| 338 |
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],
|
| 339 |
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"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000041.json
ADDED
|
@@ -0,0 +1,340 @@
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|
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|
|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
|
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|
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|
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 41,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 22,
|
| 7 |
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"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
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"task_id": "E1_base",
|
| 10 |
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"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 22,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"C"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"blue",
|
| 24 |
+
"neutral",
|
| 25 |
+
"blue"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
+
"initial_on_count": 1,
|
| 40 |
+
"pre_action_count": 0,
|
| 41 |
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"red_count": 0,
|
| 42 |
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"blue_count": 2,
|
| 43 |
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"large_count": 0,
|
| 44 |
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"small_count": 0,
|
| 45 |
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"restore_count": 3
|
| 46 |
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},
|
| 47 |
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"configuration_signature": "d345e932477218a19cd4cd41409a41b3e4303dce40bb9340b52bfc1a0074fd54",
|
| 48 |
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"episode_id": 41,
|
| 49 |
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"seed": 6961851
|
| 50 |
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},
|
| 51 |
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"configuration_signature": "d345e932477218a19cd4cd41409a41b3e4303dce40bb9340b52bfc1a0074fd54",
|
| 52 |
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"bench_values": {
|
| 53 |
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"_runtime_task_id": "E1",
|
| 54 |
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"difficulty": "base",
|
| 55 |
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"switch_count": 3,
|
| 56 |
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"initial_on": [
|
| 57 |
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"C"
|
| 58 |
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],
|
| 59 |
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"pre_actions": [],
|
| 60 |
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"switch_colors": [
|
| 61 |
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"blue",
|
| 62 |
+
"neutral",
|
| 63 |
+
"blue"
|
| 64 |
+
],
|
| 65 |
+
"switch_sizes": [
|
| 66 |
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"medium",
|
| 67 |
+
"medium",
|
| 68 |
+
"medium"
|
| 69 |
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],
|
| 70 |
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|
data/E1_base/private_records/episode000042.json
ADDED
|
@@ -0,0 +1,340 @@
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| 1 |
+
{
|
| 2 |
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"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
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"episode_id": 42,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
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"counterfactual_pair_id": 24,
|
| 7 |
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"counterfactual_pair_member": "B",
|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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"counterfactual_pair_member": "B",
|
| 13 |
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"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
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"values": {
|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
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|
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|
| 40 |
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|
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|
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|
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[
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|
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|
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],
|
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"success": true
|
| 340 |
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}
|
data/E1_base/private_records/episode000043.json
ADDED
|
@@ -0,0 +1,340 @@
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 43,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
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|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 18,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"B"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"neutral",
|
| 24 |
+
"blue",
|
| 25 |
+
"blue"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
+
"initial_on_count": 1,
|
| 40 |
+
"pre_action_count": 0,
|
| 41 |
+
"red_count": 0,
|
| 42 |
+
"blue_count": 2,
|
| 43 |
+
"large_count": 0,
|
| 44 |
+
"small_count": 0,
|
| 45 |
+
"restore_count": 3
|
| 46 |
+
},
|
| 47 |
+
"configuration_signature": "c87006193910976eb5171de4400cc4c538448b0409849c9938c8eb17b115618f",
|
| 48 |
+
"episode_id": 43,
|
| 49 |
+
"seed": 1248227817
|
| 50 |
+
},
|
| 51 |
+
"configuration_signature": "c87006193910976eb5171de4400cc4c538448b0409849c9938c8eb17b115618f",
|
| 52 |
+
"bench_values": {
|
| 53 |
+
"_runtime_task_id": "E1",
|
| 54 |
+
"difficulty": "base",
|
| 55 |
+
"switch_count": 3,
|
| 56 |
+
"initial_on": [
|
| 57 |
+
"B"
|
| 58 |
+
],
|
| 59 |
+
"pre_actions": [],
|
| 60 |
+
"switch_colors": [
|
| 61 |
+
"neutral",
|
| 62 |
+
"blue",
|
| 63 |
+
"blue"
|
| 64 |
+
],
|
| 65 |
+
"switch_sizes": [
|
| 66 |
+
"medium",
|
| 67 |
+
"medium",
|
| 68 |
+
"medium"
|
| 69 |
+
],
|
| 70 |
+
"restore_labels": [
|
| 71 |
+
"A",
|
| 72 |
+
"B",
|
| 73 |
+
"C"
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"expected_answer": [
|
| 77 |
+
"B"
|
| 78 |
+
],
|
| 79 |
+
"scene_seeds": [
|
| 80 |
+
1248227817
|
| 81 |
+
],
|
| 82 |
+
"results": [
|
| 83 |
+
{
|
| 84 |
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"scene": "episode",
|
| 85 |
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"seed": 1248227817,
|
| 86 |
+
"planning_result": {
|
| 87 |
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"success": true,
|
| 88 |
+
"task_id": "E1",
|
| 89 |
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"branch": "train",
|
| 90 |
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"action_log": [
|
| 91 |
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{
|
| 92 |
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"action": "initial_state_observed",
|
| 93 |
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"on": [
|
| 94 |
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"B"
|
| 95 |
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],
|
| 96 |
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"restore_scope": [
|
| 97 |
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"A",
|
| 98 |
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"B",
|
| 99 |
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"C"
|
| 100 |
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]
|
| 101 |
+
},
|
| 102 |
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[
|
| 103 |
+
"switch",
|
| 104 |
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"m36_restore_B",
|
| 105 |
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true
|
| 106 |
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],
|
| 107 |
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{
|
| 108 |
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"action": "submit",
|
| 109 |
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"expected": [
|
| 110 |
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"B"
|
| 111 |
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],
|
| 112 |
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"actual": [
|
| 113 |
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"B"
|
| 114 |
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],
|
| 115 |
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"state_valid": true
|
| 116 |
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}
|
| 117 |
+
],
|
| 118 |
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"event_timeline": [
|
| 119 |
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{
|
| 120 |
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"event": "phase_observe",
|
| 121 |
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"frame": 0
|
| 122 |
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},
|
| 123 |
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{
|
| 124 |
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"event": "phase_observe",
|
| 125 |
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"frame": 0
|
| 126 |
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},
|
| 127 |
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{
|
| 128 |
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"event": "m36_e1_initial_state_observed",
|
| 129 |
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"frame": 0
|
| 130 |
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},
|
| 131 |
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{
|
| 132 |
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"event": "last_observable_step",
|
| 133 |
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"frame": 0
|
| 134 |
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},
|
| 135 |
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{
|
| 136 |
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"event": "m36_e1_reset_started",
|
| 137 |
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"frame": 0
|
| 138 |
+
},
|
| 139 |
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{
|
| 140 |
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"event": "m36_e1_reset_completed",
|
| 141 |
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"frame": 0
|
| 142 |
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},
|
| 143 |
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{
|
| 144 |
+
"event": "phase_recall",
|
| 145 |
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"frame": 0
|
| 146 |
+
},
|
| 147 |
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{
|
| 148 |
+
"event": "decision_step",
|
| 149 |
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"frame": 0
|
| 150 |
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},
