render request: 10 held-out tasks x 20 demos at the stage1_5k rig (read + upload here)

render_request/README.md

@@ -0,0 +1,101 @@
+# Render request — held-out benchmark, 10 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**.
+
+**Why re-render:** these demonstrations currently exist only at a superseded camera rig.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
+models pretrained on it — so a mismatch would give every evaluated model a train/eval viewpoint
+gap rather than measuring the model.
+
+---
+
+## 1. The camera rig — must match exactly
+
+Verified identical across sampled tasks of `Franka-Datasets-v2-5k-LIBERO` and
+`Franka-Datasets-v2-30k-LIBERO`. Machine-readable copy: [`camera_rig.json`](camera_rig.json).
+
+| | value |
+|---|---|
+| embodiment | **franka** (default) |
+| camera group | **`camera_fixed`** |
+| wrist camera | mounted on the **end-effector body**, hand→camera translation **`[0.05, 0.0, 0.0]`**, quat **`[0, 0.707108, 0.707108, 0]`**, **fovy 75°** |
+| third-person camera | `camera_to_world` translation **`[1.0086, 0.0, 1.1904]`** |
+| resolution | **640 × 360** |
+| fps | **15** |
+
+**The wrist rig is the one that matters most.** The superseded batch had it at
+`[-0.074, 0, 0.0292]` with fovy 51.9° — 12.7 cm away, on the opposite side of the hand, and 23°
+narrower. If a render comes back at the old rig it is unusable, and the difference is invisible in
+a single still frame: it only shows up in how the image moves.
+
+A quick self-check after rendering one episode: compose the inverse end-effector pose with the
+recorded `camera_to_world` and confirm the translation is `[0.05, 0, 0]` to 3 decimals, and that it
+is constant across frames (it should be rigid — ours measures a per-element std of ~7e-08).
+
+---
+
+## 2. What to render
+
+| file | contents |
+|---|---|
+| [`tasks.json`](tasks.json) | all 10 tasks, required + spare attempt ids, the rig |
+| [`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 |
+
+**`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
+with verified trace and goal data. Episode indices are renumbered by every build, so please key
+your output on `attempt_id`, not on episode order.
+
+**`role = spare`** lists 40 further attempts per task, ranked. If a required attempt fails to
+render, take the highest-ranked spare and say which you substituted — don't silently drop one, as
+20 demos is the whole adaptation budget and a missing demo is 5% of it.
+
+---
+
+## 3. Where to upload
+
+Please upload into `uploads/` in this same folder, one directory per task:
+
+```
+uploads/
+  task_809/
+    meta/          LeRobot v3.0 metadata
+    data/          parquet
+    videos/        observation.images.third_person/ and .wrist/
+    render_manifest.json     attempt_id -> episode_index, per episode
+  task_811/
+  ...
+```
+
+`render_manifest.json` is the important one — without an `attempt_id → episode_index` mapping we
+have to recover the pairing by matching trajectories, which works but is slower and needs checking.
+If your pipeline already emits `task_manifest.json` in the usual shape, that is perfect; please just
+make sure `records[]` is populated (two tasks in the previous batch shipped with `records: []` while
+having over a thousand episodes).
+
+---
+
+## 4. Anything else
+
+If a task can't be rendered at this rig for a structural reason, please say which and why rather
+than substituting a different rig — we'd rather run a 9-task benchmark than one with a mixed rig.
+
+Questions on any of this are welcome before rendering starts; a wrong rig is expensive to discover
+afterwards.

render_request/attempts/all_attempts.csv

@@ -0,0 +1,601 @@
+task_id,task_name,operation,role,attempt_id,n_frames,reward_final
+809,separate the sandwich from the juice,separate,required,749148,201,0.9343
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+809,separate the sandwich from the juice,separate,required,739675,510,0.9226
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+809,separate the sandwich from the juice,separate,required,748399,255,0.9208
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+811,reach target pose,reach,required,1209973,171,0.932
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+866,rotate the computer mouse,rotate,required,809472,411,0.921
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+868,pick single rigid object,pick,required,1016743,114,0.9432
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+868,pick single rigid object,pick,spare,1016329,117,0.9386
+945,put both the potato and the pepper in the bowl,put_into,required,891429,642,0.9233
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+945,put both the potato and the pepper in the bowl,put_into,required,883606,573,0.922
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+945,put both the potato and the pepper in the bowl,put_into,required,883683,558,0.922
+945,put both the potato and the pepper in the bowl,put_into,required,883725,561,0.922
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+945,put both the potato and the pepper in the bowl,put_into,required,883819,564,0.922
+945,put both the potato and the pepper in the bowl,put_into,required,883909,558,0.922
+945,put both the potato and the pepper in the bowl,put_into,required,883927,576,0.922
+945,put both the potato and the pepper in the bowl,put_into,required,883932,558,0.922
+945,put both the potato and the pepper in the bowl,put_into,required,883951,564,0.922
+945,put both the potato and the pepper in the bowl,put_into,required,883999,567,0.922
+945,put both the potato and the pepper in the bowl,put_into,required,884028,570,0.922
+945,put both the potato and the pepper in the bowl,put_into,required,884035,564,0.922
+945,put both the potato and the pepper in the bowl,put_into,required,884076,564,0.922
+945,put both the potato and the pepper in the bowl,put_into,required,884080,558,0.922
+945,put both the potato and the pepper in the bowl,put_into,required,884102,561,0.922
+945,put both the potato and the pepper in the bowl,put_into,spare,884150,576,0.922
+945,put both the potato and the pepper in the bowl,put_into,spare,884304,555,0.922
+945,put both the potato and the pepper in the bowl,put_into,spare,884328,573,0.922
+945,put both the potato and the pepper in the bowl,put_into,spare,884340,564,0.922
+945,put both the potato and the pepper in the bowl,put_into,spare,884426,558,0.922
+945,put both the potato and the pepper in the bowl,put_into,spare,884675,558,0.922
+945,put both the potato and the pepper in the bowl,put_into,spare,884695,561,0.922
