Datasets:
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Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/camera_role_serials.json +6 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +459 -0
- meta/initial_state_targets/target_0000.png +3 -0
- meta/initial_state_targets/target_0001.png +3 -0
- meta/initial_state_targets/target_0002.png +3 -0
- meta/initial_state_targets/target_0003.png +3 -0
- meta/initial_state_targets/target_0004.png +3 -0
- meta/initial_state_targets/target_0005.png +3 -0
- meta/initial_state_targets/target_0006.png +3 -0
- meta/initial_state_targets/target_0007.png +3 -0
- meta/initial_state_targets/target_0008.png +3 -0
- meta/initial_state_targets/target_0009.png +3 -0
- meta/initial_state_targets/target_0010.png +3 -0
- meta/initial_state_targets/target_0011.png +3 -0
- meta/initial_state_targets/target_0012.png +3 -0
- meta/initial_state_targets/target_0013.png +3 -0
- meta/initial_state_targets/target_0014.png +3 -0
- meta/initial_state_targets/target_0015.png +3 -0
- meta/initial_state_targets/target_0016.png +3 -0
- meta/initial_state_targets/target_0017.png +3 -0
- meta/initial_state_targets/target_0018.png +3 -0
- meta/initial_state_targets/target_0019.png +3 -0
- meta/initial_states_manifest.json +0 -0
- meta/mug_tree_placement_ledger.jsonl +20 -0
- meta/stats.json +2130 -0
- meta/tasks.parquet +3 -0
- meta/teleop_manifest_ledger.jsonl +20 -0
- videos/observation.images.side_1/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.side_right/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.wrist_left/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.wrist_right/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:e5013fe16f20e37e535aee2d46f15427f8d31bfdedd5a227cba70b0c5264e1b9
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size 2574077
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meta/camera_role_serials.json
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{
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"side_1": "31078156_left",
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"side_right": "31078156_right",
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"wrist_left": "17471093_left",
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"wrist_right": "17471093_right"
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}
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:51510817a2e14de89b06836726262fb713f5e213eadae2230794080a018836e5
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size 408581
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meta/info.json
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| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
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"fps": 15,
|
| 4 |
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"features": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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"shape": [
|
| 8 |
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7
|
| 9 |
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],
|
| 10 |
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"names": [
|
| 11 |
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"cart_pos_x",
|
| 12 |
+
"cart_pos_y",
|
| 13 |
+
"cart_pos_z",
|
| 14 |
+
"cart_rot_x",
|
| 15 |
+
"cart_rot_y",
|
| 16 |
+
"cart_rot_z",
|
| 17 |
+
"gripper_position"
|
| 18 |
+
]
|
| 19 |
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},
|
| 20 |
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"action": {
|
| 21 |
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"dtype": "float32",
|
| 22 |
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"shape": [
|
| 23 |
+
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|
| 24 |
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|
| 25 |
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"names": [
|
| 26 |
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"vel_x",
|
| 27 |
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"vel_y",
|
| 28 |
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"vel_z",
|
| 29 |
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"vel_roll",
|
| 30 |
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"vel_pitch",
|
| 31 |
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"vel_yaw",
|
| 32 |
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"gripper_action"
|
| 33 |
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]
|
| 34 |
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},
|
| 35 |
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"steps_to_go": {
|
| 36 |
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"dtype": "int64",
|
| 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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"source": {
|
| 45 |
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|
| 46 |
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| 47 |
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|
| 48 |
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|
| 49 |
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"names": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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| 53 |
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"intervention": {
|
| 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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"names": [
|
| 59 |
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|
| 60 |
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|
| 61 |
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| 62 |
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"success": {
|
| 63 |
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|
| 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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|
| 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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|
| 75 |
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|
| 76 |
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|
| 77 |
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"is_valid_flag"
|
| 78 |
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|
| 79 |
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},
|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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1
|
| 84 |
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|
| 85 |
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"names": [
|
| 86 |
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"reward"
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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1
|
| 93 |
