render request: all 20 tasks, rig + appearance pinned, active/conditional marked

render_request/README.md

@@ -1,9 +1,25 @@
-# Render request — held-out benchmark, 10 tasks × 20 demos
+# Render request — held-out benchmark, 20 tasks × 20 demos
 
 Everything needed is in this folder. Read the attempt lists here, upload the rendered output here.
 
-**What:** re-render 200 existing demonstrations (10 tasks × 20 attempts) for the **default Franka**,
-at the **stage1_5k camera rig**.
+**What:** re-render 400 existing demonstrations (20 tasks × 20 attempts) for the **default Franka**,
+at the **stage1_5k camera rig**, with **appearance pinned**.
+
+### Why 20 and not 10 — and why the existing LIBERO-rig renders don't count
+
+Ten of these tasks are currently in the stage1_5k pretraining data, so they cannot be scored against
+today's models. They are listed as `status: conditional`. The other ten are `status: active`.
+
+It would seem to follow that only the ten active tasks need rendering. It does not, for two reasons:
+
+1. **The conditional ten become usable the moment a stage-1 run excludes the held-out set** — which
+   is planned. Rendering them now avoids a second round trip.
+2. **Their existing renders don't meet the appearance requirement.** Tasks 810/815/929/... already
+   have renders at the correct camera rig in `Franka-Datasets-v2-5k-LIBERO`. We checked those
+   manifests: they run `TextureModder` and `LightingModder` too. So they need re-rendering for
+   appearance regardless of the rig.
+
+So the ask is all 20. If you have to stage it, do the ten marked `active` first.
 
 **Why re-render:** these demonstrations currently exist only at a superseded camera rig. The
 pretraining corpus (`stage1_5k_camera_fixed`) uses a different one, and this benchmark evaluates
@@ -83,18 +99,9 @@ know and design around it than discover it in the frames again.
 | [`attempts/task_<id>.json`](attempts) | one file per task |
 | [`attempts/all_attempts.csv`](attempts/all_attempts.csv) | flat table — `task_id, task_name, operation, role, attempt_id, n_frames, reward_final` |
 
-| task | operation | demos | description |
-|---|---|---|---|
-| 809 | separate | 20 | separate the sandwich from the juice |
-| 811 | reach | 20 | reach target pose |
-| 866 | rotate | 20 | rotate the computer mouse |
-| 868 | pick | 20 | pick single rigid object |
-| 945 | put_into | 20 | put both the potato and the pepper in the bowl |
-| 953 | put_spatial | 20 | put the muffin on the left side of the cup |
-| 966 | put_on | 20 | put the eyeglasses case on the tissue box |
-| 1426 | rearrange | 20 | rearrange three items |
-| 1459 | insert | 20 | fit lid onto container |
-| 1889 | put_beside | 20 | put the kiwi beside the banana |
+See [`tasks.json`](tasks.json) and [`attempts/all_attempts.csv`](attempts/all_attempts.csv)
+for all 20 tasks, each marked `active` or `conditional`.
+
 
 **`attempt_id` is the identity — please render exactly those.** They are not arbitrary: they were
 selected as the highest-reward demonstrations available for each task, and they are the only ones

render_request/attempts/task_1046.json

@@ -0,0 +1,73 @@
+{
+ "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": [
+  1035460,
+  1035289,
+  1035341,
+  1036462,
+  1036471,
+  1036457,
+  1035263,
+  1036007,
+  1036208,
+  1036590,
+  1035128,
+  1036588,
+  1036707,
+  1035564,
+  1036346,
+  1036399,
+  1035241,
+  1035134,
+  1035240,
+  1035262
+ ],
+ "spare_attempt_ids": [
+  1035375,
+  1035489,
+  1035567,
+  1035569,
+  1035592,
+  1035634,
+  1035666,
+  1035705,
+  1035715,
+  1035802,
+  1035808,
+  1035917,
+  1035959,
+  1035962,
+  1035967,
+  1035975,
+  1036040,
+  1036046,
+  1036050,
+  1036058,
+  1036080,
+  1036115,
+  1036124,
+  1036148,
+  1036149,
+  1036154,
+  1036159,
+  1036226,
+  1036240,
+  1036354,
+  1036356,
+  1036370,
+  1036416,
+  1036440,
+  1036489,
+  1036495,
+  1036498,
+  1036503,
+  1036570,
+  1036573
+ ],
+ "mean_reward_final": 0.9018
+}