+945,put both the potato and the pepper in the bowl,put_into,spare,889552,561,0.922
+945,put both the potato and the pepper in the bowl,put_into,spare,894128,786,0.92
+945,put both the potato and the pepper in the bowl,put_into,spare,883414,774,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883442,765,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883449,771,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883454,774,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883459,774,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883498,786,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883524,783,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883548,768,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883555,792,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883583,765,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883595,792,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883667,777,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883755,783,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883757,780,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883795,774,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883803,777,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883850,774,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883890,765,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883921,774,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883958,792,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883967,774,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883968,774,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883971,786,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883992,786,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,883997,777,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,884001,789,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,884016,768,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,884026,777,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,884094,780,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,884133,765,0.9198
+945,put both the potato and the pepper in the bowl,put_into,spare,884159,789,0.9198
+953,put the muffin on the left side of the cup,put_spatial,required,906245,252,0.9199
+953,put the muffin on the left side of the cup,put_spatial,required,910564,216,0.9189
+953,put the muffin on the left side of the cup,put_spatial,required,910340,282,0.9182
+953,put the muffin on the left side of the cup,put_spatial,required,906819,270,0.9176
+953,put the muffin on the left side of the cup,put_spatial,required,910481,210,0.9167
+953,put the muffin on the left side of the cup,put_spatial,required,906628,438,0.9166
+953,put the muffin on the left side of the cup,put_spatial,required,910489,279,0.916
+953,put the muffin on the left side of the cup,put_spatial,required,910376,252,0.9155
+953,put the muffin on the left side of the cup,put_spatial,required,910482,228,0.9154
+953,put the muffin on the left side of the cup,put_spatial,required,907124,498,0.9153
+953,put the muffin on the left side of the cup,put_spatial,required,910525,492,0.915
+953,put the muffin on the left side of the cup,put_spatial,required,906179,294,0.9138
+953,put the muffin on the left side of the cup,put_spatial,required,910595,267,0.9137
+953,put the muffin on the left side of the cup,put_spatial,required,907107,237,0.9137
+953,put the muffin on the left side of the cup,put_spatial,required,910559,780,0.9135
+953,put the muffin on the left side of the cup,put_spatial,required,910614,1152,0.9129
+953,put the muffin on the left side of the cup,put_spatial,required,910516,435,0.9126
+953,put the muffin on the left side of the cup,put_spatial,required,906924,402,0.9125
+953,put the muffin on the left side of the cup,put_spatial,required,906650,246,0.9125
+953,put the muffin on the left side of the cup,put_spatial,required,906061,300,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906081,300,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906097,300,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906109,297,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906117,300,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906128,294,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906140,297,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906174,294,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906175,300,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906180,303,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906205,297,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906236,303,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906239,297,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906248,303,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906254,294,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906260,300,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906263,297,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906272,294,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906286,303,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906287,300,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906298,297,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906345,300,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906346,294,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906348,297,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906349,297,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906351,300,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906381,294,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906390,297,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906391,297,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906393,300,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906401,303,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906407,300,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906409,297,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906411,303,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906416,303,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906439,297,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906466,300,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906479,297,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906483,294,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906485,300,0.9122
+953,put the muffin on the left side of the cup,put_spatial,spare,906490,300,0.9122
+966,put the eyeglasses case on the tissue box,put_on,required,875144,462,0.9244
