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Release PFD LIBERO 12x12 step62000 checkpoint

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Files changed (8) hide show
  1. README.md +98 -0
  2. SHA256SUMS +5 -0
  3. config.yaml +223 -0
  4. dataset_stats.json +1938 -0
  5. eval/summary.json +322 -0
  6. eval/task_success_rates.csv +41 -0
  7. libero_pfd_action512_partial_12x12_step62000.pt +3 -0
  8. manifest.json +83 -0
README.md ADDED
@@ -0,0 +1,98 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: other
3
+ library_name: pytorch
4
+ tags:
5
+ - robotics
6
+ - libero
7
+ - imitation-learning
8
+ - world-action-model
9
+ - pfd
10
+ - privileged-foresight-distillation
11
+ ---
12
+
13
+ # PFD LIBERO 12x12 Checkpoint
14
+
15
+ This repository contains the LIBERO 12x12 PFD checkpoint for **Privileged Foresight Distillation: Zero-Cost Future Correction for World Action Models**.
16
+
17
+ - Code: https://github.com/PengchengFang-cs/PFD
18
+ - Paper: https://arxiv.org/abs/2604.25859
19
+ - Checkpoint: `libero_pfd_action512_partial_12x12_step62000.pt`
20
+ - Model config: `config.yaml`
21
+ - Dataset normalization stats: `dataset_stats.json`
22
+
23
+ The Python package in the code release is still named `fastwam` for compatibility with the original training and evaluation paths.
24
+
25
+ ## Model
26
+
27
+ - Task: `libero_uncond_2cam224_1e-4`
28
+ - Model config: `fastwam_pfd_action512_partial`
29
+ - PFD stage: `s1`
30
+ - PFD training mode: `action512_partial`
31
+ - Partial trainable depth: action last 12 layers, video last 12 layers
32
+ - Base initialization: `libero_uncond_2cam224.pt`
33
+ - Training batch size: 32
34
+ - Training epochs: 30
35
+ - Selected checkpoint step: 62000
36
+
37
+ ## LIBERO Evaluation
38
+
39
+ Full-suite LIBERO evaluation used 50 trials per task over 40 tasks:
40
+
41
+ | Suite | Successes | Success Rate |
42
+ | --- | ---: | ---: |
43
+ | LIBERO-Spatial | 493 / 500 | 98.60% |
44
+ | LIBERO-Object | 496 / 500 | 99.20% |
45
+ | LIBERO-Goal | 496 / 500 | 99.20% |
46
+ | LIBERO-10 | 477 / 500 | 95.40% |
47
+ | Overall | 1962 / 2000 | 98.10% |
48
+
49
+ The corresponding evaluation records are included under `eval/`.
50
+
51
+ ## Download
52
+
53
+ ```bash
54
+ pip install -U huggingface_hub
55
+
56
+ huggingface-cli download AmberJar/PFD \
57
+ libero_pfd_action512_partial_12x12_step62000.pt \
58
+ config.yaml \
59
+ dataset_stats.json \
60
+ eval/summary.json \
61
+ eval/task_success_rates.csv \
62
+ --local-dir ./checkpoints/pfd_libero_12x12_step62000
63
+ ```
64
+
65
+ ## Evaluation Command
66
+
67
+ From the PFD code repository:
68
+
69
+ ```bash
70
+ export DIFFSYNTH_MODEL_BASE_PATH="$(pwd)/checkpoints"
71
+ export DIFFSYNTH_SKIP_DOWNLOAD=true
72
+ export LIBERO_CONFIG_PATH="$(pwd)/.libero_scratch"
73
+
74
+ python experiments/libero/run_libero_manager.py \
75
+ task=libero_uncond_2cam224_1e-4 \
76
+ model=fastwam_pfd_action512_partial \
77
+ ckpt=./checkpoints/pfd_libero_12x12_step62000/libero_pfd_action512_partial_12x12_step62000.pt \
78
+ EVALUATION.dataset_stats_path=./checkpoints/pfd_libero_12x12_step62000/dataset_stats.json \
79
+ EVALUATION.num_trials=50 \
80
+ MULTIRUN.num_gpus=8 \
81
+ model.pfd.partial_unfreeze.action_last_layers=12 \
82
+ model.pfd.partial_unfreeze.video_last_layers=12
83
+ ```
84
+
85
+ ## Integrity
86
+
87
+ See `SHA256SUMS` and `manifest.json` for file hashes and provenance.