render_request/attempts/task_1252.json

@@ -0,0 +1,73 @@
+{
+ "task_id": 1252,
+ "name": "remove loose lid",
+ "operation": "remove",
+ "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": [
+  1254466,
+  1263634,
+  1253896,
+  1456875,
+  1252502,
+  1456877,
+  1253402,
+  1268610,
+  1268592,
+  1263586,
+  1264027,
+  1268783,
+  1264973,
+  1253526,
+  1253693,
+  1252587,
+  1252681,
+  1268708,
+  1254713,
+  1268529
+ ],
+ "spare_attempt_ids": [
+  1264895,
+  1264622,
+  1252629,
+  1254613,
+  1254205,
+  1253414,
+  1264618,
+  1252935,
+  1252890,
+  1254478,
+  1264940,
+  1254709,
+  1254248,
+  1268717,
+  1253689,
+  1252617,
+  1262863,
+  1264319,
+  1253255,
+  1254427,
+  1268502,
+  1268796,
+  1253427,
+  1253296,
+  1254404,
+  1254541,
+  1268603,
+  1253383,
+  1268705,
+  1254678,
+  1254685,
+  1268537,
+  1254089,
+  1268711,
+  1252605,
+  1268701,
+  1254520,
+  1252823,
+  1253332,
+  1254206
+ ],
+ "mean_reward_final": 0.8896
+}

render_request/attempts/task_1426.json

@@ -2,6 +2,8 @@
  "task_id": 1426,
  "name": "rearrange three items",
  "operation": "rearrange",
+ "status": "active",
+ "note": "in the benchmark now",
  "n_required": 20,
  "required_attempt_ids": [
   1436576,

render_request/attempts/task_1427.json

@@ -0,0 +1,73 @@
+{
+ "task_id": 1427,
+ "name": "rearrange three items 2",
+ "operation": "rearrange",
+ "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": [
+  1439773,
+  1427633,
+  1427669,
+  1427718,
+  1427808,
+  1427900,
+  1427953,
+  1428058,
+  1428080,
+  1428093,
+  1428155,
+  1428193,
+  1428194,
+  1428212,
+  1428225,
+  1428232,
+  1428233,
+  1428312,
+  1428339,
+  1428401
+ ],
+ "spare_attempt_ids": [
+  1428442,
+  1428502,
+  1428508,
+  1442967,
+  1442970,
+  1444662,
+  1445840,
+  1452497,
+  1452508,
+  1452643,
+  1438059,
+  1428262,
+  1438107,
+  1439388,
+  1438808,
+  1439189,
+  1427828,
+  1427692,
+  1427701,
+  1427827,
+  1427890,
+  1427925,
+  1427969,
+  1428051,
+  1428156,
+  1428255,
+  1428375,
+  1443212,
+  1443232,
+  1444829,
+  1445022,
+  1452495,
+  1427937,
+  1439547,
+  1438251,
+  1453720,
+  1427607,
+  1427675,
+  1427691,
+  1427694
+ ],
+ "mean_reward_final": 0.9097
+}

