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  1. README.md +119 -0
  2. pi05/clean/kitchenl/move_bottle/_episodes.jsonl +20 -0
  3. pi05/clean/kitchenl/move_bottle_from_fridge_next_to_can/_episodes.jsonl +20 -0
  4. pi05/clean/kitchenl/move_can_from_cabinet_to_basket/_episodes.jsonl +20 -0
  5. pi05/clean/kitchenl/move_milk_close_fridge/_episodes.jsonl +20 -0
  6. pi05/clean/kitchenl/pick_bottle_from_fridge/_episodes.jsonl +20 -0
  7. pi05/clean/kitchenl/pick_boxdrink_from_basket/_episodes.jsonl +20 -0
  8. pi05/clean/kitchenl/pick_can_from_basket/_episodes.jsonl +20 -0
  9. pi05/clean/kitchenl/pick_can_from_cabinet/_episodes.jsonl +20 -0
  10. pi05/clean/kitchenl/pick_milk_box_from_fridge/_episodes.jsonl +20 -0
  11. pi05/clean/kitchenl/pick_sauce_can_from_cabinet/_episodes.jsonl +20 -0
  12. pi05/clean/kitchenl/put_bottle_in_basket/_episodes.jsonl +20 -0
  13. pi05/clean/kitchenl/put_bottle_in_fridge/_episodes.jsonl +20 -0
  14. pi05/clean/kitchenl/put_can_close_cabinet/_episodes.jsonl +20 -0
  15. pi05/clean/kitchenl/put_can_in_cabinet/_episodes.jsonl +20 -0
  16. pi05/clean/kitchenl/put_can_infront_of_microwave/_episodes.jsonl +20 -0
  17. pi05/clean/kitchenl/put_can_next_to_basket/_episodes.jsonl +20 -0
  18. pi05/clean/kitchenl/put_milk_box_in_fridge/_episodes.jsonl +20 -0
  19. pi05/clean/kitchenl/put_sauce_can_in_basket/_episodes.jsonl +20 -0
  20. pi05/clean/kitchenl/put_sauce_can_in_cabinet/_episodes.jsonl +20 -0
  21. pi05/clean/kitchenl/switch_can_with_bottle_in_basket/_episodes.jsonl +20 -0
  22. pi05/clean/kitchens/chain_heat_hamburger_ks/_episodes.jsonl +20 -0
  23. pi05/clean/kitchens/drop_apple_in_bin_ks/_episodes.jsonl +20 -0
  24. pi05/clean/kitchens/move_hamburger_onto_plate_ks/_episodes.jsonl +20 -0
  25. pi05/clean/kitchens/put_bread_on_board_ks/_episodes.jsonl +20 -0
  26. pi05/clean/kitchens/put_hamburger_in_microwave_ks/_episodes.jsonl +20 -0
  27. pi05/clean/kitchens/put_spoon_in_dishrack_ks/_episodes.jsonl +20 -0
  28. pi05/clean/kitchens/put_spoon_in_sink_ks/_episodes.jsonl +20 -0
  29. pi05/clean/kitchens/put_spoon_on_plate_ks/_episodes.jsonl +20 -0
  30. pi05/clean/pi05_clean.csv +81 -0
  31. pi05/clean/study/empty_box/_episodes.jsonl +20 -0
  32. pi05/clean/study/move_book_onto_table/_episodes.jsonl +20 -0
  33. pi05/clean/study/move_cup/_episodes.jsonl +20 -0
  34. pi05/clean/study/move_cup_next_to_book/_episodes.jsonl +20 -0
  35. pi05/clean/study/move_cup_onto_table/_episodes.jsonl +20 -0
  36. pi05/clean/study/move_cup_put_pen_in_cup/_episodes.jsonl +20 -0
  37. pi05/clean/study/move_cups_into_box/_episodes.jsonl +20 -0
  38. pi05/clean/study/move_pen_to_box/_episodes.jsonl +20 -0
  39. pi05/clean/study/move_seal_cup_next_to_box/_episodes.jsonl +20 -0
  40. pi05/clean/study/move_seal_next_to_box/_episodes.jsonl +20 -0
  41. pi05/clean/study/move_seal_next_to_pencup/_episodes.jsonl +20 -0
  42. pi05/clean/study/move_seal_onto_book/_episodes.jsonl +20 -0
  43. pi05/clean/study/move_seal_onto_table/_episodes.jsonl +20 -0
  44. pi05/clean/study/put_cup_in_box/_episodes.jsonl +20 -0
  45. pi05/clean/study/put_cup_on_coaster/_episodes.jsonl +20 -0
  46. pi05/clean/study/put_cup_on_table/_episodes.jsonl +20 -0
  47. pi05/clean/study/put_glue_in_box/_episodes.jsonl +20 -0
  48. pi05/clean/study/put_pen_in_box/_episodes.jsonl +20 -0
  49. pi05/clean/study/put_pen_in_pencup/_episodes.jsonl +20 -0
  50. pi05/clean/study/put_seal_in_box/_episodes.jsonl +20 -0
README.md ADDED
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+ # RoboPro-Baselines
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+
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+ Evaluation of three base (non-DA3) VLA policies — **pi0.5**, **pi0**, and **X-VLA** — on the RoboPRO benchmark (79 tasks across 4 scenes: kitchenl, kitchens, office, study).