|
| 151 |
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{
|
| 152 |
+
"event": "submit_started",
|
| 153 |
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"frame": 0
|
| 154 |
+
},
|
| 155 |
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{
|
| 156 |
+
"event": "submit_completed",
|
| 157 |
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"frame": 0
|
| 158 |
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}
|
| 159 |
+
],
|
| 160 |
+
"randomization_records": [
|
| 161 |
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{
|
| 162 |
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"name": "button:confirm",
|
| 163 |
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"base_xy": [
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| 164 |
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|
| 165 |
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|
| 166 |
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],
|
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| 168 |
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|
| 169 |
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| 170 |
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| 171 |
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"offset_xy": [
|
| 172 |
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|
| 173 |
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|
| 174 |
+
],
|
| 175 |
+
"yaw_degrees": 0.0,
|
| 176 |
+
"yaw_randomized": false
|
| 177 |
+
}
|
| 178 |
+
],
|
| 179 |
+
"placement_checks": [],
|
| 180 |
+
"grasp_checks": [],
|
| 181 |
+
"transport_events": [],
|
| 182 |
+
"final_scene_checks": [],
|
| 183 |
+
"button_press_checks": [],
|
| 184 |
+
"switch_checks": [],
|
| 185 |
+
"device_press_checks": [],
|
| 186 |
+
"press_counts": {
|
| 187 |
+
"reset": 1,
|
| 188 |
+
"confirm": 1
|
| 189 |
+
},
|
| 190 |
+
"p1_render_trace": []
|
| 191 |
+
},
|
| 192 |
+
"replay_result": {
|
| 193 |
+
"success": true,
|
| 194 |
+
"task_id": "E1",
|
| 195 |
+
"branch": "train",
|
| 196 |
+
"action_log": [
|
| 197 |
+
{
|
| 198 |
+
"action": "initial_state_observed",
|
| 199 |
+
"on": [
|
| 200 |
+
"B"
|
| 201 |
+
],
|
| 202 |
+
"restore_scope": [
|
| 203 |
+
"A",
|
| 204 |
+
"B",
|
| 205 |
+
"C"
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
[
|
| 209 |
+
"switch",
|
| 210 |
+
"m36_restore_B",
|
| 211 |
+
true
|
| 212 |
+
],
|
| 213 |
+
{
|
| 214 |
+
"action": "submit",
|
| 215 |
+
"expected": [
|
| 216 |
+
"B"
|
| 217 |
+
],
|
| 218 |
+
"actual": [
|
| 219 |
+
"B"
|
| 220 |
+
],
|
| 221 |
+
"state_valid": true
|
| 222 |
+
}
|
| 223 |
+
],
|
| 224 |
+
"event_timeline": [
|
| 225 |
+
{
|
| 226 |
+
"event": "phase_observe",
|
| 227 |
+
"frame": 0
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"event": "phase_observe",
|
| 231 |
+
"frame": 0
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"event": "m36_e1_initial_state_observed",
|
| 235 |
+
"frame": 0
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"event": "last_observable_step",
|
| 239 |
+
"frame": 0
|
| 240 |
+
},
|
| 241 |
+
{
|
| 242 |
+
"event": "m36_e1_reset_started",
|
| 243 |
+
"frame": 0
|
| 244 |
+
},
|
| 245 |
+
{
|
| 246 |
+
"event": "m36_e1_reset_completed",
|
| 247 |
+
"frame": 75
|
| 248 |
+
},
|
| 249 |
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{
|
| 250 |
+
"event": "phase_recall",
|
| 251 |
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"frame": 75
|
| 252 |
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},
|
| 253 |
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{
|
| 254 |
+
"event": "decision_step",
|
| 255 |
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"frame": 76
|
| 256 |
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},
|
| 257 |
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{
|
| 258 |
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"event": "submit_started",
|
| 259 |
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"frame": 228
|
| 260 |
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},
|
| 261 |
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{
|
| 262 |
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"event": "submit_completed",
|
| 263 |
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"frame": 280
|
| 264 |
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}
|
| 265 |
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],
|
| 266 |
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"randomization_records": [
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| 267 |
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{
|
| 268 |
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"name": "button:confirm",
|
| 269 |
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| 270 |
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|
| 271 |
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|
| 272 |
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],
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| 274 |
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|
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|
| 282 |
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|
| 283 |
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}
|
| 284 |
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],
|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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"button_press_checks": [
|
| 290 |
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{
|
| 291 |
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"key": "reset",
|
| 292 |
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"arm": "right",
|
| 293 |
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"frame": 63,
|
| 294 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 295 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 296 |
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"closed_during_press": true
|
| 297 |
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},
|
| 298 |
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{
|
| 299 |
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"key": "confirm",
|
| 300 |
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"arm": "right",
|
| 301 |
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"frame": 268,
|
| 302 |
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|
| 303 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 304 |
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"closed_during_press": true
|
| 305 |
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}
|
| 306 |
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],
|
| 307 |
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"switch_checks": [
|
| 308 |
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{
|
| 309 |
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"key": "m36_restore_B",
|
| 310 |
+
"arm": "left",
|
| 311 |
+
"requested_on": true,
|
| 312 |
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"joint_reached": true,
|
| 313 |
+
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|
| 314 |
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"contact_count": 18,
|
| 315 |
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|
| 316 |
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"latched_on_contact": true,
|
| 317 |
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"gripper_qpos": 0.18540304587010972
|
| 318 |
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}
|
| 319 |
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],
|
| 320 |
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"device_press_checks": [],
|
| 321 |
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"press_counts": {
|
| 322 |
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"reset": 1,
|
| 323 |
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"confirm": 1
|
| 324 |
+
},
|
| 325 |
+
"p1_render_trace": []
|
| 326 |
+
},
|
| 327 |
+
"quality": {
|
| 328 |
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"frames": 281,
|
| 329 |
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"max_action_delta": 0.13275742530822754,
|
| 330 |
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"arm_motion_range": 2.629786207442976,
|
| 331 |
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"gripper_motion_range": 1.3384414911270142,
|
| 332 |
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"camera_payload_bytes": 211999,
|
| 333 |
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"fingerprint": "1887796d8ef0f5354d3aeb37e349c6d96c7fbb46a6dc695e9a215c3823d01f7b"
|
| 334 |
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},
|
| 335 |
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"plan_success": true,
|
| 336 |
+
"replay_success": true
|
| 337 |
+
}
|
| 338 |
+
],
|
| 339 |
+
"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000044.json
ADDED
|
@@ -0,0 +1,340 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 44,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 7,
|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 7,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"C"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"blue",
|
| 24 |
+
"neutral",
|
| 25 |
+
"neutral"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
+
"initial_on_count": 1,
|
| 40 |
+
"pre_action_count": 0,
|
| 41 |
+
"red_count": 0,
|
| 42 |
+
"blue_count": 1,
|
| 43 |
+
"large_count": 0,
|
| 44 |
+
"small_count": 0,
|
| 45 |
+
"restore_count": 3
|
| 46 |
+
},
|
| 47 |
+
"configuration_signature": "9ed6d8c92cf6eb44340bd5ad58cd46ee9d748e24b84192dfb7aedc69b252fc24",
|
| 48 |
+
"episode_id": 44,
|
| 49 |
+
"seed": 708120
|
| 50 |
+
},
|
| 51 |
+
"configuration_signature": "9ed6d8c92cf6eb44340bd5ad58cd46ee9d748e24b84192dfb7aedc69b252fc24",
|
| 52 |
+
"bench_values": {
|
| 53 |
+
"_runtime_task_id": "E1",
|
| 54 |
+
"difficulty": "base",
|
| 55 |
+
"switch_count": 3,
|
| 56 |
+
"initial_on": [
|
| 57 |
+
"C"
|
| 58 |
+
],
|
| 59 |
+
"pre_actions": [],
|
| 60 |
+
"switch_colors": [
|
| 61 |
+
"blue",
|
| 62 |
+
"neutral",
|
| 63 |
+
"neutral"
|
| 64 |
+
],
|
| 65 |
+
"switch_sizes": [
|
| 66 |
+
"medium",
|
| 67 |
+
"medium",
|
| 68 |
+
"medium"
|
| 69 |
+
],
|
| 70 |
+
"restore_labels": [
|
| 71 |
+
"A",
|
| 72 |
+
"B",
|
| 73 |
+
"C"
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"expected_answer": [
|
| 77 |
+
"C"
|
| 78 |
+
],
|
| 79 |
+
"scene_seeds": [
|
| 80 |
+
708120
|
| 81 |
+
],
|
| 82 |
+
"results": [
|
| 83 |
+
{
|
| 84 |
+
"scene": "episode",
|
| 85 |
+
"seed": 708120,
|
| 86 |
+
"planning_result": {
|
| 87 |
+
"success": true,
|
| 88 |
+
"task_id": "E1",
|
| 89 |
+
"branch": "train",
|
| 90 |
+
"action_log": [
|
| 91 |
+
{
|
| 92 |
+
"action": "initial_state_observed",
|
| 93 |
+
"on": [
|
| 94 |
+
"C"
|
| 95 |
+
],
|
| 96 |
+
"restore_scope": [
|
| 97 |
+
"A",
|
| 98 |
+
"B",
|
| 99 |
+
"C"
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
[
|
| 103 |
+
"switch",
|
| 104 |
+
"m36_restore_C",
|
| 105 |
+
true
|
| 106 |
+
],
|
