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category: a
name: stacking_blocks_ambiguous
description: ARX L5 arm, a white mat on the left and a black mat on the right of the
third_person view. A magenta cross lies flush on the white mat. Three blocks (red,
green, blue) start at random non-overlapping poses on the black mat and must be
stacked on the cross. The instruction never states the order; the order used is
recorded in the executed_order attribute.
instruction_templates:
all_episodes: Stack the blocks from the black mat to the white mat at the cross
position.
tasks:
1:
episodes: 240
blocks:
- red
- green
- blue
orders:
- red-green-blue
- red-blue-green
- green-red-blue
- green-blue-red
- blue-red-green
- blue-green-red
episodes_per_order: 40
order_assignment: ORDERS[(episode_id - 1) % 6]; a partial run stays balanced
randomization:
cross_center:
region: centred square of side 0.1 m on the white mat
white_mat_center:
- 0.25
- -0.135
distribution: uniform
block_xy:
region: black mat, inset by SPAWN_MARGIN
black_mat_center:
- 0.25
- 0.135
half_extent:
- 0.077
- 0.067
min_center_gap_m: 0.07
distribution: uniform with rejection; whole set resampled if stranded
sampled_in: canonical color order (red, green, blue, yellow)
block_yaw_rad:
- -0.7853981633974483
- 0.7853981633974483
seed_formula: seed = 100_000_000*category_code + 1_000_000*task_id + episode_id +
10_000*attempt, category_code = {a:1, b:2, c:3}; rng = numpy.random.default_rng(seed)
split_rule: episode_id % 10 == 0 -> val, else train
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