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+ Metrics: **SR** = success rate, **HSR** = hard success rate (success ∧ no collision), **CR** = collision rate. All values are percentages, micro-averaged over episodes.
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+
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+ Settings: **clean** (obstacle-free), **clutter** (obstacle densities d6–d15, averaged), **perturbation** (5 language axes + vision_blur, on a curated 12-task subset, averaged).
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+
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+ ## Overall (SR / HSR / CR)
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+
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+ | Model | Clean | Clutter (avg d6–d15) | Perturbation (avg) |
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+ |---|---|---|---|
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+ | **pi0.5** | 70.2 / 65.7 / 11.9 | 60.9 / 47.8 / 31.7 | 70.8 / 70.3 / 5.6 |
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+ | **pi0** | 60.1 / 55.9 / 14.7 | 47.3 / 32.9 / 44.6 | 54.2 / 52.7 / 9.4 |
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+ | **X-VLA** | 49.5 / 46.7 / 9.4 | 39.6 / 27.5 / 38.7 | 38.8 / 38.1 / 5.5 |
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+
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+ ## Directory layout
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+ ```
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+ <model>/<group>/<model>_<group>.csv # per-task SR/HSR/CR, averaged over the group's sub-configs
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+ <model>/<group>/<scene>/<task>/
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+ _episodes.jsonl # per-seed rows; each tagged with "config" (density/axis)
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+ <config>_seed<seed>.mp4 # rollout video (clean: seed<seed>.mp4)
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+ ```
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+ groups: `clean`, `clutter` (merges densities d6–d15), `perturbation` (merges 5 language axes + vision_blur)
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+
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+ ## pi0.5
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+
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+ ### Clean
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+
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+ | Scene | SR | HSR | CR |
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+ |---|---|---|---|
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+ | kitchenl | 72.5 | 64.2 | 20.2 |
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+ | kitchens | 68.2 | 61.8 | 12.8 |
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+ | office | 55.5 | 54.0 | 9.8 |
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+ | study | 84.8 | 82.8 | 5.0 |
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+ | **Average** | **70.2 | 65.7 | 11.9** |
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+
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+ ### Clutter (avg over d6–d15)
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+
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+ | Scene | SR | HSR | CR |
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+ |---|---|---|---|
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+ | kitchenl | 64.5 | 39.0 | 49.0 |
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+ | kitchens | 63.1 | 55.5 | 13.9 |
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+ | office | 47.8 | 39.8 | 39.5 |
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+ | study | 68.4 | 56.9 | 24.8 |
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+ | **Average** | **60.9 | 47.8 | 31.7** |
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+
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+ ### Perturbation vs Clean (same 12 tasks)
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+
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+ | Scene | Perturb SR | Perturb HSR | Perturb CR | Clean SR | Clean HSR | Clean CR |
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+ |---|---|---|---|---|---|---|
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+ | kitchenl | 40.6 | 40.0 | 13.6 | 83.3 | 80.0 | 5.0 |
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+ | kitchens | 87.8 | 86.7 | 2.8 | 81.7 | 78.3 | 3.3 |
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+ | office | 68.3 | 68.3 | 5.0 | 60.0 | 60.0 | 5.0 |
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+ | study | 89.2 | 89.2 | 0.0 | 90.0 | 88.3 | 3.3 |
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+ | **Average** | **70.8 | 70.3 | 5.6** | **78.8 | 76.7 | 4.2** |
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+
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+ ## pi0
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+
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+ ### Clean
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+
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+ | Scene | SR | HSR | CR |