| 107 |
+
{
|
| 108 |
+
"action": "submit",
|
| 109 |
+
"expected": [
|
| 110 |
+
"C"
|
| 111 |
+
],
|
| 112 |
+
"actual": [
|
| 113 |
+
"C"
|
| 114 |
+
],
|
| 115 |
+
"state_valid": true
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"event_timeline": [
|
| 119 |
+
{
|
| 120 |
+
"event": "phase_observe",
|
| 121 |
+
"frame": 0
|
| 122 |
+
},
|
| 123 |
+
{
|
| 124 |
+
"event": "phase_observe",
|
| 125 |
+
"frame": 0
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"event": "m36_e1_initial_state_observed",
|
| 129 |
+
"frame": 0
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"event": "last_observable_step",
|
| 133 |
+
"frame": 0
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"event": "m36_e1_reset_started",
|
| 137 |
+
"frame": 0
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"event": "m36_e1_reset_completed",
|
| 141 |
+
"frame": 0
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"event": "phase_recall",
|
| 145 |
+
"frame": 0
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"event": "decision_step",
|
| 149 |
+
"frame": 0
|
| 150 |
+
},
|
| 151 |
+
{
|
| 152 |
+
"event": "submit_started",
|
| 153 |
+
"frame": 0
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"event": "submit_completed",
|
| 157 |
+
"frame": 0
|
| 158 |
+
}
|
| 159 |
+
],
|
| 160 |
+
"randomization_records": [
|
| 161 |
+
{
|
| 162 |
+
"name": "button:confirm",
|
| 163 |
+
"base_xy": [
|
| 164 |
+
0.26,
|
| 165 |
+
-0.23
|
| 166 |
+
],
|
| 167 |
+
"sampled_xy": [
|
| 168 |
+
0.25999999046325684,
|
| 169 |
+
-0.23000000417232513
|
| 170 |
+
],
|
| 171 |
+
"offset_xy": [
|
| 172 |
+
-9.536743172944284e-09,
|
| 173 |
+
-4.1723251242853365e-09
|
| 174 |
+
],
|
| 175 |
+
"yaw_degrees": 0.0,
|
| 176 |
+
"yaw_randomized": false
|
| 177 |
+
}
|
| 178 |
+
],
|
| 179 |
+
"placement_checks": [],
|
| 180 |
+
"grasp_checks": [],
|
| 181 |
+
"transport_events": [],
|
| 182 |
+
"final_scene_checks": [],
|
| 183 |
+
"button_press_checks": [],
|
| 184 |
+
"switch_checks": [],
|
| 185 |
+
"device_press_checks": [],
|
| 186 |
+
"press_counts": {
|
| 187 |
+
"reset": 1,
|
| 188 |
+
"confirm": 1
|
| 189 |
+
},
|
| 190 |
+
"p1_render_trace": []
|
| 191 |
+
},
|
| 192 |
+
"replay_result": {
|
| 193 |
+
"success": true,
|
| 194 |
+
"task_id": "E1",
|
| 195 |
+
"branch": "train",
|
| 196 |
+
"action_log": [
|
| 197 |
+
{
|
| 198 |
+
"action": "initial_state_observed",
|
| 199 |
+
"on": [
|
| 200 |
+
"C"
|
| 201 |
+
],
|
| 202 |
+
"restore_scope": [
|
| 203 |
+
"A",
|
| 204 |
+
"B",
|
| 205 |
+
"C"
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
[
|
| 209 |
+
"switch",
|
| 210 |
+
"m36_restore_C",
|
| 211 |
+
true
|
| 212 |
+
],
|
| 213 |
+
{
|
| 214 |
+
"action": "submit",
|
| 215 |
+
"expected": [
|
| 216 |
+
"C"
|
| 217 |
+
],
|
| 218 |
+
"actual": [
|
| 219 |
+
"C"
|
| 220 |
+
],
|
| 221 |
+
"state_valid": true
|
| 222 |
+
}
|
| 223 |
+
],
|
| 224 |
+
"event_timeline": [
|
| 225 |
+
{
|
| 226 |
+
"event": "phase_observe",
|
| 227 |
+
"frame": 0
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"event": "phase_observe",
|
| 231 |
+
"frame": 0
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"event": "m36_e1_initial_state_observed",
|
| 235 |
+
"frame": 0
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"event": "last_observable_step",
|
| 239 |
+
"frame": 0
|
| 240 |
+
},
|
| 241 |
+
{
|
| 242 |
+
"event": "m36_e1_reset_started",
|
| 243 |
+
"frame": 0
|
| 244 |
+
},
|
| 245 |
+
{
|
| 246 |
+
"event": "m36_e1_reset_completed",
|
| 247 |
+
"frame": 75
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"event": "phase_recall",
|
| 251 |
+
"frame": 75
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"event": "decision_step",
|
| 255 |
+
"frame": 76
|
| 256 |
+
},
|
| 257 |
+
{
|
| 258 |
+
"event": "submit_started",
|
| 259 |
+
"frame": 246
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"event": "submit_completed",
|
| 263 |
+
"frame": 298
|
| 264 |
+
}
|
| 265 |
+
],
|
| 266 |
+
"randomization_records": [
|
| 267 |
+
{
|
| 268 |
+
"name": "button:confirm",
|
| 269 |
+
"base_xy": [
|
| 270 |
+
0.26,
|
| 271 |
+
-0.23
|
| 272 |
+
],
|
| 273 |
+
"sampled_xy": [
|
| 274 |
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0.25999999046325684,
|
| 275 |
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-0.23000000417232513
|
| 276 |
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],
|
| 277 |
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"offset_xy": [
|
| 278 |
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-9.536743172944284e-09,
|
| 279 |
+
-4.1723251242853365e-09
|
| 280 |
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],
|
| 281 |
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"yaw_degrees": 0.0,
|
| 282 |
+
"yaw_randomized": false
|
| 283 |
+
}
|
| 284 |
+
],
|
| 285 |
+
"placement_checks": [],
|
| 286 |
+
"grasp_checks": [],
|
| 287 |
+
"transport_events": [],
|
| 288 |
+
"final_scene_checks": [],
|
| 289 |
+
"button_press_checks": [
|
| 290 |
+
{
|
| 291 |
+
"key": "reset",
|
| 292 |
+
"arm": "right",
|
| 293 |
+
"frame": 63,
|
| 294 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 295 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 296 |
+
"closed_during_press": true
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"key": "confirm",
|
| 300 |
+
"arm": "right",
|
| 301 |
+
"frame": 286,
|
| 302 |
+
"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 303 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 304 |
+
"closed_during_press": true
|
| 305 |
+
}
|
| 306 |
+
],
|
| 307 |
+
"switch_checks": [
|
| 308 |
+
{
|
| 309 |
+
"key": "m36_restore_C",
|
| 310 |
+
"arm": "left",
|
| 311 |
+
"requested_on": true,
|
| 312 |
+
"joint_reached": true,
|
| 313 |
+
"closed_gripper": true,
|
| 314 |
+
"contact_count": 22,
|
| 315 |
+
"native_joint_reached": false,
|
| 316 |
+
"latched_on_contact": true,
|
| 317 |
+
"gripper_qpos": 0.18181818181818182
|
| 318 |
+
}
|
| 319 |
+
],
|
| 320 |
+
"device_press_checks": [],
|
| 321 |
+
"press_counts": {
|
| 322 |
+
"reset": 1,
|
| 323 |
+
"confirm": 1
|
| 324 |
+
},
|
| 325 |
+
"p1_render_trace": []
|
| 326 |
+
},
|
| 327 |
+
"quality": {
|
| 328 |
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"frames": 299,
|
| 329 |
+
"max_action_delta": 0.13434135913848877,
|
| 330 |
+
"arm_motion_range": 3.1566355730956275,
|
| 331 |
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"gripper_motion_range": 1.3386515378952026,
|
| 332 |
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"camera_payload_bytes": 205126,
|
| 333 |
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"fingerprint": "ea427d520d1f1f3cecc0ba462cce7f7ce4ce4487f42612f59e8aaf2f07e1948a"
|
| 334 |
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},
|
| 335 |
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"plan_success": true,
|
| 336 |
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"replay_success": true
|
| 337 |
+
}
|
| 338 |
+
],
|
| 339 |
+
"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000045.json
ADDED
|
@@ -0,0 +1,340 @@
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|
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|
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|
|
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|
|
|
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|
|
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|
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|
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|
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|
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|
|
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|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 45,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
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"counterfactual_pair_id": 2,
|
| 7 |
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"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
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"task_id": "E1_base",
|
| 10 |
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"difficulty": "base",
|
| 11 |
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"counterfactual_pair_id": 2,
|
| 12 |
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"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
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"difficulty": "base",
|
| 17 |
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"switch_count": 3,
|
| 18 |
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"initial_on": [
|
| 19 |
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"B"
|
| 20 |
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],
|
| 21 |
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"pre_actions": [],
|
| 22 |
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"switch_colors": [
|
| 23 |
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"neutral",
|
| 24 |
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"blue",
|
| 25 |
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"neutral"
|
| 26 |
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],
|
| 27 |
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"switch_sizes": [
|
| 28 |
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"medium",
|
| 29 |
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"medium",
|
| 30 |
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"medium"
|
| 31 |
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],
|
| 32 |
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"restore_labels": [
|
| 33 |
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"A",
|
| 34 |
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"B",
|
| 35 |
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"C"
|
| 36 |
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]
|
| 37 |
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},
|
| 38 |
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"strata": {
|
| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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| 43 |
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"large_count": 0,
|
| 44 |
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"small_count": 0,
|
| 45 |
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|
| 46 |
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},
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| 47 |
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"configuration_signature": "0201c44d18c5922eab8efa0479f18399ffb1fb230be9e7c53cac6703d180e972",
|
| 48 |
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"episode_id": 45,
|
| 49 |
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"seed": 209315530
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| 50 |
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},
|
| 51 |
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"configuration_signature": "0201c44d18c5922eab8efa0479f18399ffb1fb230be9e7c53cac6703d180e972",
|
| 52 |