render_request/attempts/task_1458.json

@@ -0,0 +1,73 @@
+{
+ "task_id": 1458,
+ "name": "insert utensil into holder",
+ "operation": "insert",
+ "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": [
+  1327847,
+  1333452,
+  1320195,
+  1317687,
+  1331307,
+  1327617,
+  1330935,
+  1333063,
+  1323867,
+  1330766,
+  1324133,
+  1330851,
+  1318930,
+  1332320,
+  1320624,
+  1333054,
+  1332558,
+  1318854,
+  1331931,
+  1321158
+ ],
+ "spare_attempt_ids": [
+  1331643,
+  1320068,
+  1323736,
+  1323094,
+  1324559,
+  1333271,
+  1333373,
+  1332743,
+  1332112,
+  1331485,
+  1323117,
+  1320502,
+  1329654,
+  1330995,
+  1332234,
+  1320636,
+  1318814,
+  1332264,
+  1333019,
+  1330572,
+  1331538,
+  1330724,
+  1332040,
+  1332342,
+  1321735,
+  1325681,
+  1331604,
+  1322465,
+  1331917,
+  1331801,
+  1319810,
+  1318179,
+  1318282,
+  1327312,
+  1319396,
+  1331815,
+  1331185,
+  1332312,
+  1332447,
+  1333169
+ ],
+ "mean_reward_final": 0.917
+}

render_request/attempts/task_1459.json

@@ -2,6 +2,8 @@
  "task_id": 1459,
  "name": "fit lid onto container",
  "operation": "insert",
+ "status": "active",
+ "note": "in the benchmark now",
  "n_required": 20,
  "required_attempt_ids": [
   1409900,

render_request/attempts/task_1746.json

@@ -0,0 +1,52 @@
+{
+ "task_id": 1746,
+ "name": "put the cube block on the poker",
+ "operation": "put_on",
+ "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": [
+  1711581,
+  1712975,
+  1710654,
+  1710746,
+  1710748,
+  1710795,
+  1710704,
+  1712599,
+  1712744,
+  1711880,
+  1711324,
+  1711136,
+  1712990,
+  1711878,
+  1710960,
+  1712273,
+  1710705,
+  1712106,
+  1711405,
+  1712590
+ ],
+ "spare_attempt_ids": [
+  1715468,
+  1714213,
+  1712988,
+  1711485,
+  1712631,
+  1714249,
+  1715859,
+  1711116,
+  1712928,
+  1714788,
+  1712999,
+  1710753,
+  1711298,
+  1713229,
+  1710952,
+  1711597,
+  1710793,
+  1710672,
+  1710715
+ ],
+ "mean_reward_final": 0.914
+}

render_request/attempts/task_1889.json

@@ -2,6 +2,8 @@
  "task_id": 1889,
  "name": "put the kiwi beside the banana",
  "operation": "put_beside",
+ "status": "active",
+ "note": "in the benchmark now",
  "n_required": 20,
  "required_attempt_ids": [
   1824118,

render_request/attempts/task_1891.json

@@ -0,0 +1,73 @@
+{
+ "task_id": 1891,
+ "name": "put the orange beside the banana",
+ "operation": "put_beside",
+ "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": [
+  1822335,
+  1824066,
+  1825081,
+  1824438,
+  1824448,
+  1822306,
+  1824335,
+  1850840,
+  1827173,
+  1898198,
+  1824069,
+  1828066,
+  1825839,
+  1849093,
+  1824451,
+  1822728,
+  2064679,
+  1827162,
+  1848760,
+  1824839
+ ],
+ "spare_attempt_ids": [
+  1823674,
+  1961727,
+  1828464,
+  2015385,
+  1828220,
+  1822337,
+  1822706,
+  1827841,
+  1877067,
+  1949622,
+  1824228,
+  1890943,
+  2017365,
+  2017378,
+  1827164,
+  1807384,
+  1822426,
+  1822092,
+  1824073,
+  1961695,
+  1824164,
+  1827125,
+  1949601,
+  1914454,
+  1826134,
+  1822253,
+  1824547,
+  1989527,
+  1823610,
+  1989523,
+  1827329,
+  2063556,
+  1822090,
+  1949418,
+  1825655,
+  1949463,
+  2015392,
+  1949426,
+  1949420,
+  1900819
+ ],
+ "mean_reward_final": 0.9076
+}

render_request/attempts/task_809.json

@@ -2,6 +2,8 @@
  "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": [
   749148,

