| { |
| "schema": "axis_heldout_render_request_v1", |
| "why": "These 10 tasks are the ONLY quality-eligible tasks absent from the stage1_5k pretraining corpus, so they are the only ones that can serve as a held-out benchmark for models pretrained on it. They currently exist ONLY at the superseded camera rig, so they must be re-rendered at the pretraining rig or every evaluated arm suffers a train/eval viewpoint mismatch.", |
| "embodiment": "franka (default)", |
| "camera_group": "camera_fixed", |
| "required_rig": { |
| "note": "MUST match stage1_5k_camera_fixed exactly. Verified identical across sampled tasks of Franka-Datasets-v2-5k-LIBERO and -30k-LIBERO.", |
| "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 |
| }, |
| "demos_per_task": 20, |
| "total_episodes": 200, |
| "tasks": [ |
| { |
| "task_id": 809, |
| "name": "separate the sandwich from the juice", |
| "operation": "separate", |
| "n_demos": 20, |
| "attempt_ids": [ |
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| 739472, |
| 739473, |
| 739474, |
| 739481, |
| 739488, |
| 739492 |
| ], |
| "spare_attempt_ids": [ |
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| 739609, |
| 739612, |
| 739620, |
| 739622, |
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| 739696, |
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| 739703, |
| 739707, |
| 739712 |
| ], |
| "note": "attempt_id is the stable identity; survey traces and goals already exist for these" |
| }, |
| { |
| "task_id": 811, |
| "name": "reach target pose", |
| "operation": "reach", |
| "n_demos": 20, |
| "attempt_ids": [ |
| 1207836, |
| 1207840, |
| 1207846, |
| 1207848, |
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| 1207882, |
| 1207884, |
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| 1207894, |
| 1207899, |
| 1207901, |
| 1207907 |
| ], |
| "spare_attempt_ids": [ |
| 1207913, |
| 1207914, |
| 1207915, |
| 1207917, |
| 1207919, |
| 1207921, |
| 1207924, |
| 1207925, |
| 1207926, |
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| 1207948, |
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| 1208003, |
| 1208007, |
| 1208009, |
| 1208013, |
| 1208018, |
| 1208019 |
| ], |
| "note": "attempt_id is the stable identity; survey traces and goals already exist for these" |
| }, |
| { |
| "task_id": 866, |
| "name": "rotate the computer mouse", |
| "operation": "rotate", |
| "n_demos": 20, |
| "attempt_ids": [ |
| 805853, |
| 805863, |
| 805919, |
| 805925, |
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| 806233, |
| 806256, |
| 806273, |
| 806288, |
| 806296, |
| 806297 |
| ], |
| "spare_attempt_ids": [ |
| 806327, |
| 806346, |
| 806386, |
| 806409, |
| 806411, |
| 806458, |
| 806471, |
| 806518, |
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| 806612, |
| 806622, |
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| 806687, |
| 806733, |
| 806767, |
| 806774, |
| 806828, |
| 806835, |
| 806848, |
| 806874, |
| 806929, |
| 806959, |
| 806973, |
| 806997, |
| 807020, |
| 807021, |
| 807028, |
| 807039, |
| 807089, |
| 807106, |
| 807126, |
| 807132, |
| 807229, |
| 807300, |
| 807326, |
| 807416, |
| 807423, |
| 807435, |
| 807477 |
| ], |
| "note": "attempt_id is the stable identity; survey traces and goals already exist for these" |
| }, |