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"bench_values": {
|
| 53 |
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"_runtime_task_id": "E1",
|
| 54 |
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"difficulty": "base",
|
| 55 |
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"switch_count": 3,
|
| 56 |
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"initial_on": [
|
| 57 |
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"B"
|
| 58 |
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],
|
| 59 |
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"pre_actions": [],
|
| 60 |
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"switch_colors": [
|
| 61 |
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"neutral",
|
| 62 |
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"blue",
|
| 63 |
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"neutral"
|
| 64 |
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],
|
| 65 |
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"switch_sizes": [
|
| 66 |
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"medium",
|
| 67 |
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|
| 68 |
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|
| 69 |
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],
|
| 70 |
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"restore_labels": [
|
| 71 |
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"A",
|
| 72 |
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"B",
|
| 73 |
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"C"
|
| 74 |
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]
|
| 75 |
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},
|
| 76 |
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"expected_answer": [
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| 77 |
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"B"
|
| 78 |
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],
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| 79 |
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"scene_seeds": [
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| 80 |
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| 81 |
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],
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| 82 |
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"results": [
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| 83 |
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{
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| 84 |
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"scene": "episode",
|
| 85 |
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"seed": 209315530,
|
| 86 |
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"planning_result": {
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| 87 |
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"success": true,
|
| 88 |
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"task_id": "E1",
|
| 89 |
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"branch": "train",
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| 90 |
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| 92 |
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"action": "initial_state_observed",
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| 93 |
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| 95 |
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],
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| 97 |
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| 98 |
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| 99 |
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| 100 |
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]
|
| 101 |
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},
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| 102 |
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[
|
| 103 |
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"switch",
|
| 104 |
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|
| 105 |
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true
|
| 106 |
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|
| 107 |
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{
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| 108 |
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| 109 |
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|
| 111 |
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"actual": [
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| 113 |
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|
| 114 |
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],
|
| 115 |
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|
| 116 |
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}
|
| 117 |
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],
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| 118 |
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| 119 |
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{
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| 120 |
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| 121 |
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|
| 125 |
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| 144 |
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"event": "phase_recall",
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| 145 |
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|
| 147 |
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|
| 149 |
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|
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| 152 |
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|
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|
| 154 |
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},
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| 155 |
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{
|
| 156 |
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"event": "submit_completed",
|
| 157 |
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|
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}
|
| 159 |
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],
|
| 160 |
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"randomization_records": [
|
| 161 |
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|
| 162 |
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"name": "button:confirm",
|
| 163 |
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| 164 |
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|
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|
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|
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|
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|
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|
| 178 |
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],
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|
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|
| 184 |
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| 187 |
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| 188 |
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|
| 189 |
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},
|
| 190 |
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},
|
| 192 |
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"replay_result": {
|
| 193 |
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"success": true,
|
| 194 |
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"task_id": "E1",
|
| 195 |
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"branch": "train",
|
| 196 |
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{
|
| 198 |
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"action": "initial_state_observed",
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| 200 |
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|
| 201 |
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],
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|
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|
| 205 |
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|
| 206 |
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]
|
| 207 |
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},
|
| 208 |
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[
|
| 209 |
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|
| 210 |
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|
| 211 |
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true
|
| 212 |
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],
|
| 213 |
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{
|
| 214 |
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"action": "submit",
|
| 215 |
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"expected": [
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| 216 |
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|
| 217 |
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],
|
| 218 |
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"actual": [
|
| 219 |
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"B"
|
| 220 |
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],
|
| 221 |
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"state_valid": true
|
| 222 |
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}
|
| 223 |
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],
|
| 224 |
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"event_timeline": [
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| 225 |
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{
|
| 226 |
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"event": "phase_observe",
|
| 227 |
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"frame": 0
|
| 228 |
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},
|
| 229 |
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{
|
| 230 |
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"event": "phase_observe",
|
| 231 |
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"frame": 0
|
| 232 |
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},
|
| 233 |
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{
|
| 234 |
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"event": "m36_e1_initial_state_observed",
|
| 235 |
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"frame": 0
|
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},
|
| 237 |
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{
|
| 238 |
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"event": "last_observable_step",
|
| 239 |
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"frame": 0
|
| 240 |
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},
|
| 241 |
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{
|
| 242 |
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"event": "m36_e1_reset_started",
|
| 243 |