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+ |---|---|---|---|
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+ | kitchenl | 66.2 | 58.5 | 24.0 |
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+ | kitchens | 61.0 | 55.8 | 12.0 |
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+ | office | 39.2 | 38.2 | 17.8 |
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+ | study | 73.8 | 71.2 | 5.0 |
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+ | **Average** | **60.1 | 55.9 | 14.7** |
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+
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+ ### Clutter (avg over d6–d15)
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+
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+ | Scene | SR | HSR | CR |
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+ |---|---|---|---|
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+ | kitchenl | 60.5 | 31.5 | 52.8 |
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+ | kitchens | 45.3 | 36.5 | 24.5 |
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+ | office | 25.8 | 20.5 | 63.7 |
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+ | study | 57.6 | 43.1 | 37.8 |
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+ | **Average** | **47.3 | 32.9 | 44.6** |
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+
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+ ### Perturbation vs Clean (same 12 tasks)
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+
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+ | Scene | Perturb SR | Perturb HSR | Perturb CR | Clean SR | Clean HSR | Clean CR |
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+ |---|---|---|---|---|---|---|
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+ | kitchenl | 33.6 | 30.3 | 20.8 | 73.3 | 70.0 | 11.7 |
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+ | kitchens | 67.8 | 65.8 | 3.1 | 68.3 | 68.3 | 0.0 |
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+ | office | 36.9 | 36.4 | 11.9 | 36.7 | 36.7 | 10.0 |
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+ | study | 82.7 | 82.7 | 0.3 | 83.3 | 83.3 | 0.0 |
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+ | **Average** | **54.2 | 52.7 | 9.4** | **65.4 | 64.6 | 5.4** |
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+
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+ ## X-VLA
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+
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+ ### Clean
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+
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+ | Scene | SR | HSR | CR |
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+ |---|---|---|---|
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+ | kitchenl | 74.8 | 67.5 | 14.8 |
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+ | kitchens | 21.8 | 20.2 | 11.2 |
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+ | office | 33.0 | 32.0 | 7.5 |
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+ | study | 68.5 | 67.0 | 4.0 |
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+ | **Average** | **49.5 | 46.7 | 9.4** |
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+
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+ ### Clutter (avg over d6–d15)
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+
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+ | Scene | SR | HSR | CR |
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+ |---|---|---|---|
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+ | kitchenl | 64.5 | 33.2 | 57.5 |
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+ | kitchens | 11.0 | 9.3 | 21.3 |
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+ | office | 27.0 | 23.5 | 41.0 |
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+ | study | 56.6 | 44.4 | 35.3 |
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+ | **Average** | **39.6 | 27.5 | 38.7** |
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+
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+ ### Perturbation vs Clean (same 12 tasks)
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+
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+ | Scene | Perturb SR | Perturb HSR | Perturb CR | Clean SR | Clean HSR | Clean CR |
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+ |---|---|---|---|---|---|---|
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+ | kitchenl | 49.7 | 48.6 | 6.1 | 88.3 | 88.3 | 1.7 |
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+ | kitchens | 45.3 | 45.0 | 4.7 | 53.3 | 53.3 | 5.0 |
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+ | office | 26.1 | 24.7 | 10.0 | 23.3 | 23.3 | 6.7 |
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+ | study | 33.3 | 33.3 | 0.3 | 41.7 | 41.7 | 1.7 |
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+ | **Average** | **38.8 | 38.1 | 5.5** | **51.7 | 51.7 | 3.8** |
pi05/clean/kitchenl/move_bottle/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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+ {"config": "clean", "seed": 40002, "success": true, "hard_success": true, "collision": false}