| { |
| "task_id": 868, |
| "name": "pick single rigid object", |
| "operation": "pick", |
| "n_demos": 20, |
| "attempt_ids": [ |
| 1010910, |
| 1010913, |
| 1010931, |
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| 1011077, |
| 1011094, |
| 1011095, |
| 1011108, |
| 1011126 |
| ], |
| "spare_attempt_ids": [ |
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| 1011183, |
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| 1012025, |
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| 1013009, |
| 1013010, |
| 1013109, |
| 1013132, |
| 1013479, |
| 1013485 |
| ], |
| "note": "attempt_id is the stable identity; survey traces and goals already exist for these" |
| }, |
| { |
| "task_id": 945, |
| "name": "put both the potato and the pepper in the bowl", |
| "operation": "put_into", |
| "n_demos": 20, |
| "attempt_ids": [ |
| 883403, |
| 883405, |
| 883406, |
| 883410, |
| 883411, |
| 883413, |
| 883414, |
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| 883423, |
| 883427, |
| 883429, |
| 883430, |
| 883431, |
| 883432, |
| 883435, |
| 883437, |
| 883438 |
| ], |
| "spare_attempt_ids": [ |
| 883439, |
| 883442, |
| 883443, |
| 883444, |
| 883448, |
| 883449, |
| 883451, |
| 883452, |
| 883453, |
| 883454, |
| 883456, |
| 883457, |
| 883458, |
| 883459, |
| 883461, |
| 883463, |
| 883465, |
| 883466, |
| 883469, |
| 883475, |
| 883477, |
| 883479, |
| 883481, |
| 883483, |
| 883485, |
| 883487, |
| 883490, |
| 883491, |
| 883492, |
| 883494, |
| 883496, |
| 883498, |
| 883501, |
| 883502, |
| 883504, |
| 883505, |
| 883507, |
| 883508, |
| 883511, |
| 883519 |
| ], |
| "note": "attempt_id is the stable identity; survey traces and goals already exist for these" |
| }, |
| { |
| "task_id": 953, |
| "name": "put the muffin on the left side of the cup", |
| "operation": "put_spatial", |
| "n_demos": 20, |
| "attempt_ids": [ |
| 906055, |
| 906056, |
| 906058, |
| 906061, |
| 906063, |
| 906064, |
| 906069, |
| 906072, |
| 906073, |
| 906076, |
| 906077, |
| 906081, |
| 906083, |
| 906085, |
| 906097, |
| 906099, |
| 906100, |
| 906102, |
| 906109, |
| 906112 |
| ], |
| "spare_attempt_ids": [ |
| 906114, |
| 906115, |
| 906117, |
| 906126, |
| 906128, |
| 906130, |
| 906131, |
| 906132, |
| 906134, |
| 906140, |
| 906142, |
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| 906150, |
| 906151, |
| 906156, |
| 906157, |
| 906158, |
| 906159, |
| 906160, |
| 906162, |
| 906163, |
| 906164, |
| 906166, |
| 906167, |
| 906168, |
| 906169, |
| 906170, |
| 906174, |
| 906175, |
| 906177, |
| 906179, |
| 906180, |
| 906181, |
| 906183, |
| 906185, |
| 906187, |
| 906192, |
| 906193, |
| 906195, |
| 906197 |
| ], |
| "note": "attempt_id is the stable identity; survey traces and goals already exist for these" |
| }, |
| { |
| "task_id": 966, |
| "name": "put the eyeglasses case on the tissue box", |
| "operation": "put_on", |
| "n_demos": 20, |
| "attempt_ids": [ |
| 874385, |
| 874387, |
| 874389, |
| 874392, |
| 874393, |
| 874395, |
| 874396, |
| 874399, |
| 874403, |
| 874404, |
| 874408, |
| 874409, |
| 874412, |
| 874413, |
| 874414, |
| 874424, |
| 874427, |
| 874428, |
| 874439, |
| 874441 |
| ], |
| "spare_attempt_ids": [ |
| 874448, |
| 874452, |
| 874458, |
| 874459, |
| 874466, |
| 874469, |
| 874475, |
| 874478, |