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"frame": 0
|
| 244 |
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},
|
| 245 |
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{
|
| 246 |
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"event": "m36_e1_reset_completed",
|
| 247 |
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"frame": 75
|
| 248 |
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},
|
| 249 |
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{
|
| 250 |
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|
| 251 |
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"frame": 75
|
| 252 |
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},
|
| 253 |
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{
|
| 254 |
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"event": "decision_step",
|
| 255 |
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|
| 256 |
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},
|
| 257 |
+
{
|
| 258 |
+
"event": "submit_started",
|
| 259 |
+
"frame": 228
|
| 260 |
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},
|
| 261 |
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{
|
| 262 |
+
"event": "submit_completed",
|
| 263 |
+
"frame": 280
|
| 264 |
+
}
|
| 265 |
+
],
|
| 266 |
+
"randomization_records": [
|
| 267 |
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{
|
| 268 |
+
"name": "button:confirm",
|
| 269 |
+
"base_xy": [
|
| 270 |
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0.26,
|
| 271 |
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-0.23
|
| 272 |
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],
|
| 273 |
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"sampled_xy": [
|
| 274 |
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|
| 275 |
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-0.23000000417232513
|
| 276 |
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],
|
| 277 |
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"offset_xy": [
|
| 278 |
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-9.536743172944284e-09,
|
| 279 |
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-4.1723251242853365e-09
|
| 280 |
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],
|
| 281 |
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"yaw_degrees": 0.0,
|
| 282 |
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"yaw_randomized": false
|
| 283 |
+
}
|
| 284 |
+
],
|
| 285 |
+
"placement_checks": [],
|
| 286 |
+
"grasp_checks": [],
|
| 287 |
+
"transport_events": [],
|
| 288 |
+
"final_scene_checks": [],
|
| 289 |
+
"button_press_checks": [
|
| 290 |
+
{
|
| 291 |
+
"key": "reset",
|
| 292 |
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"arm": "right",
|
| 293 |
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"frame": 63,
|
| 294 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 295 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 296 |
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"closed_during_press": true
|
| 297 |
+
},
|
| 298 |
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{
|
| 299 |
+
"key": "confirm",
|
| 300 |
+
"arm": "right",
|
| 301 |
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"frame": 268,
|
| 302 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 303 |
+
"button_qpos_during_press": -0.006000000052154064,
|
| 304 |
+
"closed_during_press": true
|
| 305 |
+
}
|
| 306 |
+
],
|
| 307 |
+
"switch_checks": [
|
| 308 |
+
{
|
| 309 |
+
"key": "m36_restore_B",
|
| 310 |
+
"arm": "left",
|
| 311 |
+
"requested_on": true,
|
| 312 |
+
"joint_reached": true,
|
| 313 |
+
"closed_gripper": true,
|
| 314 |
+
"contact_count": 16,
|
| 315 |
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"native_joint_reached": false,
|
| 316 |
+
"latched_on_contact": true,
|
| 317 |
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"gripper_qpos": 0.1818198939061724
|
| 318 |
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}
|
| 319 |
+
],
|
| 320 |
+
"device_press_checks": [],
|
| 321 |
+
"press_counts": {
|
| 322 |
+
"reset": 1,
|
| 323 |
+
"confirm": 1
|
| 324 |
+
},
|
| 325 |
+
"p1_render_trace": []
|
| 326 |
+
},
|
| 327 |
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"quality": {
|
| 328 |
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"frames": 281,
|
| 329 |
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"max_action_delta": 0.13311171531677246,
|
| 330 |
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"arm_motion_range": 2.629781915908552,
|
| 331 |
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"gripper_motion_range": 1.3385355472564697,
|
| 332 |
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"camera_payload_bytes": 210926,
|
| 333 |
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"fingerprint": "99b373c9a09f71bf5743c4fd5afe9504eb8e8f662e084fcc78f95832d18a4f9c"
|
| 334 |
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},
|
| 335 |
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"plan_success": true,
|
| 336 |
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"replay_success": true
|
| 337 |
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}
|
| 338 |
+
],
|
| 339 |
+
"success": true
|
| 340 |
+
}
|
data/E1_base/private_records/episode000046.json
ADDED
|
@@ -0,0 +1,370 @@
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|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 46,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 10,
|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 10,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A",
|
| 20 |
+
"C"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"blue",
|
| 25 |
+
"blue",
|
| 26 |
+
"neutral"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 0,
|
| 43 |
+
"blue_count": 2,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "5be96885a48958ed6e30d3d2db123228a0d3f6769a135f5fc44fac2819cac117",
|
| 49 |
+
"episode_id": 46,
|
| 50 |
+
"seed": 1460804635
|
| 51 |
+
},
|
| 52 |
+
"configuration_signature": "5be96885a48958ed6e30d3d2db123228a0d3f6769a135f5fc44fac2819cac117",
|
| 53 |
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"bench_values": {
|
| 54 |
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"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"A",
|
| 59 |
+
"C"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"blue",
|
| 64 |
+
"blue",
|
| 65 |
+
"neutral"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"A",
|
| 80 |
+
"C"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
1460804635
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
+
"scene": "episode",
|
| 88 |
+
"seed": 1460804635,
|
| 89 |
+
"planning_result": {
|
| 90 |
+
"success": true,
|
| 91 |
+
"task_id": "E1",
|
| 92 |
+
"branch": "train",
|
| 93 |
+
"action_log": [
|
| 94 |
+
{
|
| 95 |
+
"action": "initial_state_observed",
|
| 96 |
+
"on": [
|
| 97 |
+
"A",
|
| 98 |
+
"C"
|
| 99 |
+
],
|
| 100 |
+
"restore_scope": [
|
| 101 |
+
"A",
|
| 102 |
+
"B",
|
| 103 |
+
"C"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
[
|
| 107 |
+
"switch",
|
| 108 |
+
"m36_restore_A",
|
| 109 |
+
true
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
"switch",
|
| 113 |
+
"m36_restore_C",
|
| 114 |
+
true
|
| 115 |
+
],
|
| 116 |
+
{
|
| 117 |
+
"action": "submit",
|
| 118 |
+
"expected": [
|
| 119 |
+
"A",
|
| 120 |
+
"C"
|
| 121 |
+
],
|
| 122 |
+
"actual": [
|
| 123 |
+
"A",
|
| 124 |
+
"C"
|
| 125 |
+
],
|
| 126 |
+
"state_valid": true
|
| 127 |
+
}
|
| 128 |
+
],
|
| 129 |
+
"event_timeline": [
|
| 130 |
+
{
|
| 131 |
+
"event": "phase_observe",
|
| 132 |
+
"frame": 0
|
| 133 |
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},
|
| 134 |
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{
|
| 135 |
+
"event": "phase_observe",
|
| 136 |
+
"frame": 0
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"event": "m36_e1_initial_state_observed",
|
| 140 |
+
"frame": 0
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"event": "last_observable_step",
|
| 144 |
+
"frame": 0
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"event": "m36_e1_reset_started",
|
| 148 |
+
"frame": 0
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"event": "m36_e1_reset_completed",
|
| 152 |
+
"frame": 0
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"event": "phase_recall",
|
| 156 |
+
"frame": 0
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"event": "decision_step",
|
| 160 |
+
"frame": 0
|
| 161 |
+
},
|
| 162 |
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{
|
| 163 |
+
"event": "submit_started",
|
| 164 |
+
"frame": 0
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"event": "submit_completed",
|
| 168 |
+
"frame": 0
|
| 169 |
+
}
|
| 170 |
+
],
|
| 171 |
+
"randomization_records": [
|
| 172 |
+
{
|
| 173 |
+
"name": "button:confirm",
|
| 174 |
+
"base_xy": [
|
| 175 |
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0.26,
|
| 176 |
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-0.23
|
| 177 |
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],
|
| 178 |
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"sampled_xy": [
|
| 179 |
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|
| 180 |
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|
| 181 |
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],
|
| 182 |
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"offset_xy": [
|
| 183 |
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-9.536743172944284e-09,
|
| 184 |
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-4.1723251242853365e-09
|
| 185 |
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],
|
| 186 |
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"yaw_degrees": 0.0,
|
| 187 |
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"yaw_randomized": false
|
| 188 |
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}
|
| 189 |
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],
|
| 190 |
+
"placement_checks": [],
|
| 191 |
+
"grasp_checks": [],
|
| 192 |
+
"transport_events": [],
|
| 193 |
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"final_scene_checks": [],
|
| 194 |
+
"button_press_checks": [],
|
| 195 |
+
"switch_checks": [],
|
| 196 |
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"device_press_checks": [],
|
| 197 |
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"press_counts": {
|
| 198 |
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"reset": 1,
|
| 199 |
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"confirm": 1
|
| 200 |
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},
|
| 201 |
+
"p1_render_trace": []
|
| 202 |
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},
|
| 203 |
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"replay_result": {
|
| 204 |
+
"success": true,
|
| 205 |
+
"task_id": "E1",
|
| 206 |
+
"branch": "train",
|
| 207 |
+
"action_log": [
|
| 208 |
+
{
|
| 209 |
+
"action": "initial_state_observed",
|
| 210 |
+
"on": [
|
| 211 |
+
"A",
|
| 212 |
+
"C"
|
| 213 |
+
],
|
| 214 |
+
"restore_scope": [
