docs/robotwin_collection_task_status.md

# Tianji RoboTwin Collection Task Status

Updated: 2026-07-10 UTC

## Label Meaning

- `complete`: reached or exceeded the current target of 100 valid HDF5 episodes.
- `slow_collectable`: can produce valid HDF5 episodes, but throughput is low because many pre-motion successes fail during replay/save.
- `failed_or_unusable`: monitored probes repeatedly hit `20 consecutive failures and 0 success`, or produced no usable HDF5 in the probe run.
- `partial_unstable`: some data exists, but later attempts were repeatedly unsuccessful; keep as partial unless specifically required.

## Current Total

Current valid HDF5 total under `data/*`: **1629** episodes.

## Complete / Usable Tasks

| Task | HDF5 Count | Label | Notes |
| --- | ---: | --- | --- |
| shake_bottle | 101 | complete | Primary top task. |
| shake_bottle_horizontally | 100 | complete | Primary top task. |
| grab_roller | 107 | complete | Primary top task. |
| place_container_plate | 100 | complete | Primary top task. |
| click_alarmclock | 104 | complete | Primary top task. |
| adjust_bottle | 105 | complete | Primary top task. |
| open_laptop | 108 | complete | Primary top task. |
| place_empty_cup | 106 | complete | Extra task; intermittent failures, but reached target. |
| press_stapler | 106 | complete | Extra task; stable enough, usually saved several per round. |
| beat_block_hammer | 106 | complete | Extra task; reliable after it started collecting. |
| move_playingcard_away | 102 | complete | Newly found collectable task. |
| place_phone_stand | 106 | complete | Newly found collectable task. |
| place_object_stand | 103 | complete | Newly found collectable task. |
| place_object_scale | 102 | complete | Newly found collectable task. |

## Slow But Collectable Tasks

| Task | HDF5 Count | Label | Evidence / Notes |
| --- | ---: | --- | --- |
| place_burger_fries | 99 | slow_collectable | Can collect, but replay/save yield is low. Many rounds saved only about 1-6 out of 10 pre-motion successes. Only 1 short of 100. |
| move_stapler_pad | 56 | slow_collectable | Newly found collectable task, but not yet enough data; continue if more data is needed. |

## Failed Or Mostly Unusable Tasks

| Task | HDF5 Count | Label | Evidence / Notes |
| --- | ---: | --- | --- |
| lift_pot | 18 | failed_or_unusable | Has old partial data, but repeated later attempts hit `20 consecutive failures and 0 success` for many rounds; should be marked failed/unstable for this setup. |
| stack_bowls_two | 0 | failed_or_unusable | Probe produced no HDF5; monitor terminated after 20 consecutive failures and 0 success. |
| move_can_pot | 0 | failed_or_unusable | Probe produced no HDF5; monitor terminated after 20 consecutive failures and 0 success. |
| pick_dual_bottles | 0 | failed_or_unusable | Probe produced no HDF5; monitor terminated after 20 consecutive failures and 0 success. |
| put_bottles_dustbin | 0 | failed_or_unusable | Probe produced no HDF5; monitor terminated after 20 consecutive failures and 0 success. |
| place_object_cabinet | 0 | failed_or_unusable | Probe produced no HDF5. |
| open_microwave | 0 | failed_or_unusable | Probe produced no HDF5; monitor terminated after 20 consecutive failures and 0 success. |
| stack_bowls_three | 0 | failed_or_unusable | Probe produced no HDF5; monitor terminated after 20 consecutive failures and 0 success. |
| rotate_qrcode | 0 | failed_or_unusable | Probe produced no HDF5; monitor terminated after 20 consecutive failures and 0 success. |
| dump_bin_bigbin | 0 | failed_or_unusable | Probe produced no HDF5; monitor terminated after 20 consecutive failures and 0 success. |
| handover_mic | 0 | failed_or_unusable | Probe produced no HDF5; monitor terminated after 20 consecutive failures and 0 success. |
| place_object_basket | 0 | failed_or_unusable | Probe produced no HDF5; monitor terminated after 20 consecutive failures and 0 success. |

## Scripts Used Recently

Probe new collectable tasks:

```bash
bash ./probe_new_collectable_tasks_epic.sh 20 20 3 5
```

Continue the newly found 5 tasks to 100:

```bash
bash ./collect_new5_to_100_epic.sh 100 20 20
```

## Recommendation

For reporting:

- Use `failed_or_unusable` for tasks that repeatedly failed during collection and should not be treated as merely slow.
- Use `slow_collectable` for tasks that can produce data but need much more wall-clock time per valid episode.
- Current useful completed set is strong enough for delivery; if more data is needed, prioritize `move_stapler_pad` and optionally the last missing `place_burger_fries` episode.