render_request/attempts/task_810.json

@@ -0,0 +1,73 @@
+{
+ "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,
+  736843,
+  734497,
+  748768,
+  780008,
+  782452,
+  743682,
+  758022,
+  763001,
+  741371,
+  733539,
+  738298,
+  779373,
+  781848,
+  782204,
+  765379,
+  779771,
+  746760,
+  781279,
+  764113
+ ],
+ "spare_attempt_ids": [
+  735457,
+  780765,
+  780673,
+  764441,
+  780430,
+  741219,
+  735329,
+  745557,
+  777140,
+  781254,
+  733149,
+  762372,
+  735880,
+  735716,
+  736284,
+  764470,
+  779998,
+  765318,
+  747896,
+  765245,
+  744034,
+  748198,
+  782763,
+  741574,
+  733256,
+  763286,
+  769271,
+  765628,
+  735530,
+  736968,
+  737392,
+  765681,
+  733818,
+  743332,
+  736595,
+  743858,
+  779162,
+  739257,
+  742943,
+  746490
+ ],
+ "mean_reward_final": 0.922
+}

render_request/attempts/task_811.json

@@ -2,6 +2,8 @@
  "task_id": 811,
  "name": "reach target pose",
  "operation": "reach",
+ "status": "active",
+ "note": "in the benchmark now",
  "n_required": 20,
  "required_attempt_ids": [
   1209973,

render_request/attempts/task_815.json

@@ -0,0 +1,73 @@
+{
+ "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": [
+  1193038,
+  1193210,
+  1193852,
+  1003354,
+  1193309,
+  1003077,
+  1002843,
+  1193315,
+  1003979,
+  1193183,
+  1004049,
+  1193420,
+  1003910,
+  1194204,
+  1196024,
+  1193128,
+  1002663,
+  1002316,
+  1004530,
+  1194150
+ ],
+ "spare_attempt_ids": [
+  1194112,
+  1003791,
+  1196681,
+  1194170,
+  1193150,
+  1193895,
+  1002040,
+  1002397,
+  1002820,
+  1002870,
+  1002095,
+  1002358,
+  1004527,
+  1003153,
+  1002254,
+  1003999,
+  1004595,
+  1001865,
+  1001856,
+  1003658,
+  1003293,
+  1003970,
+  1003779,
+  1003339,
+  1002383,
+  1004079,
+  1004303,
+  1003932,
+  1002850,
+  1003221,
+  1004335,
+  1004570,
+  1002715,
+  1004312,
+  1004606,
+  1003106,
+  1002028,
+  1002410,
+  1002046,
+  1004567
+ ],
+ "mean_reward_final": 0.9115
+}

render_request/attempts/task_866.json

@@ -2,6 +2,8 @@
  "task_id": 866,
  "name": "rotate the computer mouse",
  "operation": "rotate",
+ "status": "active",
+ "note": "in the benchmark now",
  "n_required": 20,
  "required_attempt_ids": [
   809472,

render_request/attempts/task_868.json

@@ -2,6 +2,8 @@
  "task_id": 868,
  "name": "pick single rigid object",
  "operation": "pick",
+ "status": "active",
+ "note": "in the benchmark now",
  "n_required": 20,
  "required_attempt_ids": [
   1016743,

render_request/attempts/task_929.json

@@ -0,0 +1,73 @@
+{
+ "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": [
+  866819,
+  870299,
+  865017,
+  866877,
+  865490,
+  866062,
+  866726,
+  870292,
+  866909,
+  865063,
+  870104,
+  870188,
+  866491,
+  870856,
+  865962,
+  865084,
+  865936,
+  865996,
+  865745,
+  869700
+ ],
+ "spare_attempt_ids": [
+  865050,
+  870260,
+  865884,
+  870228,
+  866190,
+  866138,
+  866525,
+  864922,
+  866875,
+  870291,
+  865638,
+  865883,
+  865881,
+  865917,
+  866218,
+  866278,
+  866298,
+  866308,
+  866366,
+  866383,
+  866391,
+  866472,
+  866487,
+  866526,
+  866562,
+  866663,
+  866676,
+  866746,
+  866763,
+  866788,
+  866793,
+  866827,
+  870410,
+  865998,
+  866325,
+  865836,
+  871073,
+  865409,
+  866001,
+  866568
+ ],
+ "mean_reward_final": 0.8942
+}