|
| 215 |
+
"A",
|
| 216 |
+
"B",
|
| 217 |
+
"C"
|
| 218 |
+
]
|
| 219 |
+
},
|
| 220 |
+
[
|
| 221 |
+
"switch",
|
| 222 |
+
"m36_restore_A",
|
| 223 |
+
true
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
"switch",
|
| 227 |
+
"m36_restore_C",
|
| 228 |
+
true
|
| 229 |
+
],
|
| 230 |
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{
|
| 231 |
+
"action": "submit",
|
| 232 |
+
"expected": [
|
| 233 |
+
"A",
|
| 234 |
+
"C"
|
| 235 |
+
],
|
| 236 |
+
"actual": [
|
| 237 |
+
"A",
|
| 238 |
+
"C"
|
| 239 |
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],
|
| 240 |
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"state_valid": true
|
| 241 |
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}
|
| 242 |
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],
|
| 243 |
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"event_timeline": [
|
| 244 |
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{
|
| 245 |
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"event": "phase_observe",
|
| 246 |
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"frame": 0
|
| 247 |
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},
|
| 248 |
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{
|
| 249 |
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"event": "phase_observe",
|
| 250 |
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"frame": 0
|
| 251 |
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},
|
| 252 |
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{
|
| 253 |
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"event": "m36_e1_initial_state_observed",
|
| 254 |
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"frame": 0
|
| 255 |
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},
|
| 256 |
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{
|
| 257 |
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"event": "last_observable_step",
|
| 258 |
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"frame": 0
|
| 259 |
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},
|
| 260 |
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{
|
| 261 |
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"event": "m36_e1_reset_started",
|
| 262 |
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"frame": 0
|
| 263 |
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},
|
| 264 |
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{
|
| 265 |
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"event": "m36_e1_reset_completed",
|
| 266 |
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"frame": 75
|
| 267 |
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},
|
| 268 |
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{
|
| 269 |
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"event": "phase_recall",
|
| 270 |
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"frame": 75
|
| 271 |
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},
|
| 272 |
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{
|
| 273 |
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"event": "decision_step",
|
| 274 |
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"frame": 76
|
| 275 |
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},
|
| 276 |
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{
|
| 277 |
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"event": "submit_started",
|
| 278 |
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"frame": 394
|
| 279 |
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},
|
| 280 |
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{
|
| 281 |
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"event": "submit_completed",
|
| 282 |
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"frame": 447
|
| 283 |
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}
|
| 284 |
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],
|
| 285 |
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"randomization_records": [
|
| 286 |
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{
|
| 287 |
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"name": "button:confirm",
|
| 288 |
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"base_xy": [
|
| 289 |
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|
| 290 |
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|
| 291 |
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],
|
| 292 |
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"sampled_xy": [
|
| 293 |
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|
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"offset_xy": [
|
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|
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|
| 299 |
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],
|
| 300 |
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"yaw_degrees": 0.0,
|
| 301 |
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"yaw_randomized": false
|
| 302 |
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}
|
| 303 |
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],
|
| 304 |
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"placement_checks": [],
|
| 305 |
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"grasp_checks": [],
|
| 306 |
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"transport_events": [],
|
| 307 |
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"final_scene_checks": [],
|
| 308 |
+
"button_press_checks": [
|
| 309 |
+
{
|
| 310 |
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"key": "reset",
|
| 311 |
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"arm": "right",
|
| 312 |
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"frame": 63,
|
| 313 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 314 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 315 |
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"closed_during_press": true
|
| 316 |
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},
|
| 317 |
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{
|
| 318 |
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"key": "confirm",
|
| 319 |
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"arm": "right",
|
| 320 |
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"frame": 435,
|
| 321 |
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"real_gripper_qpos_during_press": 0.18181818181818182,
|
| 322 |
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"button_qpos_during_press": -0.006000000052154064,
|
| 323 |
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"closed_during_press": true
|
| 324 |
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}
|
| 325 |
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],
|
| 326 |
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"switch_checks": [
|
| 327 |
+
{
|
| 328 |
+
"key": "m36_restore_A",
|
| 329 |
+
"arm": "left",
|
| 330 |
+
"requested_on": true,
|
| 331 |
+
"joint_reached": true,
|
| 332 |
+
"closed_gripper": true,
|
| 333 |
+
"contact_count": 20,
|
| 334 |
+
"native_joint_reached": false,
|
| 335 |
+
"latched_on_contact": true,
|
| 336 |
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"gripper_qpos": 0.19684957048263063
|
| 337 |
+
},
|
| 338 |
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{
|
| 339 |
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"key": "m36_restore_C",
|
| 340 |
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"arm": "left",
|
| 341 |
+
"requested_on": true,
|
| 342 |
+
"joint_reached": true,
|
| 343 |
+
"closed_gripper": true,
|
| 344 |
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"contact_count": 21,
|
| 345 |
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"native_joint_reached": false,
|
| 346 |
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"latched_on_contact": true,
|
| 347 |
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"gripper_qpos": 0.18181818181818182
|
| 348 |
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}
|
| 349 |
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],
|
| 350 |
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"device_press_checks": [],
|
| 351 |
+
"press_counts": {
|
| 352 |
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"reset": 1,
|
| 353 |
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"confirm": 1
|
| 354 |
+
},
|
| 355 |
+
"p1_render_trace": []
|
| 356 |
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},
|
| 357 |
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"quality": {
|
| 358 |
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"frames": 448,
|
| 359 |
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"max_action_delta": 0.13988876342773438,
|
| 360 |
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"arm_motion_range": 3.156655600256272,
|
| 361 |
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"gripper_motion_range": 1.33856201171875,
|
| 362 |
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"camera_payload_bytes": 188825,
|
| 363 |
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"fingerprint": "2ac8fa6a14d98d34477e6c08299e65b48d86b3198d60d2db8e03c2774e34b32e"
|
| 364 |
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},
|
| 365 |
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"plan_success": true,
|
| 366 |
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"replay_success": true
|
| 367 |
+
}
|
| 368 |
+
],
|
| 369 |
+
"success": true
|
| 370 |
+
}
|
data/E1_base/private_records/episode000047.json
ADDED
|
@@ -0,0 +1,340 @@
|
|
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|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 47,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 13,
|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 13,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"B"
|
| 20 |
+
],
|
| 21 |
+
"pre_actions": [],
|
| 22 |
+
"switch_colors": [
|
| 23 |
+
"blue",
|
| 24 |
+
"neutral",
|
| 25 |
+
"neutral"
|
| 26 |
+
],
|
| 27 |
+
"switch_sizes": [
|
| 28 |
+
"medium",
|
| 29 |
+
"medium",
|
| 30 |
+
"medium"
|
| 31 |
+
],
|
| 32 |
+
"restore_labels": [
|
| 33 |
+
"A",
|
| 34 |
+
"B",
|
| 35 |
+
"C"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"strata": {
|
| 39 |
+
"initial_on_count": 1,
|
| 40 |
+
"pre_action_count": 0,
|
| 41 |
+
"red_count": 0,
|
| 42 |
+
"blue_count": 1,
|
| 43 |
+
"large_count": 0,
|
| 44 |
+
"small_count": 0,
|
| 45 |
+
"restore_count": 3
|
| 46 |
+
},
|
| 47 |
+
"configuration_signature": "cf7c092531f6fd5bf5341f127d05723bd6645c800af168502fc2a6fd4408caeb",
|
| 48 |
+
"episode_id": 47,
|
| 49 |
+
"seed": 546094703
|
| 50 |
+
},
|
| 51 |
+
"configuration_signature": "cf7c092531f6fd5bf5341f127d05723bd6645c800af168502fc2a6fd4408caeb",
|
| 52 |
+
"bench_values": {
|
| 53 |
+
"_runtime_task_id": "E1",
|
| 54 |
+
"difficulty": "base",
|
| 55 |
+
"switch_count": 3,
|
| 56 |
+
"initial_on": [
|
| 57 |
+
"B"
|
| 58 |
+
],
|
| 59 |
+
"pre_actions": [],
|
| 60 |
+
"switch_colors": [
|
| 61 |
+
"blue",
|