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+ {"config": "clean", "seed": 40010, "success": false, "hard_success": false, "collision": false}
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+ {"config": "clean", "seed": 40053, "success": true, "hard_success": true, "collision": false}
pi05/clean/kitchenl/move_bottle_from_fridge_next_to_can/_episodes.jsonl ADDED
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+ {"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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pi05/clean/kitchenl/move_can_from_cabinet_to_basket/_episodes.jsonl ADDED
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pi05/clean/kitchenl/move_milk_close_fridge/_episodes.jsonl ADDED
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+ {"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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+ {"config": "clean", "seed": 40026, "success": false, "hard_success": false, "collision": false}
pi05/clean/kitchenl/pick_bottle_from_fridge/_episodes.jsonl ADDED
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pi05/clean/kitchenl/pick_boxdrink_from_basket/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40000, "success": false, "hard_success": false, "collision": true}
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pi05/clean/kitchenl/pick_can_from_basket/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40005, "success": true, "hard_success": false, "collision": true}
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+ {"config": "clean", "seed": 40008, "success": true, "hard_success": false, "collision": true}
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20
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pi05/clean/kitchenl/pick_can_from_cabinet/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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20
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pi05/clean/kitchenl/pick_milk_box_from_fridge/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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pi05/clean/kitchenl/pick_sauce_can_from_cabinet/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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20
+ {"config": "clean", "seed": 40024, "success": true, "hard_success": true, "collision": false}
pi05/clean/kitchenl/put_bottle_in_basket/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40001, "success": true, "hard_success": true, "collision": false}
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20
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pi05/clean/kitchenl/put_bottle_in_fridge/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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20
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pi05/clean/kitchenl/put_can_close_cabinet/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40001, "success": true, "hard_success": true, "collision": false}
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20
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pi05/clean/kitchenl/put_can_in_cabinet/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40001, "success": true, "hard_success": true, "collision": false}
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+ {"config": "clean", "seed": 40004, "success": true, "hard_success": true, "collision": false}
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20
+ {"config": "clean", "seed": 40037, "success": true, "hard_success": true, "collision": false}
pi05/clean/kitchenl/put_can_infront_of_microwave/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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+ {"config": "clean", "seed": 40001, "success": true, "hard_success": true, "collision": false}
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20
+ {"config": "clean", "seed": 40023, "success": true, "hard_success": true, "collision": false}
pi05/clean/kitchenl/put_can_next_to_basket/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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+ {"config": "clean", "seed": 40004, "success": true, "hard_success": true, "collision": false}
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pi05/clean/kitchenl/put_milk_box_in_fridge/_episodes.jsonl ADDED
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pi05/clean/kitchenl/put_sauce_can_in_basket/_episodes.jsonl ADDED
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pi05/clean/kitchenl/put_sauce_can_in_cabinet/_episodes.jsonl ADDED
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1
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pi05/clean/kitchenl/switch_can_with_bottle_in_basket/_episodes.jsonl ADDED
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1
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pi05/clean/kitchens/chain_heat_hamburger_ks/_episodes.jsonl ADDED
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1
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pi05/clean/kitchens/drop_apple_in_bin_ks/_episodes.jsonl ADDED