render_request/attempts/task_945.json

@@ -2,6 +2,8 @@
  "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": [
   891429,

render_request/attempts/task_953.json

@@ -2,6 +2,8 @@
  "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": [
   906245,

render_request/attempts/task_966.json

@@ -2,6 +2,8 @@
  "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,

render_request/attempts/task_970.json

@@ -0,0 +1,73 @@
+{
+ "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": [
+  903821,
+  910383,
+  903330,
+  904251,
+  903560,
+  904158,
+  904004,
+  903798,
+  903596,
+  904000,
+  903172,
+  903175,
+  903176,
+  903179,
+  903211,
+  903272,
+  903280,
+  903292,
+  903294,
+  903319
+ ],
+ "spare_attempt_ids": [
+  903348,
+  903364,
+  903433,
+  903462,
+  903616,
+  903687,
+  903707,
+  904030,
+  904250,
+  910473,
+  903470,
+  904056,
+  903900,
+  903632,
+  910449,
+  903913,
+  903412,
+  903187,
+  903229,
+  903234,
+  903246,
+  903312,
+  903314,
+  903320,
+  903326,
+  903383,
+  903529,
+  903537,
+  903571,
+  903617,
+  904179,
+  904330,
+  903987,
+  903726,
+  903826,
+  903166,
+  903174,
+  903184,
+  903196,
+  903207
+ ],
+ "mean_reward_final": 0.8546
+}

render_request/camera_rig.json

@@ -1,5 +1,5 @@
 {
- "note": "MUST match stage1_5k_camera_fixed EXACTLY. Verified identical across sampled tasks of Franka-Datasets-v2-5k-LIBERO and Franka-Datasets-v2-30k-LIBERO.",
+ "note": "MUST match stage1_5k_camera_fixed EXACTLY.",
  "embodiment": "franka (default)",
  "camera_group": "camera_fixed",
  "wrist": {