| 62 |
+
"neutral",
|
| 63 |
+
"neutral"
|
| 64 |
+
],
|
| 65 |
+
"switch_sizes": [
|
| 66 |
+
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|
data/E1_base/private_records/episode000048.json
ADDED
|
@@ -0,0 +1,370 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"timeline_frame_indexing": "zero_based_observation_index_v2",
|
| 4 |
+
"episode_id": 48,
|
| 5 |
+
"task": "E1_base",
|
| 6 |
+
"counterfactual_pair_id": 12,
|
| 7 |
+
"counterfactual_pair_member": "B",
|
| 8 |
+
"manifest_entry": {
|
| 9 |
+
"task_id": "E1_base",
|
| 10 |
+
"difficulty": "base",
|
| 11 |
+
"counterfactual_pair_id": 12,
|
| 12 |
+
"counterfactual_pair_member": "B",
|
| 13 |
+
"instruction": "Observe the initial states of all switches. Press the white button with the green base to turn every switch off, restore every switch to its initial state, and press the same button again to submit.",
|
| 14 |
+
"values": {
|
| 15 |
+
"_runtime_task_id": "E1",
|
| 16 |
+
"difficulty": "base",
|
| 17 |
+
"switch_count": 3,
|
| 18 |
+
"initial_on": [
|
| 19 |
+
"A",
|
| 20 |
+
"B"
|
| 21 |
+
],
|
| 22 |
+
"pre_actions": [],
|
| 23 |
+
"switch_colors": [
|
| 24 |
+
"red",
|
| 25 |
+
"neutral",
|
| 26 |
+
"neutral"
|
| 27 |
+
],
|
| 28 |
+
"switch_sizes": [
|
| 29 |
+
"medium",
|
| 30 |
+
"medium",
|
| 31 |
+
"medium"
|
| 32 |
+
],
|
| 33 |
+
"restore_labels": [
|
| 34 |
+
"A",
|
| 35 |
+
"B",
|
| 36 |
+
"C"
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"strata": {
|
| 40 |
+
"initial_on_count": 2,
|
| 41 |
+
"pre_action_count": 0,
|
| 42 |
+
"red_count": 1,
|
| 43 |
+
"blue_count": 0,
|
| 44 |
+
"large_count": 0,
|
| 45 |
+
"small_count": 0,
|
| 46 |
+
"restore_count": 3
|
| 47 |
+
},
|
| 48 |
+
"configuration_signature": "02e3f9b145385bdd4eeb700333a41cdbe6a5a4875baf92c139a68ae126095fa6",
|
| 49 |
+
"episode_id": 48,
|
| 50 |
+
"seed": 1085987709
|
| 51 |
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},
|
| 52 |
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"configuration_signature": "02e3f9b145385bdd4eeb700333a41cdbe6a5a4875baf92c139a68ae126095fa6",
|
| 53 |
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"bench_values": {
|
| 54 |
+
"_runtime_task_id": "E1",
|
| 55 |
+
"difficulty": "base",
|
| 56 |
+
"switch_count": 3,
|
| 57 |
+
"initial_on": [
|
| 58 |
+
"A",
|
| 59 |
+
"B"
|
| 60 |
+
],
|
| 61 |
+
"pre_actions": [],
|
| 62 |
+
"switch_colors": [
|
| 63 |
+
"red",
|
| 64 |
+
"neutral",
|
| 65 |
+
"neutral"
|
| 66 |
+
],
|
| 67 |
+
"switch_sizes": [
|
| 68 |
+
"medium",
|
| 69 |
+
"medium",
|
| 70 |
+
"medium"
|
| 71 |
+
],
|
| 72 |
+
"restore_labels": [
|
| 73 |
+
"A",
|
| 74 |
+
"B",
|
| 75 |
+
"C"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"expected_answer": [
|
| 79 |
+
"A",
|
| 80 |
+
"B"
|
| 81 |
+
],
|
| 82 |
+
"scene_seeds": [
|
| 83 |
+
1085987709
|
| 84 |
+
],
|
| 85 |
+
"results": [
|
| 86 |
+
{
|
| 87 |
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"scene": "episode",
|
| 88 |
+
"seed": 1085987709,
|
| 89 |
+
"planning_result": {
|
| 90 |
+
"success": true,
|
| 91 |
+
"task_id": "E1",
|
| 92 |
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"branch": "train",
|
| 93 |
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"action_log": [
|
| 94 |
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{
|
| 95 |
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"action": "initial_state_observed",
|
| 96 |
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"on": [
|
| 97 |
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"A",
|
| 98 |
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"B"
|
| 99 |
+
],
|
| 100 |
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"restore_scope": [
|
| 101 |
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"A",
|
| 102 |
+
"B",
|
| 103 |
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"C"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
[
|
| 107 |
+
"switch",
|
| 108 |
+
"m36_restore_A",
|
| 109 |
+
true
|
| 110 |
+
],
|
| 111 |
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[
|
| 112 |
+
"switch",
|
| 113 |
+
"m36_restore_B",
|
| 114 |
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true
|
| 115 |
+
],
|
| 116 |
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{
|
| 117 |
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"action": "submit",
|
| 118 |
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"expected": [
|
| 119 |
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"A",
|
| 120 |
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"B"
|
| 121 |
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],
|
| 122 |
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"actual": [
|
| 123 |
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"A",
|
| 124 |
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"B"
|
| 125 |
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],
|
| 126 |
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"state_valid": true
|
| 127 |
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}
|
| 128 |
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],
|
| 129 |
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"event_timeline": [
|
| 130 |
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{
|
| 131 |
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"event": "phase_observe",
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| 132 |
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"frame": 0
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| 133 |
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},
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| 134 |
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{
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| 135 |
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"event": "phase_observe",
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| 136 |
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"frame": 0
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| 137 |
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},
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| 138 |
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{
|
| 139 |
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"event": "m36_e1_initial_state_observed",
|
| 140 |
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"frame": 0
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| 141 |
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},
|
| 142 |
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{
|
| 143 |
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"event": "last_observable_step",
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| 144 |
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"frame": 0
|
| 145 |
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},
|
| 146 |
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{
|
| 147 |
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"event": "m36_e1_reset_started",
|
| 148 |
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"frame": 0
|
| 149 |
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},
|
| 150 |
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{
|
| 151 |
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"event": "m36_e1_reset_completed",
|
| 152 |
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"frame": 0
|
| 153 |
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},
|
| 154 |
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{
|
| 155 |
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"event": "phase_recall",
|
| 156 |
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"frame": 0
|
| 157 |
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},
|
| 158 |
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{
|
| 159 |
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"event": "decision_step",
|
| 160 |
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"frame": 0
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| 161 |
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},
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| 162 |
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{
|
| 163 |
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"event": "submit_started",
|
| 164 |
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|
| 165 |
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},
|
| 166 |
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{
|
| 167 |
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"event": "submit_completed",
|
| 168 |
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"frame": 0
|
| 169 |
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}
|
| 170 |
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],
|
| 171 |
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"randomization_records": [
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| 172 |
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{
|
| 173 |
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"name": "button:confirm",
|
| 174 |
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"base_xy": [
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| 175 |
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0.26,
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| 176 |
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| 177 |
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],
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| 178 |
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"sampled_xy": [
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"offset_xy": [
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| 183 |
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| 184 |
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| 185 |
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],
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| 186 |
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"yaw_degrees": 0.0,
|
| 187 |
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"yaw_randomized": false
|
| 188 |
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}
|
| 189 |
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],
|
| 190 |
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"placement_checks": [],
|
| 191 |
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"grasp_checks": [],
|
| 192 |
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"transport_events": [],
|
| 193 |
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"final_scene_checks": [],
|
| 194 |
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"button_press_checks": [],
|
| 195 |
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"switch_checks": [],
|
| 196 |
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"device_press_checks": [],
|
| 197 |
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"press_counts": {
|
| 198 |
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"reset": 1,
|
| 199 |
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|