88
+
89
+ ## Citation
90
+
91
+ ```bibtex
92
+ @article{fang2026pfd,
93
+ title={Privileged Foresight Distillation: Zero-Cost Future Correction for World Action Models},
94
+ author={Fang, Pengcheng and Chen, Hongli and Cai, Xiaohao},
95
+ journal={arXiv preprint arXiv:2604.25859},
96
+ year={2026}
97
+ }
98
+ ```
SHA256SUMS ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ 282ea886bc2157ffa909fdb55a723a066eed29bd89e6218a2a094e449f0abd2a libero_pfd_action512_partial_12x12_step62000.pt
2
+ dd82501215d0bf1f6fed0d984a69454fd167b881f58962eeea54f3a111af29e7 config.yaml
3
+ 0934cda73fdc43e462fdb6b5c9049a7e28f0e1ddb71ce4d4a1899c4f57087af7 dataset_stats.json
4
+ bda1c85946cab1d372311e8b998c66c5ee31630b8cdefab3810f04298989dd3f eval/summary.json
5
+ c53494b155be47388e5fd4d043681c0935c38982879765fca5bd8dd816be4acc eval/task_success_rates.csv
config.yaml ADDED
@@ -0,0 +1,223 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ output_dir: ./runs/libero_uncond_2cam224_1e-4/2026-04-22_12x12_h100x2_trainableonly_resume_from2000_nw8_pin_on
2
+ batch_size: 32
3
+ num_workers: 8
4
+ pin_memory: true
5
+ lr_scheduler_type: cosine
6
+ learning_rate: 6.0e-05
7
+ num_epochs: 30
8
+ max_steps: null
9
+ log_every: 10
10
+ save_every: 0
11
+ eval_every: 1000
12
+ eval_num_inference_steps: 10
13
+ eval_enable_video: false
14
+ eval_save_video: false
15
+ eval_enable_action_metrics: true
16
+ pre_save_cleanup: true
17
+ pre_save_cleanup_sleep_seconds: 5.0
18
+ pre_save_cleanup_malloc_trim: true
19
+ gradient_accumulation_steps: 1
20
+ mixed_precision: bf16
21
+ seed: 42
22
+ max_grad_norm: 1.0
23
+ weight_decay: 0.01
24
+ resume: null
25
+ init_checkpoint: ./checkpoints/fastwam_release/libero_uncond_2cam224.pt
26
+ resume_training_state: ./runs/libero_uncond_2cam224_1e-4/2026-04-22_12x12_h100x2_trainableonly_resume_from2000_nw8_pin_on/checkpoints/latest_training.pt
27
+ checkpoint:
28
+ policy: auto
29
+ lightweight_resume_backend: trainable_only
30
+ trainable_only_include_optimizer_state: false
31
+ save_latest: true
32
+ save_best_action_l1: true
33
+ save_best_action_l2: true
34
+ wandb:
35
+ enabled: false
36
+ workspace: null
37
+ project: fast-wam
38
+ name: libero_12x12_trainableonly_resume_from65000_20260425
39
+ group: null
40
+ mode: online
41
+ data:
42
+ train:
43
+ _target_: fastwam.datasets.lerobot.robot_video_dataset.RobotVideoDataset
44
+ dataset_dirs:
45
+ - ./data/libero_mujoco3.3.2/libero_spatial_no_noops_lerobot
46
+ - ./data/libero_mujoco3.3.2/libero_object_no_noops_lerobot
47
+ - ./data/libero_mujoco3.3.2/libero_goal_no_noops_lerobot
48
+ - ./data/libero_mujoco3.3.2/libero_10_no_noops_lerobot
49
+ shape_meta:
50
+ images:
51
+ - key: image
52
+ raw_shape:
53
+ - 3
54
+ - 512
55
+ - 512
56
+ shape:
57
+ - 3
58
+ - 224
59
+ - 224
60
+ - key: wrist_image
61
+ raw_shape:
62
+ - 3
63
+ - 512
64
+ - 512
65
+ shape:
66
+ - 3
67
+ - 224
68
+ - 224
69
+ action:
70
+ - key: default
71
+ raw_shape: 7
72
+ shape: 7
73
+ state:
74
+ - key: default
75
+ raw_shape: 8
76
+ shape: 8
77
+ num_frames: 33
78
+ global_sample_stride: 1
79
+ action_video_freq_ratio: 4
80
+ video_size:
81
+ - 224
82
+ - 448
83
+ camera_key: null
84
+ val_set_proportion: 0.0
85
+ is_training_set: true
86
+ skip_padding_as_possible: false
87
+ concat_multi_camera: horizontal
88
+ processor:
89
+ _target_: fastwam.datasets.lerobot.processors.fastwam_processor.FastWAMProcessor
90
+ shape_meta:
91
+ images:
92
+ - key: image
93
+ raw_shape:
94
+ - 3
95
+ - 512
96
+ - 512
97
+ shape:
98
+ - 3
99
+ - 224
100
+ - 224
101
+ - key: wrist_image
102
+ raw_shape:
103
+ - 3
104
+ - 512
105
+ - 512
106
+ shape:
107
+ - 3
108
+ - 224
109
+ - 224
110
+ action:
111
+ - key: default
112
+ raw_shape: 7
113
+ shape: 7
114
+ state:
115
+ - key: default
116
+ raw_shape: 8
117
+ shape: 8
118
+ num_obs_steps: 33
119
+ num_output_cameras: 2
120
+ action_output_dim: 7
121
+ proprio_output_dim: 8
122
+ delta_action_dim_mask:
123
+ default:
124
+ - true
125
+ - true
126
+ - true
127
+ - true
128
+ - true
129
+ - true
130
+ - false
131
+ action_state_transforms: null
132
+ use_stepwise_action_norm: false
133
+ norm_default_mode: min/max
134
+ norm_exception_mode: null
135
+ action_state_merger:
136
+ _target_: fastwam.datasets.lerobot.transforms.action_state_merger.ConcatLeftAlign
137
+ train_transforms:
138
+ - _target_: fastwam.datasets.lerobot.transforms.image.ToTensor
139
+ - _target_: torchvision.transforms.Resize
140
+ size:
141