render_request/tasks.json

@@ -1,7 +1,7 @@
 {
- "schema": "axis_heldout_render_request_v2",
+ "schema": "axis_heldout_render_request_v3",
  "required_rig": {
-  "note": "MUST match stage1_5k_camera_fixed EXACTLY. Verified identical across sampled tasks of Franka-Datasets-v2-5k-LIBERO and Franka-Datasets-v2-30k-LIBERO.",
+  "note": "MUST match stage1_5k_camera_fixed EXACTLY.",
   "embodiment": "franka (default)",
   "camera_group": "camera_fixed",
   "wrist": {
@@ -32,14 +32,49 @@
   ],
   "fps": 15
  },
- "n_tasks": 10,
+ "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": 200,
+ "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": [
     749148,
@@ -107,10 +142,85 @@
    ],
    "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,
+    736843,
+    734497,
+    748768,
+    780008,
+    782452,
+    743682,
+    758022,
+    763001,
+    741371,
+    733539,
+    738298,
+    779373,
+    781848,
+    782204,
+    765379,
+    779771,
+    746760,
+    781279,
+    764113
+   ],
+   "spare_attempt_ids": [
+    735457,
+    780765,
+    780673,
+    764441,
+    780430,
+    741219,
+    735329,
+    745557,
+    777140,
+    781254,
+    733149,
+    762372,
+    735880,
+    735716,
+    736284,
+    764470,
+    779998,
+    765318,
+    747896,
+    765245,
+    744034,
+    748198,
+    782763,
+    741574,
+    733256,
+    763286,
+    769271,
+    765628,
+    735530,
+    736968,
+    737392,
+    765681,
+    733818,
+    743332,
+    736595,
+    743858,
+    779162,
+    739257,
+    742943,
+    746490
+   ],
+   "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": [
     1209973,
@@ -178,10 +288,85 @@
    ],
    "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": [
+    1193038,
+    1193210,
+    1193852,
+    1003354,
+    1193309,
+    1003077,
+    1002843,
+    1193315,
+    1003979,
+    1193183,
+    1004049,
+    1193420,
+    1003910,
+    1194204,
+    1196024,
+    1193128,
+    1002663,
+    1002316,
+    1004530,
+    1194150
+   ],
+   "spare_attempt_ids": [
+    1194112,
+    1003791,
+    1196681,
+    1194170,
+    1193150,
+    1193895,
+    1002040,
+    1002397,
+    1002820,
+    1002870,
+    1002095,
+    1002358,
+    1004527,
+    1003153,
+    1002254,
+    1003999,
+    1004595,
+    1001865,
+    1001856,
+    1003658,
+    1003293,
+    1003970,
+    1003779,
+    1003339,
+    1002383,
+    1004079,
+    1004303,
+    1003932,
+    1002850,
+    1003221,
+    1004335,
+    1004570,
+    1002715,
+    1004312,
+    1004606,
+    1003106,
+    1002028,
+    1002410,
+    1002046,
+    1004567
+   ],
+   "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,
@@ -253,6 +438,8 @@
    "task_id": 868,
    "name": "pick single rigid object",
    "operation": "pick",
+   "status": "active",
+   "note": "in the benchmark now",
    "n_required": 20,
    "required_attempt_ids": [
     1016743,
@@ -320,10 +507,85 @@
    ],
    "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": [
+    866819,
+    870299,
+    865017,
+    866877,
+    865490,
+    866062,
+    866726,
+    870292,
+    866909,
+    865063,
+    870104,
+    870188,
+    866491,
+    870856,
+    865962,
+    865084,
+    865936,
+    865996,
+    865745,
+    869700
+   ],
+   "spare_attempt_ids": [
+    865050,
+    870260,
+    865884,
+    870228,
+    866190,
+    866138,
+    866525,
+    864922,
+    866875,
+    870291,
+    865638,
+    865883,
+    865881,
+    865917,
+    866218,
+    866278,
+    866298,
+    866308,
+    866366,
+    866383,
+    866391,
+    866472,
+    866487,
+    866526,
+    866562,
+    866663,
+    866676,
+    866746,
+    866763,
+    866788,
+    866793,
+    866827,
+    870410,
+    865998,
+    866325,
+    865836,
+    871073,
+    865409,
+    866001,
+    866568
+   ],
+   "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": [
     891429,
@@ -395,6 +657,8 @@
    "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": [