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pi05/clean/kitchens/move_hamburger_onto_plate_ks/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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pi05/clean/kitchens/put_bread_on_board_ks/_episodes.jsonl ADDED
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pi05/clean/kitchens/put_hamburger_in_microwave_ks/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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pi05/clean/kitchens/put_spoon_in_dishrack_ks/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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+ {"config": "clean", "seed": 40027, "success": true, "hard_success": true, "collision": false}
14
+ {"config": "clean", "seed": 40028, "success": true, "hard_success": true, "collision": false}
15
+ {"config": "clean", "seed": 40035, "success": true, "hard_success": true, "collision": false}
16
+ {"config": "clean", "seed": 40036, "success": true, "hard_success": true, "collision": false}
17
+ {"config": "clean", "seed": 40037, "success": true, "hard_success": true, "collision": false}
18
+ {"config": "clean", "seed": 40040, "success": true, "hard_success": true, "collision": false}
19
+ {"config": "clean", "seed": 40042, "success": true, "hard_success": true, "collision": false}
20
+ {"config": "clean", "seed": 40045, "success": true, "hard_success": true, "collision": false}
pi05/clean/kitchens/put_spoon_in_sink_ks/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40002, "success": true, "hard_success": true, "collision": false}
2
+ {"config": "clean", "seed": 40003, "success": true, "hard_success": true, "collision": false}
3
+ {"config": "clean", "seed": 40004, "success": true, "hard_success": true, "collision": false}
4
+ {"config": "clean", "seed": 40005, "success": true, "hard_success": true, "collision": false}
5
+ {"config": "clean", "seed": 40006, "success": true, "hard_success": true, "collision": false}
6
+ {"config": "clean", "seed": 40007, "success": true, "hard_success": true, "collision": false}
7
+ {"config": "clean", "seed": 40008, "success": true, "hard_success": true, "collision": false}
8
+ {"config": "clean", "seed": 40012, "success": true, "hard_success": true, "collision": false}
9
+ {"config": "clean", "seed": 40014, "success": true, "hard_success": true, "collision": false}
10
+ {"config": "clean", "seed": 40015, "success": true, "hard_success": true, "collision": false}
11
+ {"config": "clean", "seed": 40016, "success": true, "hard_success": true, "collision": false}
12
+ {"config": "clean", "seed": 40017, "success": true, "hard_success": true, "collision": false}
13
+ {"config": "clean", "seed": 40018, "success": true, "hard_success": true, "collision": false}
14
+ {"config": "clean", "seed": 40019, "success": true, "hard_success": true, "collision": false}
15
+ {"config": "clean", "seed": 40021, "success": true, "hard_success": true, "collision": false}
16
+ {"config": "clean", "seed": 40022, "success": true, "hard_success": true, "collision": false}
17
+ {"config": "clean", "seed": 40024, "success": true, "hard_success": true, "collision": false}
18
+ {"config": "clean", "seed": 40027, "success": true, "hard_success": true, "collision": false}
19
+ {"config": "clean", "seed": 40029, "success": true, "hard_success": true, "collision": false}
20
+ {"config": "clean", "seed": 40033, "success": true, "hard_success": true, "collision": false}
pi05/clean/kitchens/put_spoon_on_plate_ks/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40002, "success": true, "hard_success": true, "collision": false}
2
+ {"config": "clean", "seed": 40003, "success": true, "hard_success": true, "collision": false}
3
+ {"config": "clean", "seed": 40005, "success": true, "hard_success": true, "collision": false}
4
+ {"config": "clean", "seed": 40008, "success": false, "hard_success": false, "collision": false}
5
+ {"config": "clean", "seed": 40010, "success": true, "hard_success": true, "collision": false}
6
+ {"config": "clean", "seed": 40011, "success": false, "hard_success": false, "collision": false}
7
+ {"config": "clean", "seed": 40013, "success": true, "hard_success": true, "collision": false}
8
+ {"config": "clean", "seed": 40015, "success": true, "hard_success": true, "collision": false}
9
+ {"config": "clean", "seed": 40017, "success": true, "hard_success": true, "collision": false}
10
+ {"config": "clean", "seed": 40018, "success": true, "hard_success": true, "collision": false}
11
+ {"config": "clean", "seed": 40021, "success": true, "hard_success": true, "collision": false}
12
+ {"config": "clean", "seed": 40022, "success": false, "hard_success": false, "collision": false}
13
+ {"config": "clean", "seed": 40027, "success": false, "hard_success": false, "collision": false}
14
+ {"config": "clean", "seed": 40028, "success": false, "hard_success": false, "collision": false}
15
+ {"config": "clean", "seed": 40030, "success": false, "hard_success": false, "collision": false}
16
+ {"config": "clean", "seed": 40035, "success": false, "hard_success": false, "collision": false}
17
+ {"config": "clean", "seed": 40038, "success": true, "hard_success": true, "collision": false}
18
