File size: 4,091 Bytes
2112f28 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 | schema_version: '1.0'
category: c
name: stacking_blocks_decomposed
description: 'The stacking task decomposed into its two primitives. T-MAT places a
named block on the cross; T-TOP places a named block onto a pre-built stack sitting
on the cross. Four colors: red, green, blue, yellow.'
instruction_templates:
T-MAT: Place the {color} block on the white mat at the cross position.
T-TOP: Place the {color} block on top of the stack at the cross position.
tasks:
1:
kind: T-MAT
episodes: 60
target: red
instruction: Place the red block on the white mat at the cross position.
init_stack: null
blocks_on_black_mat: 2-4, random subset always including the target
2:
kind: T-MAT
episodes: 60
target: green
instruction: Place the green block on the white mat at the cross position.
init_stack: null
blocks_on_black_mat: 2-4, random subset always including the target
3:
kind: T-MAT
episodes: 60
target: blue
instruction: Place the blue block on the white mat at the cross position.
init_stack: null
blocks_on_black_mat: 2-4, random subset always including the target
4:
kind: T-MAT
episodes: 60
target: yellow
instruction: Place the yellow block on the white mat at the cross position.
init_stack: null
blocks_on_black_mat: 2-4, random subset always including the target
5:
kind: T-TOP
episodes: 120
target: red
instruction: Place the red block on top of the stack at the cross position.
stack_heights:
- 1
- 2
- 3
episodes_per_height: 40
height_assignment: STACK_HEIGHTS[(episode_id - 1) % 3]
stack_colors: sampled without replacement from the three non-target colors
distractors: 0-2, limited to the 3 - h colors left over
6:
kind: T-TOP
episodes: 120
target: green
instruction: Place the green block on top of the stack at the cross position.
stack_heights:
- 1
- 2
- 3
episodes_per_height: 40
height_assignment: STACK_HEIGHTS[(episode_id - 1) % 3]
stack_colors: sampled without replacement from the three non-target colors
distractors: 0-2, limited to the 3 - h colors left over
7:
kind: T-TOP
episodes: 120
target: blue
instruction: Place the blue block on top of the stack at the cross position.
stack_heights:
- 1
- 2
- 3
episodes_per_height: 40
height_assignment: STACK_HEIGHTS[(episode_id - 1) % 3]
stack_colors: sampled without replacement from the three non-target colors
distractors: 0-2, limited to the 3 - h colors left over
8:
kind: T-TOP
episodes: 120
target: yellow
instruction: Place the yellow block on top of the stack at the cross position.
stack_heights:
- 1
- 2
- 3
episodes_per_height: 40
height_assignment: STACK_HEIGHTS[(episode_id - 1) % 3]
stack_colors: sampled without replacement from the three non-target colors
distractors: 0-2, limited to the 3 - h colors left over
prebuilt_stack:
spawn: blocks at the cross, yaw 0, settled for 0.5 s before the episode starts
verification: intact, upright, on the cross and at rest, else the episode is resampled
with a derived seed
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
|