     906245,
@@ -466,6 +730,8 @@
    "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,
@@ -533,10 +799,231 @@
    ],
    "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": [
+    903821,
+    910383,
+    903330,
+    904251,
+    903560,
+    904158,
+    904004,
+    903798,
+    903596,
+    904000,
+    903172,
+    903175,
+    903176,
+    903179,
+    903211,
+    903272,
+    903280,
+    903292,
+    903294,
+    903319
+   ],
+   "spare_attempt_ids": [
+    903348,
+    903364,
+    903433,
+    903462,
+    903616,
+    903687,
+    903707,
+    904030,
+    904250,
+    910473,
+    903470,
+    904056,
+    903900,
+    903632,
+    910449,
+    903913,
+    903412,
+    903187,
+    903229,
+    903234,
+    903246,
+    903312,
+    903314,
+    903320,
+    903326,
+    903383,
+    903529,
+    903537,
+    903571,
+    903617,
+    904179,
+    904330,
+    903987,
+    903726,
+    903826,
+    903166,
+    903174,
+    903184,
+    903196,
+    903207
+   ],
+   "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": [
+    1035460,
+    1035289,
+    1035341,
+    1036462,
+    1036471,
+    1036457,
+    1035263,
+    1036007,
+    1036208,
+    1036590,
+    1035128,
+    1036588,
+    1036707,
+    1035564,
+    1036346,
+    1036399,
+    1035241,
+    1035134,
+    1035240,
+    1035262
+   ],
+   "spare_attempt_ids": [
+    1035375,
+    1035489,
+    1035567,
+    1035569,
+    1035592,
+    1035634,
+    1035666,
+    1035705,
+    1035715,
+    1035802,
+    1035808,
+    1035917,
+    1035959,
+    1035962,
+    1035967,
+    1035975,
+    1036040,
+    1036046,
+    1036050,
+    1036058,
+    1036080,
+    1036115,
+    1036124,
+    1036148,
+    1036149,
+    1036154,
+    1036159,
+    1036226,
+    1036240,
+    1036354,
+    1036356,
+    1036370,
+    1036416,
+    1036440,
+    1036489,
+    1036495,
+    1036498,
+    1036503,
+    1036570,
+    1036573
+   ],
+   "mean_reward_final": 0.9018
+  },
+  {
+   "task_id": 1252,
+   "name": "remove loose lid",
+   "operation": "remove",
+   "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": [
+    1254466,
+    1263634,
+    1253896,
+    1456875,
+    1252502,
+    1456877,
+    1253402,
+    1268610,
+    1268592,
+    1263586,
+    1264027,
+    1268783,
+    1264973,
+    1253526,
+    1253693,
+    1252587,
+    1252681,
+    1268708,
+    1254713,
+    1268529
+   ],
+   "spare_attempt_ids": [
+    1264895,
+    1264622,
+    1252629,
+    1254613,
+    1254205,
+    1253414,
+    1264618,
+    1252935,
+    1252890,
+    1254478,
+    1264940,
+    1254709,
+    1254248,
+    1268717,
+    1253689,
+    1252617,
+    1262863,
+    1264319,
+    1253255,
+    1254427,
+    1268502,
+    1268796,
+    1253427,
+    1253296,
+    1254404,
+    1254541,
+    1268603,
+    1253383,
+    1268705,
+    1254678,
+    1254685,
+    1268537,
+    1254089,
+    1268711,
+    1252605,
+    1268701,
+    1254520,
+    1252823,
+    1253332,
+    1254206
+   ],
+   "mean_reward_final": 0.8896
+  },
   {
    "task_id": 1426,
    "name": "rearrange three items",
    "operation": "rearrange",
+   "status": "active",
+   "note": "in the benchmark now",
    "n_required": 20,
    "required_attempt_ids": [
     1436576,
@@ -604,10 +1091,158 @@
    ],
    "mean_reward_final": 0.9132
   },
+  {
+   "task_id": 1427,
+   "name": "rearrange three items 2",
+   "operation": "rearrange",
+   "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": [
+    1439773,
+    1427633,
+    1427669,
+    1427718,
+    1427808,
+    1427900,
+    1427953,
+    1428058,
+    1428080,
+    1428093,
+    1428155,
+    1428193,
+    1428194,
+    1428212,
+    1428225,
+    1428232,
+    1428233,
+    1428312,
+    1428339,
+    1428401
+   ],
+   "spare_attempt_ids": [
+    1428442,
+    1428502,
+    1428508,
+    1442967,
+    1442970,
+    1444662,
+    1445840,
+    1452497,
+    1452508,
+    1452643,
+    1438059,
+    1428262,