+ {"config": "clean", "seed": 40039, "success": true, "hard_success": true, "collision": false}
19
+ {"config": "clean", "seed": 40041, "success": false, "hard_success": false, "collision": false}
20
+ {"config": "clean", "seed": 40048, "success": true, "hard_success": true, "collision": false}
pi05/clean/pi05_clean.csv ADDED
@@ -0,0 +1,81 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ scene,task,n,SR,HSR,CR
2
+ kitchenl,move_bottle,20,50.0,50.0,0.0
3
+ kitchenl,move_bottle_from_fridge_next_to_can,20,95.0,95.0,0.0
4
+ kitchenl,move_can_from_cabinet_to_basket,20,45.0,40.0,30.0
5
+ kitchenl,move_milk_close_fridge,20,60.0,60.0,10.0
6
+ kitchenl,pick_bottle_from_fridge,20,100.0,100.0,0.0
7
+ kitchenl,pick_boxdrink_from_basket,20,5.0,5.0,95.0
8
+ kitchenl,pick_can_from_basket,20,75.0,5.0,95.0
9
+ kitchenl,pick_can_from_cabinet,20,90.0,90.0,0.0
10
+ kitchenl,pick_milk_box_from_fridge,20,75.0,75.0,0.0
11
+ kitchenl,pick_sauce_can_from_cabinet,20,90.0,90.0,5.0
12
+ kitchenl,put_bottle_in_basket,20,85.0,85.0,0.0
13
+ kitchenl,put_bottle_in_fridge,20,85.0,85.0,0.0
14
+ kitchenl,put_can_close_cabinet,20,85.0,85.0,5.0
15
+ kitchenl,put_can_in_cabinet,20,80.0,70.0,15.0
16
+ kitchenl,put_can_infront_of_microwave,20,90.0,85.0,5.0
17
+ kitchenl,put_can_next_to_basket,20,45.0,40.0,5.0
18
+ kitchenl,put_milk_box_in_fridge,20,85.0,75.0,10.0
19
+ kitchenl,put_sauce_can_in_basket,20,75.0,60.0,30.0
20
+ kitchenl,put_sauce_can_in_cabinet,20,90.0,85.0,5.0
21
+ kitchenl,switch_can_with_bottle_in_basket,20,45.0,5.0,95.0
22
+ kitchens,chain_apple_bin_bowl_rack_spoon_sink_ks,20,10.0,10.0,15.0
23
+ kitchens,chain_apple_sink_plate_bread_board_ks,20,95.0,85.0,10.0
24
+ kitchens,chain_bowl_rack_apple_sink_ks,20,5.0,0.0,85.0
25
+ kitchens,chain_heat_hamburger_ks,20,65.0,60.0,15.0
26
+ kitchens,chain_serve_hamburger_ks,20,30.0,25.0,25.0
27
+ kitchens,close_microwave_ks,20,50.0,50.0,0.0
28
+ kitchens,drop_apple_in_bin_ks,20,80.0,70.0,10.0
29
+ kitchens,move_hamburger_onto_plate_ks,20,80.0,80.0,0.0
30
+ kitchens,pick_apple_from_bowl_ks,20,100.0,15.0,85.0
31
+ kitchens,pick_apple_from_sink_ks,20,95.0,90.0,5.0
32
+ kitchens,pick_fork_from_sink_ks,20,100.0,95.0,5.0
33
+ kitchens,pick_hamburger_from_microwave_ks,20,60.0,60.0,0.0
34
+ kitchens,place_bowl_in_dishrack_ks,20,85.0,85.0,0.0
35
+ kitchens,put_bowl_in_sink_ks,20,0.0,0.0,0.0
36
+ kitchens,put_bread_on_board_ks,20,100.0,100.0,0.0
37
+ kitchens,put_hamburger_in_microwave_ks,20,95.0,95.0,0.0
38
+ kitchens,put_plate_in_sink_ks,20,65.0,65.0,0.0
39
+ kitchens,put_spoon_in_dishrack_ks,20,90.0,90.0,0.0
40
+ kitchens,put_spoon_in_sink_ks,20,100.0,100.0,0.0
41
+ kitchens,put_spoon_on_plate_ks,20,60.0,60.0,0.0
42
+ office,close_drawer,20,90.0,90.0,5.0
43
+ office,move_items_around,20,30.0,30.0,20.0
44
+ office,open_drawer,20,80.0,80.0,0.0
45
+ office,organize_table,20,5.0,5.0,5.0
46
+ office,put_book_in_fileholder,20,30.0,30.0,10.0
47
+ office,put_book_on_book,20,60.0,60.0,0.0
48
+ office,put_milktea_next_to_laptop,20,75.0,75.0,0.0
49
+ office,put_milktea_on_shelf,20,35.0,35.0,5.0
50
+ office,put_mouse_next_to_stapler,20,60.0,60.0,5.0
51
+ office,put_mouse_on_pad,20,60.0,60.0,0.0
52
+ office,put_phone_next_to_cube,20,75.0,75.0,20.0
53
+ office,put_phone_on_holder,20,65.0,65.0,5.0
54
+ office,put_rubikscube_in_drawer,20,60.0,60.0,15.0
55
+ office,put_rubikscube_next_to_milktea,20,65.0,55.0,15.0
56
+ office,put_stapler_in_drawer,20,90.0,80.0,10.0
57
+ office,put_stapler_next_to_mouse,20,60.0,60.0,0.0
58
+ office,put_stapler_on_book,20,90.0,90.0,5.0
59
+ office,set_up_table,20,20.0,20.0,20.0
60
+ office,store_rubikscube_on_shelf,20,25.0,20.0,45.0
61
+ office,store_stapler_in_drawer,20,35.0,30.0,10.0
62
+ study,empty_box,20,100.0,100.0,0.0
63
+ study,move_book_onto_table,20,100.0,100.0,0.0
64
+ study,move_cup,20,95.0,95.0,0.0
65
+ study,move_cup_next_to_book,20,85.0,85.0,0.0
66
+ study,move_cup_onto_table,20,90.0,90.0,0.0
67
+ study,move_cup_put_pen_in_cup,20,55.0,55.0,10.0
68
+ study,move_cups_into_box,20,70.0,70.0,5.0
69
+ study,move_pen_to_box,20,80.0,75.0,10.0
70
+ study,move_seal_cup_next_to_box,20,80.0,80.0,0.0
71
+ study,move_seal_next_to_box,20,100.0,100.0,0.0
72
+ study,move_seal_next_to_pencup,20,95.0,95.0,0.0
73
+ study,move_seal_onto_book,20,100.0,100.0,0.0
74
+ study,move_seal_onto_table,20,100.0,100.0,0.0
75
+ study,put_cup_in_box,20,85.0,85.0,0.0
76
+ study,put_cup_on_coaster,20,80.0,80.0,0.0
77
+ study,put_cup_on_table,20,70.0,70.0,0.0
78
+ study,put_glue_in_box,20,95.0,70.0,25.0
79
+ study,put_pen_in_box,20,100.0,100.0,0.0
80
+ study,put_pen_in_pencup,20,20.0,10.0,50.0
81
+ study,put_seal_in_box,20,95.0,95.0,0.0
pi05/clean/study/empty_box/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40001, "success": true, "hard_success": true, "collision": false}
2
+ {"config": "clean", "seed": 40004, "success": true, "hard_success": true, "collision": false}
3
+ {"config": "clean", "seed": 40006, "success": true, "hard_success": true, "collision": false}
4
+ {"config": "clean", "seed": 40007, "success": true, "hard_success": true, "collision": false}
5
+ {"config": "clean", "seed": 40009, "success": true, "hard_success": true, "collision": false}
6
+ {"config": "clean", "seed": 40011, "success": true, "hard_success": true, "collision": false}
