| { |
| "schema": "axis_heldout_render_request_v3", |
| "required_rig": { |
| "note": "MUST match stage1_5k_camera_fixed EXACTLY.", |
| "embodiment": "franka (default)", |
| "camera_group": "camera_fixed", |
| "wrist": { |
| "mount": "end-effector body", |
| "hand_to_camera_translation": [ |
| 0.05, |
| 0.0, |
| 0.0 |
| ], |
| "quat": [ |
| 0.0, |
| 0.707108, |
| 0.707108, |
| 0.0 |
| ], |
| "fovy_deg": 75.0 |
| }, |
| "third_person": { |
| "camera_to_world_translation": [ |
| 1.0086, |
| 0.0, |
| 1.1904 |
| ] |
| }, |
| "source_resolution": [ |
| 640, |
| 360 |
| ], |
| "fps": 15 |
| }, |
| "pin_appearance": { |
| "table_material": "one, fixed across every demo and task", |
| "floor_background": "one, fixed", |
| "lighting": "one, fixed", |
| "object_materials": "fixed -- TextureModder recolours objects too", |
| "how": "disable TextureModder and LightingModder, or hold variant_seed constant", |
| "object_meshes": "already consistent -- no change needed", |
| "object_placement": "KEEP VARYING -- this is the axis the benchmark tests" |
| }, |
| "n_tasks": 20, |
| "demos_per_task": 20, |
| "total_required_episodes": 400, |
| "active_now": [ |
| 809, |
| 811, |
| 866, |
| 868, |
| 945, |
| 953, |
| 966, |
| 1426, |
| 1459, |
| 1889 |
| ], |
| "conditional": [ |
| 810, |
| 815, |
| 929, |
| 970, |
| 1046, |
| 1252, |
| 1427, |
| 1458, |
| 1746, |
| 1891 |
| ], |
| "tasks": [ |
| { |
| "task_id": 809, |
| "name": "separate the sandwich from the juice", |
| "operation": "separate", |
| "status": "active", |
| "note": "in the benchmark now", |
| "n_required": 20, |
| "required_attempt_ids": [ |
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| ], |
| "mean_reward_final": 0.9229 |
| }, |
| { |
| "task_id": 810, |
| "name": "separate the sandwich from the napkin box", |
| "operation": "separate", |
| "status": "conditional", |
| "note": "IN the stage1_5k pretraining data (contaminated); usable only if a future stage-1 run excludes the held-out set", |
| "n_required": 20, |
| "required_attempt_ids": [ |
| 748251, |
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| ], |
| "mean_reward_final": 0.922 |
| }, |
| { |
| "task_id": 811, |
| "name": "reach target pose", |
| "operation": "reach", |
| "status": "active", |
| "note": "in the benchmark now", |
| "n_required": 20, |
| "required_attempt_ids": [ |
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| ], |
| "spare_attempt_ids": [ |
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| ], |
| "mean_reward_final": 0.932 |
| }, |
| { |
| "task_id": 815, |
| "name": "place with orientation", |
| "operation": "place", |
| "status": "conditional", |
| "note": "IN the stage1_5k pretraining data (contaminated); usable only if a future stage-1 run excludes the held-out set", |
| "n_required": 20, |
| "required_attempt_ids": [ |
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| ], |
| "spare_attempt_ids": [ |
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| ], |
| "mean_reward_final": 0.9115 |
| }, |
| { |
| "task_id": 866, |
| "name": "rotate the computer mouse", |
| "operation": "rotate", |
| "status": "active", |
| "note": "in the benchmark now", |
| "n_required": 20, |
| "required_attempt_ids": [ |
| 809472, |
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| ], |
| "spare_attempt_ids": [ |
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| ], |
| "mean_reward_final": 0.9028 |
| }, |
| { |
| "task_id": 868, |
| "name": "pick single rigid object", |
| "operation": "pick", |
| "status": "active", |
| "note": "in the benchmark now", |
| "n_required": 20, |
| "required_attempt_ids": [ |
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| ], |
| "spare_attempt_ids": [ |
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| ], |
| "mean_reward_final": 0.942 |
| }, |
| { |
| "task_id": 929, |
| "name": "put the tea cup on the left side of the tea pot", |
| "operation": "put_spatial", |
| "status": "conditional", |
| "note": "IN the stage1_5k pretraining data (contaminated); usable only if a future stage-1 run excludes the held-out set", |
| "n_required": 20, |
| "required_attempt_ids": [ |
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| ], |
| "spare_attempt_ids": [ |
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| ], |
| "mean_reward_final": 0.8942 |
| }, |
| { |
| "task_id": 945, |
| "name": "put both the potato and the pepper in the bowl", |
| "operation": "put_into", |
| "status": "active", |
