| extends: |
| - ../stack_blocks_two.yaml |
| - ../robotwin_wide_generation.yaml |
| dataset: |
| robotwin_subset: randomized_500 |
| action_stats_path: data/action_stats/stack_blocks_two_randomized500_joint_absolute.json |
| prompt_template: |- |
| A bright-red cube is left of center and a bright-green cube is right of center. Other household objects are on the table and motionless. |
| A white and black 6 axis robot arm with a black 2 finger prismatic gripper is on the left side of the frame. A second white and black 6 axis robot arm with a black 2 finger prismatic gripper is on the right side of the frame. |
| The two robot arms are motionless. |
| {subtask} |
| Static camera. Soft indoor lighting. raytaced simulation rendering, robotic motion, realistic physics. Object sizes stay the same. |
| subtask_labels: |
| - Move the red cube with the left arm until it is released at the table center |
| - Move the red cube with the right arm until it is released at the table center |
| - Move the green cube with the left arm until it is released on the red cube |
| - Move the green cube with the right arm until it is released on the red cube |
| prompt_subtask_labels: |
| - The left robot arm moves slowly toward the red cube and closes its gripper to grasp it. The left robot arm lifts the red |
| cube, carries it to the middle of the table, and sets it down. |
| - The right robot arm moves slowly toward the red cube and closes its gripper to grasp it. The right robot arm lifts the |
| red cube, carries it to the middle of the table, and sets it down. |
| - The left robot arm moves toward the green cube and closes its gripper to grasp it. The left robot arm lifts the green |
| cube and stacks it on the red cube. |
| - The right robot arm moves toward the green cube and closes its gripper to grasp it. The right robot arm lifts the green |
| cube and stacks it on the red cube. |
| prompt_subtask_blocked_video_sides: |
| - right |
| - left |
| - right |
| - left |
| train: |
| output_dir: runs/benchmarks/robotwin/stack_blocks_two_randomized500 |
| wandb_group: robotwin_stack_blocks_two_randomized500 |
| robotwin_eval_ckpt_setting: randomized_500 |
| wandb_run_name: robotwin_stack_blocks_two_randomized500 |
| cache: |
| latent_cache_dir: data/cache/robotwin_stack_blocks_two_randomized500_t24_frames21_target432_crop100x90_bottom |
| prompt_embed_cache_dir: data/prompt_embeds/robotwin_stack_blocks_two_randomized500 |
|
|