7
+ {"config": "clean", "seed": 40016, "success": true, "hard_success": true, "collision": false}
8
+ {"config": "clean", "seed": 40017, "success": true, "hard_success": true, "collision": false}
9
+ {"config": "clean", "seed": 40021, "success": true, "hard_success": true, "collision": false}
10
+ {"config": "clean", "seed": 40022, "success": true, "hard_success": true, "collision": false}
11
+ {"config": "clean", "seed": 40025, "success": true, "hard_success": true, "collision": false}
12
+ {"config": "clean", "seed": 40027, "success": true, "hard_success": true, "collision": false}
13
+ {"config": "clean", "seed": 40040, "success": true, "hard_success": true, "collision": false}
14
+ {"config": "clean", "seed": 40047, "success": true, "hard_success": true, "collision": false}
15
+ {"config": "clean", "seed": 40048, "success": true, "hard_success": true, "collision": false}
16
+ {"config": "clean", "seed": 40049, "success": true, "hard_success": true, "collision": false}
17
+ {"config": "clean", "seed": 40051, "success": true, "hard_success": true, "collision": false}
18
+ {"config": "clean", "seed": 40053, "success": true, "hard_success": true, "collision": false}
19
+ {"config": "clean", "seed": 40055, "success": true, "hard_success": true, "collision": false}
20
+ {"config": "clean", "seed": 40057, "success": true, "hard_success": true, "collision": false}
pi05/clean/study/move_book_onto_table/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
2
+ {"config": "clean", "seed": 40001, "success": true, "hard_success": true, "collision": false}
3
+ {"config": "clean", "seed": 40002, "success": true, "hard_success": true, "collision": false}
4
+ {"config": "clean", "seed": 40003, "success": true, "hard_success": true, "collision": false}
5
+ {"config": "clean", "seed": 40004, "success": true, "hard_success": true, "collision": false}
6
+ {"config": "clean", "seed": 40005, "success": true, "hard_success": true, "collision": false}
7
+ {"config": "clean", "seed": 40006, "success": true, "hard_success": true, "collision": false}
8
+ {"config": "clean", "seed": 40007, "success": true, "hard_success": true, "collision": false}
9
+ {"config": "clean", "seed": 40008, "success": true, "hard_success": true, "collision": false}
10
+ {"config": "clean", "seed": 40009, "success": true, "hard_success": true, "collision": false}
11
+ {"config": "clean", "seed": 40010, "success": true, "hard_success": true, "collision": false}
12
+ {"config": "clean", "seed": 40011, "success": true, "hard_success": true, "collision": false}
13
+ {"config": "clean", "seed": 40012, "success": true, "hard_success": true, "collision": false}
14
+ {"config": "clean", "seed": 40013, "success": true, "hard_success": true, "collision": false}
15
+ {"config": "clean", "seed": 40014, "success": true, "hard_success": true, "collision": false}
16
+ {"config": "clean", "seed": 40015, "success": true, "hard_success": true, "collision": false}
17
+ {"config": "clean", "seed": 40016, "success": true, "hard_success": true, "collision": false}
18
+ {"config": "clean", "seed": 40017, "success": true, "hard_success": true, "collision": false}
19
+ {"config": "clean", "seed": 40018, "success": true, "hard_success": true, "collision": false}
20
+ {"config": "clean", "seed": 40019, "success": true, "hard_success": true, "collision": false}
pi05/clean/study/move_cup/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40000, "success": false, "hard_success": false, "collision": false}
2
+ {"config": "clean", "seed": 40001, "success": true, "hard_success": true, "collision": false}
3
+ {"config": "clean", "seed": 40002, "success": true, "hard_success": true, "collision": false}
4
+ {"config": "clean", "seed": 40003, "success": true, "hard_success": true, "collision": false}
5
+ {"config": "clean", "seed": 40004, "success": true, "hard_success": true, "collision": false}
6
+ {"config": "clean", "seed": 40005, "success": true, "hard_success": true, "collision": false}
7
+ {"config": "clean", "seed": 40006, "success": true, "hard_success": true, "collision": false}
8
+ {"config": "clean", "seed": 40007, "success": true, "hard_success": true, "collision": false}
9
+ {"config": "clean", "seed": 40008, "success": true, "hard_success": true, "collision": false}
10
+ {"config": "clean", "seed": 40009, "success": true, "hard_success": true, "collision": false}
11
+ {"config": "clean", "seed": 40010, "success": true, "hard_success": true, "collision": false}
12
+ {"config": "clean", "seed": 40011, "success": true, "hard_success": true, "collision": false}
13
+ {"config": "clean", "seed": 40012, "success": true, "hard_success": true, "collision": false}
14
+ {"config": "clean", "seed": 40013, "success": true, "hard_success": true, "collision": false}
15
+ {"config": "clean", "seed": 40014, "success": true, "hard_success": true, "collision": false}
16
+ {"config": "clean", "seed": 40015, "success": true, "hard_success": true, "collision": false}
17
+ {"config": "clean", "seed": 40016, "success": true, "hard_success": true, "collision": false}
18
+ {"config": "clean", "seed": 40018, "success": true, "hard_success": true, "collision": false}