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|
| 94 |
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"names": [
|
| 95 |
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|
| 96 |
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]
|
| 97 |
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|
| 98 |
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"manifest_idx": {
|
| 99 |
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|
| 100 |
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|
| 101 |
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1
|
| 102 |
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| 103 |
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"names": [
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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"dtype": "float32",
|
| 109 |
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|
| 110 |
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|
| 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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|
| 116 |
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|
| 117 |
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"dtype": "float32",
|
| 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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"cup_y"
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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"dtype": "float32",
|
| 127 |
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"shape": [
|
| 128 |
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1
|
| 129 |
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],
|
| 130 |
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"names": [
|
| 131 |
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"cup_yaw"
|
| 132 |
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]
|
| 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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"names": [
|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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"dtype": "float32",
|
| 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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"dtype": "float32",
|
| 154 |
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"shape": [
|
| 155 |
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6
|
| 156 |
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],
|
| 157 |
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"names": [
|
| 158 |
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"x",
|
| 159 |
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"y",
|
| 160 |
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"z",
|
| 161 |
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"roll",
|
| 162 |
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"pitch",
|
| 163 |
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"yaw"
|
| 164 |
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]
|
| 165 |
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meta/initial_state_targets/target_0000.png
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meta/initial_state_targets/target_0001.png
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Git LFS Details
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Git LFS Details
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Git LFS Details
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|
meta/initial_states_manifest.json
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meta/mug_tree_placement_ledger.jsonl
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+
{"dataset_name": "mug_tree_session1", "episode_index": 0, "grid": [9, 9], "manifest_idx": 0, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 0, "sampler": "ours_sobol", "steps": 424, "success": true, "task_name": "mug_tree", "tree": {"col": 2, "row": 7, "xy": [3.0, -2.0], "yaw": 3.141592653589793}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-3.228812158224173, 2.4250380151206627, 0.10134659333240803], "written_at": "2026-06-29T17:11:40"}
|
| 2 |
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{"dataset_name": "mug_tree_session1", "episode_index": 1, "grid": [9, 9], "manifest_idx": 1, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 1, "sampler": "ours_sobol", "steps": 463, "success": true, "task_name": "mug_tree", "tree": {"col": 3, "row": 7, "xy": [3.0, -1.0], "yaw": 1.5707963267948966}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-0.9353267796104774, 0.47240475530270487, -1.7476871612481746], "written_at": "2026-06-29T17:15:11"}
|
| 3 |
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{"dataset_name": "mug_tree_session1", "episode_index": 2, "grid": [9, 9], "manifest_idx": 2, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 2, "sampler": "baseline_uniform", "steps": 342, "success": true, "task_name": "mug_tree", "tree": {"col": 7, "row": 7, "xy": [3.0, 3.0], "yaw": 2.356194490192345}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-1.1125596417228927, -0.21509615786358216, 3.023517392265389], "written_at": "2026-06-29T17:18:29"}
|
| 4 |
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{"dataset_name": "mug_tree_session1", "episode_index": 3, "grid": [9, 9], "manifest_idx": 3, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 3, "sampler": "ours_sobol", "steps": 415, "success": true, "task_name": "mug_tree", "tree": {"col": 5, "row": 8, "xy": [4.0, 1.0], "yaw": 4.71238898038469}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-0.4841289025498554, -0.13418247748631984, 1.9699035514413534], "written_at": "2026-06-29T17:21:57"}
|
| 5 |
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{"dataset_name": "mug_tree_session1", "episode_index": 4, "grid": [9, 9], "manifest_idx": 4, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 4, "sampler": "baseline_uniform", "steps": 420, "success": true, "task_name": "mug_tree", "tree": {"col": 2, "row": 7, "xy": [3.0, -2.0], "yaw": 4.71238898038469}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-2.7621703759546437, -0.8325560099271669, 0.8530750853789835], "written_at": "2026-06-29T17:24:43"}
|
| 6 |
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{"dataset_name": "mug_tree_session1", "episode_index": 5, "grid": [9, 9], "manifest_idx": 5, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 5, "sampler": "baseline_uniform", "steps": 360, "success": true, "task_name": "mug_tree", "tree": {"col": 0, "row": 7, "xy": [3.0, -4.0], "yaw": 3.141592653589793}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-2.379190327851751, -2.4567379878960627, -2.2872953131860587], "written_at": "2026-06-29T17:25:31"}
|
| 7 |
