drop the superseded render request; render_request/ carries the quality-ranked list

spec/render_request_heldout10.json

@@ -1,750 +0,0 @@
-{
- "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 They currently exist ONLY at the superseded camera rig, so they must be re-rendered at the pretraining rig or every evaluated arm suffers a train/eval viewpoint mismatch.",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": [
-    739417,
-    739418,
-    739430,
-    739433,
-    739434,
-    739436,
-    739440,
-    739443,
-    739446,
-    739455,
-    739457,
-    739459,
-    739460,
-    739463,
-    739472,
-    739473,
-    739474,
-    739481,
-    739488,
-    739492
-   ],
-   "spare_attempt_ids": [
-    739494,
-    739505,
-    739515,
-    739525,
-    739534,
-    739543,
-    739544,
-    739547,
-    739568,
-    739576,
-    739578,
-    739588,
-    739589,
-    739594,
-    739602,
-    739609,
-    739612,
-    739620,
-    739622,
-    739626,
-    739642,
-    739648,
-    739650,
-    739654,
-    739655,
-    739660,
-    739666,
-    739670,
-    739675,
-    739680,
-    739681,
-    739682,
-    739686,
-    739689,
-    739694,
-    739696,
-    739702,
-    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,
-    1207851,
-    1207855,
-    1207858,
-    1207860,
-    1207864,
-    1207871,
-    1207875,
-    1207880,
-    1207881,
-    1207882,
-    1207884,
-    1207887,
-    1207894,
-    1207899,
-    1207901,
-    1207907
-   ],
-   "spare_attempt_ids": [
-    1207913,
-    1207914,
-    1207915,
-    1207917,
-    1207919,
-    1207921,
-    1207924,
-    1207925,
-    1207926,
-    1207929,
-    1207931,
-    1207934,
-    1207935,
-    1207939,
-    1207942,
-    1207945,
-    1207948,
-    1207952,
-    1207956,
-    1207958,
-    1207961,
-    1207966,
-    1207968,
-    1207971,
-    1207972,
-    1207973,
-    1207974,
-    1207980,
-    1207988,
-    1207990,
-    1207992,
-    1207997,
-    1208000,
-    1208002,
-    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,
-    805951,
-    805972,
-    805983,
-    806035,
-    806069,
-    806078,
-    806079,
-    806124,
-    806168,
-    806188,
-    806233,
-    806256,
-    806273,
-    806288,
-    806296,
-    806297
-   ],
-   "spare_attempt_ids": [
-    806327,
-    806346,
-    806386,
-    806409,
-    806411,
-    806458,
-    806471,
-    806518,
-    806566,
-    806572,
-    806612,
-    806622,
-    806676,
-    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,
-    1010935,
-    1010937,
-    1010969,
-    1010983,
-    1010987,
-    1010997,
-    1011000,
-    1011012,
-    1011033,
-    1011058,
-    1011066,
-    1011072,
-    1011077,
-    1011094,
-    1011095,
-    1011108,
-    1011126
-   ],
-   "spare_attempt_ids": [
-    1011149,
-    1011169,
-    1011181,
-    1011182,
-    1011183,
-    1011193,
-    1011205,
-    1011217,
-    1011229,
-    1011235,
-    1011245,
-    1011255,
-    1011256,
-    1011259,
-    1011262,
-    1011264,
-    1011267,
-    1011274,
-    1011277,
-    1011284,
-    1011291,
-    1011305,
-    1011307,
-    1011310,
-    1011793,
-    1012010,
-    1012025,
-    1012362,
-    1012557,
-    1012620,
-    1012625,
-    1012724,
-    1012906,
-    1012969,
-    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,
-    883415,
-    883416,
-    883418,
-    883422,
-    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,
-    906148,
-    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,
-    1421869,
-    1422132,
-    1422367,
-    1422373,
-    1422412,
-    1422422,
-    1422423,
-    1422433,
-    1422439,
-    1422441
-   ],
-   "spare_attempt_ids": [
-    1422446,
-    1422465,
-    1422520,
-    1422568,
-    1422570,
-    1422574,
-    1422575,
-    1422597,
-    1422605,
-    1422607,
-    1422624,
-    1422633,
-    1422643,
-    1422644,
-    1422661,
-    1422676,
-    1422691,
-    1422706,
-    1422765,
-    1422771,
-    1422834,
-    1422837,
-    1422838,
-    1422843,
-    1422844,
-    1422865,
-    1422867,
-    1422875,
-    1422879,
-    1422881,
-    1422890,
-    1422892,
-    1422906,
-    1422910,
-    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,
-    1367066,
-    1367083,
-    1367089,
-    1367105,
-    1367124,
-    1367157,
-    1367174,
-    1367216,
-    1367221,
-    1367258,
-    1367267,
-    1367280,
-    1367284,
-    1367299,
-    1367317,
-    1367358,
-    1367381,
-    1367394
-   ],
-   "spare_attempt_ids": [
-    1367400,
-    1367411,
-    1367417,
-    1367436,
-    1367439,
-    1367453,
-    1367470,
-    1367484,
-    1367802,
-    1367946,
-    1368522,
-    1368735,
-    1368747,
-    1368755,
-    1368778,
-    1368781,
-    1369155,
-    1369555,
-    1369570,
-    1369801,
-    1369838,
-    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"
-  }
- ]
-}