| "note": "in the benchmark now", |
| "n_required": 20, |
| "required_attempt_ids": [ |
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| ], |
| "spare_attempt_ids": [ |
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| ], |
| "mean_reward_final": 0.922 |
| }, |
| { |
| "task_id": 953, |
| "name": "put the muffin on the left side of the cup", |
| "operation": "put_spatial", |
| "status": "active", |
| "note": "in the benchmark now", |
| "n_required": 20, |
| "required_attempt_ids": [ |
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| ], |
| "mean_reward_final": 0.9151 |
| }, |
| { |
| "task_id": 966, |
| "name": "put the eyeglasses case on the tissue box", |
| "operation": "put_on", |
| "status": "active", |
| "note": "in the benchmark now", |
| "n_required": 20, |
| "required_attempt_ids": [ |
| 875144, |
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| ], |
| "spare_attempt_ids": [ |
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| ], |
| "mean_reward_final": 0.9231 |
| }, |
| { |
| "task_id": 970, |
| "name": "rotate the eyeglasses case", |
| "operation": "rotate", |
| "status": "conditional", |
| "note": "IN the stage1_5k pretraining data (contaminated); usable only if a future stage-1 run excludes the held-out set", |
| "n_required": 20, |
| "required_attempt_ids": [ |
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| ], |
| "spare_attempt_ids": [ |
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| ], |
| "mean_reward_final": 0.8546 |
| }, |
| { |
| "task_id": 1046, |
| "name": "put the toy car into the basket", |
| "operation": "put_into", |
| "status": "conditional", |
| "note": "IN the stage1_5k pretraining data (contaminated); usable only if a future stage-1 run excludes the held-out set", |
| "n_required": 20, |
| "required_attempt_ids": [ |
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| ], |
| "spare_attempt_ids": [ |
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| ], |
| "mean_reward_final": 0.9018 |
| }, |
| { |
| "task_id": 1252, |
| "name": "remove loose lid", |
| "operation": "remove", |
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| "mean_reward_final": 0.8896 |
| }, |
| { |
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| "name": "rearrange three items", |
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| "mean_reward_final": 0.9132 |
| }, |
| { |
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| "name": "rearrange three items 2", |
| "operation": "rearrange", |
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| "n_required": 20, |
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| "mean_reward_final": 0.9097 |
| }, |
| { |
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| "name": "insert utensil into holder", |
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| "status": "conditional", |
| "note": "IN the stage1_5k pretraining data (contaminated); usable only if a future stage-1 run excludes the held-out set", |
| "n_required": 20, |
| "required_attempt_ids": [ |
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| ], |
| "mean_reward_final": 0.917 |
| }, |
| { |
| "task_id": 1459, |
| "name": "fit lid onto container", |
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| "status": "active", |
| "note": "in the benchmark now", |
| "n_required": 20, |
| "required_attempt_ids": [ |
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| "spare_attempt_ids": [ |
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| ], |
| "mean_reward_final": 0.904 |
| }, |
| { |
| "task_id": 1746, |
| "name": "put the cube block on the poker", |
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| "note": "IN the stage1_5k pretraining data (contaminated); usable only if a future stage-1 run excludes the held-out set", |
| "n_required": 20, |
| "required_attempt_ids": [ |
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| "mean_reward_final": 0.914 |
| }, |
| { |
| "task_id": 1889, |
| "name": "put the kiwi beside the banana", |
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| "status": "active", |
| "note": "in the benchmark now", |
| "n_required": 20, |
| "required_attempt_ids": [ |
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| "mean_reward_final": 0.917 |
| }, |
| { |
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| "n_required": 20, |
| "required_attempt_ids": [ |
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| } |
| ] |
| } |
