MESA
Collection
Datasets and author-trained model checkpoints for MESA. • 12 items • Updated
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model string | states list |
|---|---|
<mujoco model="base">
<compiler angle="radian" meshdir="meshes/"/>
<option impratio="20" density="1.2" viscosity="2e-05" cone="elliptic"/>
<size njmax="5000" nconmax="5000"/>
<visual>
<map znear="0.001"/>
</visual>
<asset>
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.9 0.9... | [
2.4999999999999463,
5.735676941075685e-9,
1.0469999751761214,
1.046999982976019,
-5.61117871335835e-8,
-2.3236746791424182e-8,
-7.190718744528875e-7,
0.0450726839173492,
-0.04502426670838038,
5.735676941097619e-9,
1.0469999751761214,
1.046999982976019,
-5.6111787133663534e-8,
-2.3236746791... |
"<mujoco model=\"base\">\n <compiler angle=\"radian\" meshdir=\"meshes/\"/>\n\n <option impratio=\(...TRUNCATED) | [2.4999999999999463,5.735676941075685e-9,1.0469999751761214,1.046999982976019,-5.61117871335835e-8,-(...TRUNCATED) |
"<mujoco model=\"base\">\n <compiler angle=\"radian\" meshdir=\"meshes/\"/>\n\n <option impratio=\(...TRUNCATED) | [2.4999999999999463,5.735676941075685e-9,1.0469999751761214,1.046999982976019,-5.61117871335835e-8,-(...TRUNCATED) |
"<mujoco model=\"base\">\n <compiler angle=\"radian\" meshdir=\"meshes/\"/>\n\n <option impratio=\(...TRUNCATED) | [2.4999999999999463,5.735676941075685e-9,1.0469999751761214,1.046999982976019,-5.61117871335835e-8,-(...TRUNCATED) |
"<mujoco model=\"base\">\n <compiler angle=\"radian\" meshdir=\"meshes/\"/>\n\n <option impratio=\(...TRUNCATED) | [2.4999999999999463,5.735676941075685e-9,1.0469999751761214,1.046999982976019,-5.61117871335835e-8,-(...TRUNCATED) |
"<mujoco model=\"base\">\n <compiler angle=\"radian\" meshdir=\"meshes/\"/>\n\n <option impratio=\(...TRUNCATED) | [2.4999999999999463,5.735676941075685e-9,1.0469999751761214,1.046999982976019,-5.61117871335835e-8,-(...TRUNCATED) |
"<mujoco model=\"base\">\n <compiler angle=\"radian\" meshdir=\"meshes/\"/>\n\n <option impratio=\(...TRUNCATED) | [2.4999999999999463,5.735676941075685e-9,1.0469999751761214,1.046999982976019,-5.61117871335835e-8,-(...TRUNCATED) |
"<mujoco model=\"base\">\n <compiler angle=\"radian\" meshdir=\"meshes/\"/>\n\n <option impratio=\(...TRUNCATED) | [2.4999999999999463,5.735676941075685e-9,1.0469999751761214,1.046999982976019,-5.61117871335835e-8,-(...TRUNCATED) |
"<mujoco model=\"base\">\n <compiler angle=\"radian\" meshdir=\"meshes/\"/>\n\n <option impratio=\(...TRUNCATED) | [2.4999999999999463,5.735676941075685e-9,1.0469999751761214,1.046999982976019,-5.61117871335835e-8,-(...TRUNCATED) |
"<mujoco model=\"base\">\n <compiler angle=\"radian\" meshdir=\"meshes/\"/>\n\n <option impratio=\(...TRUNCATED) | [2.4999999999999463,5.735676941075685e-9,1.0469999751761214,1.046999982976019,-5.61117871335835e-8,-(...TRUNCATED) |
End of preview.
MESA Evaluation Initial States
Fixed initial simulator states for every evaluation suite in MESA (single-arm) and BiMESA (bimanual). Rollout i of a task always restores the same object set and starting configuration, so results are directly comparable across methods.
| File | Suites | Tasks | States per task |
|---|---|---|---|
mesa.zip |
mesa-70, mesa-spatial, mesa-instance, mesa-category, mesa-composite |
140 | 50 |
bimesa.zip |
bimesa-id, bimesa-spatial, bimesa-instance, bimesa-object, bimesa-composite |
145 | 50 |
Each archive unpacks to <suite>/<task_id>/<NNN>.json, where NNN matches the evaluation BDDL file mesa/task_suites/bddl_files/<suite>/<task_id>/eval/<NNN>.json in the code release. Each JSON file contains the MuJoCo model XML and flattened simulator states.
Usage
From the root of the MESA repository:
uv run python scripts/setup/download_init_states.py
This downloads both archives, verifies them against SHA256SUMS, and extracts them to mesa/task_suites/init_states/. It is also run automatically by ./scripts/setup.sh.
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