19
+ {"config": "clean", "seed": 40019, "success": true, "hard_success": true, "collision": false}
20
+ {"config": "clean", "seed": 40020, "success": true, "hard_success": true, "collision": false}
pi05/clean/study/move_cup_next_to_book/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
2
+ {"config": "clean", "seed": 40001, "success": true, "hard_success": true, "collision": false}
3
+ {"config": "clean", "seed": 40002, "success": true, "hard_success": true, "collision": false}
4
+ {"config": "clean", "seed": 40003, "success": true, "hard_success": true, "collision": false}
5
+ {"config": "clean", "seed": 40004, "success": true, "hard_success": true, "collision": false}
6
+ {"config": "clean", "seed": 40005, "success": true, "hard_success": true, "collision": false}
7
+ {"config": "clean", "seed": 40006, "success": true, "hard_success": true, "collision": false}
8
+ {"config": "clean", "seed": 40007, "success": true, "hard_success": true, "collision": false}
9
+ {"config": "clean", "seed": 40008, "success": true, "hard_success": true, "collision": false}
10
+ {"config": "clean", "seed": 40009, "success": true, "hard_success": true, "collision": false}
11
+ {"config": "clean", "seed": 40010, "success": true, "hard_success": true, "collision": false}
12
+ {"config": "clean", "seed": 40011, "success": true, "hard_success": true, "collision": false}
13
+ {"config": "clean", "seed": 40012, "success": true, "hard_success": true, "collision": false}
14
+ {"config": "clean", "seed": 40013, "success": false, "hard_success": false, "collision": false}
15
+ {"config": "clean", "seed": 40014, "success": true, "hard_success": true, "collision": false}
16
+ {"config": "clean", "seed": 40016, "success": true, "hard_success": true, "collision": false}
17
+ {"config": "clean", "seed": 40017, "success": false, "hard_success": false, "collision": false}
18
+ {"config": "clean", "seed": 40019, "success": true, "hard_success": true, "collision": false}
19
+ {"config": "clean", "seed": 40020, "success": true, "hard_success": true, "collision": false}
20
+ {"config": "clean", "seed": 40021, "success": false, "hard_success": false, "collision": false}
pi05/clean/study/move_cup_onto_table/_episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"config": "clean", "seed": 40000, "success": false, "hard_success": false, "collision": false}
2
+ {"config": "clean", "seed": 40001, "success": true, "hard_success": true, "collision": false}
3
+ {"config": "clean", "seed": 40003, "success": true, "hard_success": true, "collision": false}
4
+ {"config": "clean", "seed": 40005, "success": true, "hard_success": true, "collision": false}
5
+ {"config": "clean", "seed": 40007, "success": true, "hard_success": true, "collision": false}
6
+ {"config": "clean", "seed": 40009, "success": true, "hard_success": true, "collision": false}
7
+ {"config": "clean", "seed": 40014, "success": true, "hard_success": true, "collision": false}
8
+ {"config": "clean", "seed": 40015, "success": true, "hard_success": true, "collision": false}
9
+ {"config": "clean", "seed": 40016, "success": true, "hard_success": true, "collision": false}
10
+ {"config": "clean", "seed": 40019, "success": true, "hard_success": true, "collision": false}
11
+ {"config": "clean", "seed": 40021, "success": true, "hard_success": true, "collision": false}
12
+ {"config": "clean", "seed": 40023, "success": true, "hard_success": true, "collision": false}
13
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pi05/clean/study/move_cup_put_pen_in_cup/_episodes.jsonl ADDED
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pi05/clean/study/move_cups_into_box/_episodes.jsonl ADDED
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pi05/clean/study/move_pen_to_box/_episodes.jsonl ADDED
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pi05/clean/study/move_seal_cup_next_to_box/_episodes.jsonl ADDED
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pi05/clean/study/move_seal_next_to_box/_episodes.jsonl ADDED
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pi05/clean/study/move_seal_next_to_pencup/_episodes.jsonl ADDED
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pi05/clean/study/move_seal_onto_book/_episodes.jsonl ADDED
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pi05/clean/study/move_seal_onto_table/_episodes.jsonl ADDED
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pi05/clean/study/put_cup_in_box/_episodes.jsonl ADDED
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pi05/clean/study/put_cup_on_coaster/_episodes.jsonl ADDED
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pi05/clean/study/put_cup_on_table/_episodes.jsonl ADDED
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pi05/clean/study/put_glue_in_box/_episodes.jsonl ADDED
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pi05/clean/study/put_pen_in_box/_episodes.jsonl ADDED
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pi05/clean/study/put_pen_in_pencup/_episodes.jsonl ADDED
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pi05/clean/study/put_seal_in_box/_episodes.jsonl ADDED
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