zima-robot/object_seed_v5_3

Experiment provenance

Experiment line: abstraction-emergence (object line). Seed primitives on palette objects; composites enter only via oracle-gated chains relabelled by the verbalizer. Run pages: https://storage.googleapis.com/rbhowmik-dreamer/site/emergence/index.html

The v5.3 aperture work on the verticals (held-grip clause / randomized-aperture experiments; the aperture randomization was later reverted).

What changed: vs object_seed_v5_2: episodes 1753 → 2303, frames 75738 → 125187. Same task vocabulary — the new episodes change coverage, not words.

Collected in simulation (robosuite/MuJoCo, Panda): scene + wrist video, proprio, OSC actions, and a language task string minted by the project's verbalizer (certificate → instruction; the relabeler may not invent words).