Re-pack trajs: per-episode input_source, cadence stamps, numpy-1 pickles, +697 verified episodes
#27
by Everloom - opened
Wholesale re-pack of trajs/ based on main@51f74d2e1c1b. Four changes, no bundle moved or removed:
- Per-episode
_meta.input_source(quest_hand/quest_controller_manus) — backfilled from
code-history bounds + motion fingerprints, operator-confirmed boundary:
netsim sessions >= 2026-08-06 13:25 (user-confirmed 2026-08-08). Method:trajs/INPUT_SOURCE_PROVENANCE.md(in this PR). - Cadence stamps normalized — every bundle metadata now has explicit
control_freq_hz/sim_dt/decimation. 100 Hz == the task-authored cadence, replay unchanged. - +697 newly replay-verified episodes (state-replay through the task checker,
mujoco 3.8.0 / dm_control 1.0.40, dedup by rounded action-md5). All new episodes are 100 Hz
netsim takes →trajs/parrot/;trajs/parrot_60Hz/bundles only gained labels/stamps. - numpy-1 serialization — previous uploads were numpy-2 pickles, unreadable under the
pinned delivery stack (numpy<2); numpy-1 pickles load under numpy 1 AND 2.
Totals: 62 bundles, 4559 episodes after merge.
New bundles (2): parrot/close_cabinet_12/tianji_wuji, parrot/hammer_insert_nail/tianji_wuji
Existing bundles gaining episodes:
| bundle | before | added | after |
|---|---|---|---|
parrot/grasp_cuboid/tianji_wuji |
50 | +49 | 99 |
parrot/grasp_pear/tianji_wuji |
51 | +49 | 100 |
parrot/grasp_mug/tianji_wuji |
50 | +48 | 98 |
parrot/grasp_sphere/tianji_wuji |
54 | +48 | 102 |
parrot/grasp_bottle/tianji_wuji |
50 | +47 | 97 |
parrot/grasp_orange/tianji_wuji |
50 | +47 | 97 |
parrot/grasp_candle/tianji_wuji |
50 | +45 | 95 |
parrot/grasp_cylinder/tianji_wuji |
50 | +44 | 94 |
parrot/place_can_in_box/tianji_wuji |
83 | +43 | 126 |
parrot/grasp_banana/tianji_wuji |
50 | +42 | 92 |
parrot/pack_box/tianji_wuji |
145 | +42 | 187 |
parrot/sort_bins/tianji_wuji |
52 | +40 | 92 |
parrot/grasp_adjustable_wrench/tianji_wuji |
104 | +30 | 134 |
parrot/bimanual_lift_box/tianji_wuji |
58 | +15 | 73 |
parrot/fruit_tray/tianji_wuji |
54 | +12 | 66 |
parrot/open_microwave_2/tianji_wuji |
1 | +9 | 10 |
parrot/collect_fruit_bowl/tianji_wuji |
32 | +8 | 40 |
parrot/grasp_apple/tianji_wuji |
50 | +7 | 57 |
parrot/pour_kettle_cup/tianji_wuji |
252 | +7 | 259 |
parrot/grasp_cup/tianji_wuji |
50 | +6 | 56 |
parrot/nest_cups/tianji_wuji |
142 | +5 | 147 |
parrot/feast/tianji_wuji |
106 | +4 | 110 |
parrot/grasp_master_chef_can/tianji_wuji |
98 | +2 | 100 |
parrot/grasp_in_clutter/tianji_wuji |
106 | +1 | 107 |
parrot/pour_pitcher_bowl/tianji_wuji |
138 | +1 | 139 |
Companion code PR (records input_source at collection time going forward):
SomaStacks/WUJI_SimBench#102.
Everloom changed pull request status to merged