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{"dataset_name": "mug_tree_session1", "episode_index": 6, "grid": [9, 9], "manifest_idx": 6, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 6, "sampler": "baseline_uniform", "steps": 379, "success": true, "task_name": "mug_tree", "tree": {"col": 4, "row": 7, "xy": [3.0, 0.0], "yaw": 0.0}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-1.1525632756797362, -1.6890619961862825, 2.2996234529024715], "written_at": "2026-06-29T17:29:19"}
|
| 8 |
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{"dataset_name": "mug_tree_session1", "episode_index": 7, "grid": [9, 9], "manifest_idx": 7, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 7, "sampler": "ours_sobol", "steps": 405, "success": true, "task_name": "mug_tree", "tree": {"col": 8, "row": 8, "xy": [4.0, 4.0], "yaw": 0.7853981633974483}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-0.6691313183982857, -0.7240841835737228, 1.5180702078889778], "written_at": "2026-06-29T17:30:18"}
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| 9 |
+
{"dataset_name": "mug_tree_session1", "episode_index": 8, "grid": [9, 9], "manifest_idx": 8, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 8, "sampler": "baseline_uniform", "steps": 489, "success": true, "task_name": "mug_tree", "tree": {"col": 1, "row": 8, "xy": [4.0, -3.0], "yaw": 5.497787143782138}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-2.765536804546228, 3.8092161262198534, -2.7739315966596627], "written_at": "2026-06-29T17:32:53"}
|
| 10 |
+
{"dataset_name": "mug_tree_session1", "episode_index": 9, "grid": [9, 9], "manifest_idx": 9, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 9, "sampler": "baseline_uniform", "steps": 300, "success": true, "task_name": "mug_tree", "tree": {"col": 5, "row": 7, "xy": [3.0, 1.0], "yaw": 0.7853981633974483}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-1.8809326831578312, 0.5879800318774704, -2.938892676698291], "written_at": "2026-06-29T17:35:10"}
|
| 11 |
+
{"dataset_name": "mug_tree_session1", "episode_index": 10, "grid": [9, 9], "manifest_idx": 10, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 10, "sampler": "ours_sobol", "steps": 404, "success": true, "task_name": "mug_tree", "tree": {"col": 2, "row": 7, "xy": [3.0, -2.0], "yaw": 0.7853981633974483}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-3.842808287765365, 2.107497870689258, -1.096936018828182], "written_at": "2026-06-29T17:36:22"}
|
| 12 |
+
{"dataset_name": "mug_tree_session1", "episode_index": 11, "grid": [9, 9], "manifest_idx": 11, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 11, "sampler": "eval_heldout", "steps": 482, "success": true, "task_name": "mug_tree", "tree": {"col": 3, "row": 7, "xy": [3.0, -1.0], "yaw": 3.141592653589793}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-2.3428077904391102, -3.8530203538248315, -0.08225338824092043], "written_at": "2026-06-29T17:39:44"}
|
| 13 |
+
{"dataset_name": "mug_tree_session1", "episode_index": 12, "grid": [9, 9], "manifest_idx": 12, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 12, "sampler": "eval_heldout", "steps": 407, "success": true, "task_name": "mug_tree", "tree": {"col": 4, "row": 7, "xy": [3.0, 0.0], "yaw": 3.9269908169872414}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-0.09178405674174428, -3.381117996177636, 2.067386478647987], "written_at": "2026-06-29T17:41:39"}
|
| 14 |
+
{"dataset_name": "mug_tree_session1", "episode_index": 13, "grid": [9, 9], "manifest_idx": 13, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 13, "sampler": "baseline_uniform", "steps": 337, "success": true, "task_name": "mug_tree", "tree": {"col": 8, "row": 7, "xy": [3.0, 4.0], "yaw": 0.0}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-0.5028510553841556, -1.735962472785971, 0.6047539070379631], "written_at": "2026-06-29T17:47:48"}
|
| 15 |
+
{"dataset_name": "mug_tree_session1", "episode_index": 14, "grid": [9, 9], "manifest_idx": 14, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 14, "sampler": "baseline_uniform", "steps": 240, "success": true, "task_name": "mug_tree", "tree": {"col": 4, "row": 8, "xy": [4.0, 0.0], "yaw": 3.9269908169872414}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-2.4572414340882047, -3.6396075219517607, 2.7229556710127722], "written_at": "2026-06-29T17:49:57"}
|
| 16 |
+
{"dataset_name": "mug_tree_session1", "episode_index": 15, "grid": [9, 9], "manifest_idx": 15, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 15, "sampler": "baseline_uniform", "steps": 293, "success": true, "task_name": "mug_tree", "tree": {"col": 7, "row": 7, "xy": [3.0, 3.0], "yaw": 3.9269908169872414}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-0.40729321833511634, -2.540947904749827, 3.0906473313727743], "written_at": "2026-06-29T17:51:38"}
|
| 17 |
+
{"dataset_name": "mug_tree_session1", "episode_index": 16, "grid": [9, 9], "manifest_idx": 16, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 16, "sampler": "eval_heldout", "steps": 288, "success": true, "task_name": "mug_tree", "tree": {"col": 0, "row": 7, "xy": [3.0, -4.0], "yaw": 0.7853981633974483}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-1.8367624511593021, -2.4786767922341824, 1.3441248185481687], "written_at": "2026-06-29T17:53:14"}
|
| 18 |
+
{"dataset_name": "mug_tree_session1", "episode_index": 17, "grid": [9, 9], "manifest_idx": 17, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 17, "sampler": "ours_sobol", "steps": 288, "success": true, "task_name": "mug_tree", "tree": {"col": 7, "row": 7, "xy": [3.0, 3.0], "yaw": 4.71238898038469}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-2.098190004529897, 1.7435032114153728, 2.4757796752810215], "written_at": "2026-06-29T17:54:10"}
|
| 19 |
+
{"dataset_name": "mug_tree_session1", "episode_index": 18, "grid": [9, 9], "manifest_idx": 18, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 18, "sampler": "baseline_uniform", "steps": 253, "success": true, "task_name": "mug_tree", "tree": {"col": 4, "row": 8, "xy": [4.0, 0.0], "yaw": 0.7853981633974483}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-3.108888695096753, -2.503298266512446, -2.443975287856767], "written_at": "2026-06-29T18:14:15"}
|
| 20 |
+
{"dataset_name": "mug_tree_session1", "episode_index": 19, "grid": [9, 9], "manifest_idx": 19, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 19, "sampler": "baseline_uniform", "steps": 245, "success": true, "task_name": "mug_tree", "tree": {"col": 0, "row": 8, "xy": [4.0, -4.0], "yaw": 0.0}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-0.6326955523934967, 0.007483320739441357, -2.9907951642841235], "written_at": "2026-06-29T18:16:50"}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,2130 @@
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