+ - 224
142
+ - 224
143
+ val_transforms:
144
+ - _target_: fastwam.datasets.lerobot.transforms.image.ToTensor
145
+ - _target_: torchvision.transforms.Resize
146
+ size:
147
+ - 224
148
+ - 224
149
+ text_embedding_cache_dir: ./data/text_embeds_cache/libero
150
+ context_len: 128
151
+ model:
152
+ _target_: fastwam.runtime.create_fastwam
153
+ model_id: Wan-AI/Wan2.2-TI2V-5B
154
+ tokenizer_model_id: Wan-AI/Wan2.1-T2V-1.3B
155
+ tokenizer_max_len: 128
156
+ load_text_encoder: false
157
+ proprio_dim: 8
158
+ redirect_common_files: true
159
+ mot_checkpoint_mixed_attn: false
160
+ action_dit_pretrained_path: checkpoints/ActionDiT_linear_interp_Wan22_alphascale_1024hdim.pt
161
+ skip_dit_load_from_pretrain: false
162
+ video_dit_config:
163
+ has_image_input: false
164
+ patch_size:
165
+ - 1
166
+ - 2
167
+ - 2
168
+ in_dim: 48
169
+ hidden_dim: 3072
170
+ ffn_dim: 14336
171
+ freq_dim: 256
172
+ text_dim: 4096
173
+ out_dim: 48
174
+ num_heads: 24
175
+ attn_head_dim: 128
176
+ num_layers: 30
177
+ eps: 1.0e-06
178
+ seperated_timestep: true
179
+ require_clip_embedding: false
180
+ require_vae_embedding: false
181
+ fuse_vae_embedding_in_latents: true
182
+ use_gradient_checkpointing: false
183
+ video_attention_mask_mode: first_frame_causal
184
+ action_conditioned: false
185
+ action_dim: 7
186
+ action_group_causal_mask_mode: group_diagonal
187
+ action_dit_config:
188
+ action_dim: 7
189
+ hidden_dim: 1024
190
+ ffn_dim: 4096
191
+ num_heads: 24
192
+ attn_head_dim: 128
193
+ num_layers: 30
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+ text_dim: 4096
195
+ freq_dim: 256
196
+ eps: 1.0e-06
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+ use_gradient_checkpointing: false
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+ video_scheduler:
199
+ train_shift: 5.0
200
+ infer_shift: 5.0
201
+ num_train_timesteps: 1000
202
+ action_scheduler:
203
+ train_shift: 5.0
204
+ infer_shift: 5.0
205
+ num_train_timesteps: 1000
206
+ loss:
207
+ lambda_video: 1.0
208
+ lambda_action: 1.0
209
+ pfd:
210
+ enabled: true
211
+ stage: s1
212
+ training_mode: action512_partial
213
+ adapter:
214
+ type: mlp
215
+ hidden_dim: 512
216
+ depth: 3
217
+ freq_dim: 256
218
+ partial_unfreeze:
219
+ action_last_layers: 12
220
+ video_last_layers: 12
221
+ lambda_gt: 1.0
222
+ lambda_res: 0.5
223
+ lambda_teacher: 0.1
dataset_stats.json ADDED
@@ -0,0 +1,1938 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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eval/task_success_rates.csv ADDED
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1
+ Task,Description,Success Rate (%)
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+ libero_10_0,put both the alphabet soup and the tomato sauce in the basket,96.00
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+ libero_10_1,put both the cream cheese box and the butter in the basket,96.00
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+ libero_10_5,pick up the book and place it in the back compartment of the caddy,100.00
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+ libero_10_6,put the white mug on the plate and put the chocolate pudding to the right of the plate,84.00
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+ libero_10_7,put both the alphabet soup and the cream cheese box in the basket,100.00
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+ libero_spatial_0,pick up the black bowl between the plate and the ramekin and place it on the plate,100.00
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+ libero_spatial_1,pick up the black bowl next to the ramekin and place it on the plate,100.00
34
+ libero_spatial_2,pick up the black bowl from table center and place it on the plate,100.00
35
+ libero_spatial_3,pick up the black bowl on the cookie box and place it on the plate,100.00
36
+ libero_spatial_4,pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate,96.00
37
+ libero_spatial_5,pick up the black bowl on the ramekin and place it on the plate,96.00
38
+ libero_spatial_6,pick up the black bowl next to the cookie box and place it on the plate,98.00
39
+ libero_spatial_7,pick up the black bowl on the stove and place it on the plate,98.00
40
+ libero_spatial_8,pick up the black bowl next to the plate and place it on the plate,98.00
41
+ libero_spatial_9,pick up the black bowl on the wooden cabinet and place it on the plate,100.00
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