| 874481, |
| 874483, |
| 874486, |
| 874488, |
| 874497, |
| 874499, |
| 874500, |
| 874503, |
| 874504, |
| 874511, |
| 874513, |
| 874516, |
| 874520, |
| 874530, |
| 874542, |
| 874543, |
| 874546, |
| 874561, |
| 874575, |
| 874579, |
| 874580, |
| 874581, |
| 874583, |
| 874589, |
| 874593, |
| 874598, |
| 874603, |
| 874605, |
| 874606, |
| 874609, |
| 874612, |
| 874614 |
| ], |
| "note": "attempt_id is the stable identity; survey traces and goals already exist for these" |
| }, |
| { |
| "task_id": 1426, |
| "name": "rearrange three items", |
| "operation": "rearrange", |
| "n_demos": 20, |
| "attempt_ids": [ |
| 1420863, |
| 1420917, |
| 1421089, |
| 1421184, |
| 1421337, |
| 1421480, |
| 1421588, |
| 1421688, |
| 1421805, |
| 1421834, |
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| 1422373, |
| 1422412, |
| 1422422, |
| 1422423, |
| 1422433, |
| 1422439, |
| 1422441 |
| ], |
| "spare_attempt_ids": [ |
| 1422446, |
| 1422465, |
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| 1422838, |
| 1422843, |
| 1422844, |
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| 1422925, |
| 1422928, |
| 1422935, |
| 1422949, |
| 1422952, |
| 1422955 |
| ], |
| "note": "attempt_id is the stable identity; survey traces and goals already exist for these" |
| }, |
| { |
| "task_id": 1459, |
| "name": "fit lid onto container", |
| "operation": "insert", |
| "n_demos": 20, |
| "attempt_ids": [ |
| 1366760, |
| 1366995, |
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| 1367083, |
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| 1367284, |
| 1367299, |
| 1367317, |
| 1367358, |
| 1367381, |
| 1367394 |
| ], |
| "spare_attempt_ids": [ |
| 1367400, |
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| 1368781, |
| 1369155, |
| 1369555, |
| 1369570, |
| 1369801, |
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| 1369840, |
| 1369872, |
| 1370392, |
| 1372699, |
| 1373428, |
| 1376591, |
| 1378602, |
| 1378732, |
| 1381418, |
| 1390159, |
| 1390182, |
| 1390205, |
| 1390405, |
| 1390567, |
| 1390849, |
| 1390911, |
| 1390930, |
| 1391227, |
| 1391249 |
| ], |
| "note": "attempt_id is the stable identity; survey traces and goals already exist for these" |
| }, |
| { |
| "task_id": 1889, |
| "name": "put the kiwi beside the banana", |
| "operation": "put_beside", |
| "n_demos": 20, |
| "attempt_ids": [ |
| 1822258, |
| 1822261, |
| 1822268, |
| 1822269, |
| 1822272, |
| 1822278, |
| 1822287, |
| 1822364, |
| 1822384, |
| 1822405, |
| 1822407, |
| 1822414, |
| 1822423, |
| 1822471, |
| 1822531, |
| 1822544, |
| 1822550, |
| 1822574, |
| 1822594, |
| 1822617 |
| ], |
| "spare_attempt_ids": [ |
| 1822643, |
| 1822665, |
| 1822776, |
| 1822815, |
| 1822821, |
| 1822840, |
| 1822844, |
| 1822867, |
| 1822880, |
| 1822947, |
| 1822952, |
| 1822983, |
| 1822993, |
| 1823005, |
| 1823040, |
| 1823057, |
| 1823061, |
| 1823070, |
| 1823109, |
| 1823121, |
| 1823122, |
| 1823148, |
| 1823151, |
| 1823162, |
| 1823170, |
| 1823190, |
| 1823398, |
| 1823436, |
| 1823519, |
| 1823584, |
| 1823591, |
| 1823604, |
| 1823624, |
| 1823634, |
| 1823636, |
| 1823641, |
| 1823648, |
| 1823653, |
| 1823661, |
| 1823666 |
| ], |
| "note": "attempt_id is the stable identity; survey traces and goals already exist for these" |
| } |
| ] |
| } |
