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README.md

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+# Shape Hole V2 Visual Trace Preview
+
+This preview shows the low-level-policy variant where the subtask signal is drawn
+directly onto the external `front_workspace_60` image instead of being provided as
+spatial text.
+
+- Task text shown to the policy: `sort the shapes`
+- Visual conditioning signal: noisy `label_source_uv` and `label_target_uv`
+- Source episode:
+  `/iris/u/ajaysri/shapes_r_hard/scalingup/outputs/data_v2_slurm/20260326_030005_data_v2_sc_loprio/long_horizon/trimmed_500/seed_0/episodes/episode_000000.npz`
+- Rendered video:
+  `shape_sort_visual_trace_seed0_episode0.mp4`
+- Render summary:
+  `shape_sort_visual_trace_seed0_episode0.json`

shape_sort_visual_trace_seed0_episode0.json

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+{
+  "npz_path": "/iris/u/ajaysri/shapes_r_hard/scalingup/outputs/data_v2_slurm/20260326_030005_data_v2_sc_loprio/long_horizon/trimmed_500/seed_0/episodes/episode_000000.npz",
+  "output_path": "/iris/u/ajaysri/shapes_r_hard/scalingup/outputs/visual_trace_preview/20260329_long_horizon_seed0/shape_sort_visual_trace_seed0_episode0.mp4",
+  "task_text": "sort the shapes",
+  "camera_state_key": "rgb",
+  "fps": 4,
+  "num_frames": 117,
+  "used_label_uv": true,
+  "drew_line": true,
+  "episode_metadata": {
+    "success": true,
+    "export_granularity": "root",
+    "num_steps": 117,
+    "fps": 4,
+    "control_hz": 4,
+    "native_control_hz": 4,
+    "teacher_control_hz": 4,
+    "captured_state_hz": 4,
+    "training_action_hz": 4,
+    "parent_episode_id": 0,
+    "root_episode_id": 0,
+    "instruction": "sort the shapes into matching slots",
+    "camera_shape_ordering": "bottom_to_top",
+    "label_target_noise_std": 0.05,
+    "label_source_noise_std": 0.05,
+    "num_subtasks": 2,
+    "num_active_shapes": 2,
+    "active_shape_indices": [
+      2,
+      4
+    ],
+    "shape_template_names": [
+      "square",
+      "line",
+      "L",
+      "T",
+      "zigzag",
+      "corner"
+    ],
+    "camera_name": "front_workspace_60",
+    "label_camera_name": "front_workspace_60",
+    "recorded_camera_names": [
+      "front_workspace_60",
+      "ur5e/wsg50/d435i/rgb"
+    ],
+    "recorded_camera_state_keys": {
+      "front_workspace_60": "rgb",
+      "ur5e/wsg50/d435i/rgb": "wrist_rgb"
+    },
+    "slot_sampling_region_fraction": null,
+    "piece_spawn_region_fraction": null,
+    "fixed_slot_yaw_index": null,
+    "fixed_piece_yaw_index": null,
+    "replay_action_key": "commanded_ctrl_native",
+    "joint_replay_action_key": "commanded_joint_pos_native",
+    "state_joint_key": "state_joint_pos_native",
+    "state_gripper_key": "state_gripper_pos_native",
+    "training_action_key": "commanded_joint_pos_native",
+    "label_target_uv_first": [
+      0.6183150015276302,
+      0.6535755684813176
+    ],
+    "label_source_uv_first": [
+      0.38004059416605335,
+      0.5593999598851851
+    ],
+    "task_plan": [
+      {
+        "subtask_ordinal": 0,
+        "shape_idx": 2,
+        "shape_token": "shape_3",
+        "shape_template_name": "L",
+        "source_region": "center",
+        "target_region": "right",
+        "source_uv": [
+          0.3674321503131524,
+          0.5615866388308977
+        ],
+        "label_source_uv": [
+          0.38004059416605335,
+          0.5593999598851851
+        ],
+        "target_uv": [
+          0.6450939457202505,
+          0.6492693110647182
+        ],
+        "label_target_uv": [
+          0.6183150015276302,
+          0.6535755684813176
+        ],
+        "camera_name": "front_workspace_60"
+      },
+      {
+        "subtask_ordinal": 1,
+        "shape_idx": 4,
+        "shape_token": "shape_5",
+        "shape_template_name": "zigzag",
+        "source_region": "left",
+        "target_region": "bottom-left",
+        "source_uv": [
+          0.2797494780793319,
+          0.49478079331941544
+        ],
+        "label_source_uv": [
+          0.28115724928294805,
+          0.49257629463817093
+        ],
+        "target_uv": [
+          0.5281837160751566,
+          0.453027139874739
+        ],
+        "label_target_uv": [
+          0.5265924696325132,
+          0.43660226278895914
+        ],
+        "camera_name": "front_workspace_60"
+      }
+    ],
+    "subtask_variant_names": [
+      "shape_id_hole_text",
+      "structured_tracked",
+      "structured_untracked"
+    ]
+  }
+}

shape_sort_visual_trace_seed0_episode0.mp4

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+size 333944