| 200 |
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},
|
| 201 |
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"p1_render_trace": []
|
| 202 |
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},
|
| 203 |
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"replay_result": {
|
| 204 |
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"success": true,
|
| 205 |
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"task_id": "E1",
|
| 206 |
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"branch": "train",
|
| 207 |
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"action_log": [
|
| 208 |
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{
|
| 209 |
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"action": "initial_state_observed",
|
| 210 |
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"on": [
|
| 211 |
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"A",
|
| 212 |
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"B"
|
| 213 |
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],
|
| 214 |
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"restore_scope": [
|
| 215 |
+
"A",
|
| 216 |
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"B",
|
| 217 |
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"C"
|
| 218 |
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]
|
| 219 |
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},
|
| 220 |
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[
|
| 221 |
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"switch",
|
| 222 |
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"m36_restore_A",
|
| 223 |
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true
|
| 224 |
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],
|
| 225 |
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[
|
| 226 |
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"switch",
|
| 227 |
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"m36_restore_B",
|
| 228 |
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true
|
| 229 |
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],
|
| 230 |
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{
|
| 231 |
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"action": "submit",
|
| 232 |
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"expected": [
|
| 233 |
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"A",
|
| 234 |
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"B"
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| 235 |
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],
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| 236 |
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"actual": [
|
| 237 |
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"A",
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| 238 |
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"B"
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| 239 |
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],
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| 240 |
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"state_valid": true
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| 241 |
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}
|
| 242 |
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],
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| 243 |
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"event_timeline": [
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| 244 |
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{
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| 245 |
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"event": "phase_observe",
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| 246 |
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"frame": 0
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| 247 |
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},
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| 248 |
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{
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| 249 |
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"event": "phase_observe",
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| 250 |
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"frame": 0
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| 251 |
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},
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| 252 |
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{
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| 253 |
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"event": "m36_e1_initial_state_observed",
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},
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| 256 |
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| 257 |
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| 258 |
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| 259 |
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},
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| 260 |
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{
|
| 261 |
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"event": "m36_e1_reset_started",
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| 262 |
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"frame": 0
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| 263 |
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},
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| 264 |
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{
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| 265 |
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"event": "m36_e1_reset_completed",
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| 266 |
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"frame": 75
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| 267 |
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},
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| 268 |
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{
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| 269 |
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| 270 |
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"frame": 75
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},
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}
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],
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}
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],
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| 308 |
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"button_press_checks": [
|
| 309 |
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{
|
| 310 |
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"key": "reset",
|
| 311 |
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"arm": "right",
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| 312 |
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"frame": 63,
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},
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"key": "confirm",
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"arm": "right",
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"closed_during_press": true
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}
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],
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"switch_checks": [
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| 327 |
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{
|
| 328 |
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"key": "m36_restore_A",
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| 329 |
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"arm": "left",
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"requested_on": true,
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| 331 |
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"joint_reached": true,
|
| 332 |
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"closed_gripper": true,
|
| 333 |
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"contact_count": 20,
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"gripper_qpos": 0.1973988327875056
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},
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{
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"key": "m36_restore_B",
|
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"arm": "left",
|
| 341 |
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"requested_on": true,
|
| 342 |
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"joint_reached": true,
|
| 343 |
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"closed_gripper": true,
|
| 344 |
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"contact_count": 18,
|
| 345 |
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"native_joint_reached": false,
|
| 346 |
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"latched_on_contact": true,
|
| 347 |
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"gripper_qpos": 0.1946296170777218
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}
|
| 349 |
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],
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"device_press_checks": [],
|
| 351 |
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"press_counts": {
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"reset": 1,
|
| 353 |
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"confirm": 1
|
| 354 |
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},
|
| 355 |
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"p1_render_trace": []
|
| 356 |
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},
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"quality": {
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"frames": 433,
|
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"max_action_delta": 0.12862849235534668,
|
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"arm_motion_range": 2.629777669906616,
|
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"gripper_motion_range": 1.3382583856582642,
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"camera_payload_bytes": 192056,
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"fingerprint": "17ce4270c4daf846008841f2e737a9e7ca52c03bae986dd45d6e5b16c04f1be7"
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},
|
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"plan_success": true,
|
| 366 |
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"replay_success": true
|
| 367 |
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}
|
| 368 |
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],
|
| 369 |
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"success": true
|
| 370 |
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}
|