+    1438107,
+    1439388,
+    1438808,
+    1439189,
+    1427828,
+    1427692,
+    1427701,
+    1427827,
+    1427890,
+    1427925,
+    1427969,
+    1428051,
+    1428156,
+    1428255,
+    1428375,
+    1443212,
+    1443232,
+    1444829,
+    1445022,
+    1452495,
+    1427937,
+    1439547,
+    1438251,
+    1453720,
+    1427607,
+    1427675,
+    1427691,
+    1427694
+   ],
+   "mean_reward_final": 0.9097
+  },
+  {
+   "task_id": 1458,
+   "name": "insert utensil into holder",
+   "operation": "insert",
+   "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": [
+    1327847,
+    1333452,
+    1320195,
+    1317687,
+    1331307,
+    1327617,
+    1330935,
+    1333063,
+    1323867,
+    1330766,
+    1324133,
+    1330851,
+    1318930,
+    1332320,
+    1320624,
+    1333054,
+    1332558,
+    1318854,
+    1331931,
+    1321158
+   ],
+   "spare_attempt_ids": [
+    1331643,
+    1320068,
+    1323736,
+    1323094,
+    1324559,
+    1333271,
+    1333373,
+    1332743,
+    1332112,
+    1331485,
+    1323117,
+    1320502,
+    1329654,
+    1330995,
+    1332234,
+    1320636,
+    1318814,
+    1332264,
+    1333019,
+    1330572,
+    1331538,
+    1330724,
+    1332040,
+    1332342,
+    1321735,
+    1325681,
+    1331604,
+    1322465,
+    1331917,
+    1331801,
+    1319810,
+    1318179,
+    1318282,
+    1327312,
+    1319396,
+    1331815,
+    1331185,
+    1332312,
+    1332447,
+    1333169
+   ],
+   "mean_reward_final": 0.917
+  },
   {
    "task_id": 1459,
    "name": "fit lid onto container",
    "operation": "insert",
+   "status": "active",
+   "note": "in the benchmark now",
    "n_required": 20,
    "required_attempt_ids": [
     1409900,
@@ -675,10 +1310,64 @@
    ],
    "mean_reward_final": 0.904
   },
+  {
+   "task_id": 1746,
+   "name": "put the cube block on the poker",
+   "operation": "put_on",
+   "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": [
+    1711581,
+    1712975,
+    1710654,
+    1710746,
+    1710748,
+    1710795,
+    1710704,
+    1712599,
+    1712744,
+    1711880,
+    1711324,
+    1711136,
+    1712990,
+    1711878,
+    1710960,
+    1712273,
+    1710705,
+    1712106,
+    1711405,
+    1712590
+   ],
+   "spare_attempt_ids": [
+    1715468,
+    1714213,
+    1712988,
+    1711485,
+    1712631,
+    1714249,
+    1715859,
+    1711116,
+    1712928,
+    1714788,
+    1712999,
+    1710753,
+    1711298,
+    1713229,
+    1710952,
+    1711597,
+    1710793,
+    1710672,
+    1710715
+   ],
+   "mean_reward_final": 0.914
+  },
   {
    "task_id": 1889,
    "name": "put the kiwi beside the banana",
    "operation": "put_beside",
+   "status": "active",
+   "note": "in the benchmark now",
    "n_required": 20,
    "required_attempt_ids": [
     1824118,
@@ -745,6 +1434,79 @@
     1873613
    ],
    "mean_reward_final": 0.917
+  },
+  {
+   "task_id": 1891,
+   "name": "put the orange beside the banana",
+   "operation": "put_beside",
+   "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": [
+    1822335,
+    1824066,
+    1825081,
+    1824438,
+    1824448,
+    1822306,
+    1824335,
+    1850840,
+    1827173,
+    1898198,
+    1824069,
+    1828066,
+    1825839,
+    1849093,
+    1824451,
+    1822728,
+    2064679,
+    1827162,
+    1848760,
+    1824839
+   ],
+   "spare_attempt_ids": [
+    1823674,
+    1961727,
+    1828464,
+    2015385,
+    1828220,
+    1822337,
+    1822706,
+    1827841,
+    1877067,
+    1949622,
+    1824228,
+    1890943,
+    2017365,
+    2017378,
+    1827164,
+    1807384,
+    1822426,
+    1822092,
+    1824073,
+    1961695,
+    1824164,
+    1827125,
+    1949601,
+    1914454,
+    1826134,
+    1822253,
+    1824547,
+    1989527,
+    1823610,
+    1989523,
+    1827329,
+    2063556,
+    1822090,
+    1949418,
+    1825655,
+    1949463,
+    2015392,
+    1949426,
+    1949420,
+    1900819
+   ],
+   "mean_reward_final": 0.9076
   }
  ]
 }