+966,put the eyeglasses case on the tissue box,put_on,required,876039,780,0.9242
+966,put the eyeglasses case on the tissue box,put_on,required,889619,264,0.9242
+966,put the eyeglasses case on the tissue box,put_on,required,875569,258,0.9241
+966,put the eyeglasses case on the tissue box,put_on,required,875407,279,0.9239
+966,put the eyeglasses case on the tissue box,put_on,required,874705,348,0.9239
+966,put the eyeglasses case on the tissue box,put_on,required,875873,225,0.9234
+966,put the eyeglasses case on the tissue box,put_on,required,875030,246,0.9232
+966,put the eyeglasses case on the tissue box,put_on,required,876016,228,0.9231
+966,put the eyeglasses case on the tissue box,put_on,required,874409,222,0.923
+966,put the eyeglasses case on the tissue box,put_on,required,875111,339,0.9229
+966,put the eyeglasses case on the tissue box,put_on,required,875534,243,0.9229
+966,put the eyeglasses case on the tissue box,put_on,required,876088,222,0.9229
+966,put the eyeglasses case on the tissue box,put_on,required,874686,297,0.9223
+966,put the eyeglasses case on the tissue box,put_on,required,874720,297,0.9223
+966,put the eyeglasses case on the tissue box,put_on,required,874990,297,0.9223
+966,put the eyeglasses case on the tissue box,put_on,required,875018,297,0.9223
+966,put the eyeglasses case on the tissue box,put_on,required,875035,291,0.9223
+966,put the eyeglasses case on the tissue box,put_on,required,875052,291,0.9223
+966,put the eyeglasses case on the tissue box,put_on,required,875188,291,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875233,297,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875252,291,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875306,300,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875317,294,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875410,294,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875415,291,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875485,300,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875501,300,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875628,291,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875662,300,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875667,306,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875675,300,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875750,294,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875763,291,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875819,294,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875828,300,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875838,300,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875901,294,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875952,291,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875965,294,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,875967,294,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,876037,291,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,876113,297,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,876145,294,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,876175,291,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,883740,294,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,883749,291,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,874685,462,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,874829,300,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,874745,297,0.9223
+966,put the eyeglasses case on the tissue box,put_on,spare,874858,246,0.9222
+966,put the eyeglasses case on the tissue box,put_on,spare,875353,186,0.9221
+966,put the eyeglasses case on the tissue box,put_on,spare,875659,216,0.922
+966,put the eyeglasses case on the tissue box,put_on,spare,875499,390,0.9219
+966,put the eyeglasses case on the tissue box,put_on,spare,875180,330,0.9219
+966,put the eyeglasses case on the tissue box,put_on,spare,874691,186,0.9216
+966,put the eyeglasses case on the tissue box,put_on,spare,874499,306,0.9216
+966,put the eyeglasses case on the tissue box,put_on,spare,874404,255,0.9215
+966,put the eyeglasses case on the tissue box,put_on,spare,875555,189,0.9215
+966,put the eyeglasses case on the tissue box,put_on,spare,874593,1431,0.9214
+1426,rearrange three items,rearrange,required,1436576,384,0.9158
+1426,rearrange three items,rearrange,required,1421805,606,0.915
+1426,rearrange three items,rearrange,required,1426559,513,0.9146
+1426,rearrange three items,rearrange,required,1427706,474,0.9144
+1426,rearrange three items,rearrange,required,1421834,525,0.9141
+1426,rearrange three items,rearrange,required,1423660,585,0.9131
+1426,rearrange three items,rearrange,required,1436577,519,0.9131
+1426,rearrange three items,rearrange,required,1436488,1371,0.9128
+1426,rearrange three items,rearrange,required,1426891,618,0.9127
+1426,rearrange three items,rearrange,required,1422706,615,0.9126
+1426,rearrange three items,rearrange,required,1422844,597,0.9126
+1426,rearrange three items,rearrange,required,1422910,615,0.9126
+1426,rearrange three items,rearrange,required,1423098,612,0.9126
+1426,rearrange three items,rearrange,required,1423115,618,0.9126
+1426,rearrange three items,rearrange,required,1423189,603,0.9126
+1426,rearrange three items,rearrange,required,1423244,609,0.9126
+1426,rearrange three items,rearrange,required,1423451,597,0.9126
+1426,rearrange three items,rearrange,required,1423691,606,0.9126
+1426,rearrange three items,rearrange,required,1423818,615,0.9126
+1426,rearrange three items,rearrange,required,1423898,600,0.9126
+1426,rearrange three items,rearrange,spare,1423926,603,0.9126
+1426,rearrange three items,rearrange,spare,1424371,603,0.9126
+1426,rearrange three items,rearrange,spare,1424447,603,0.9126
+1426,rearrange three items,rearrange,spare,1424857,606,0.9126
+1426,rearrange three items,rearrange,spare,1424911,609,0.9126
+1426,rearrange three items,rearrange,spare,1425055,597,0.9126
+1426,rearrange three items,rearrange,spare,1425121,618,0.9126
+1426,rearrange three items,rearrange,spare,1425151,609,0.9126
+1426,rearrange three items,rearrange,spare,1425374,615,0.9126
+1426,rearrange three items,rearrange,spare,1425579,603,0.9126
+1426,rearrange three items,rearrange,spare,1425694,603,0.9126
+1426,rearrange three items,rearrange,spare,1425719,618,0.9126
+1426,rearrange three items,rearrange,spare,1425854,609,0.9126
+1426,rearrange three items,rearrange,spare,1425888,615,0.9126
+1426,rearrange three items,rearrange,spare,1425889,615,0.9126
+1426,rearrange three items,rearrange,spare,1425934,609,0.9126
+1426,rearrange three items,rearrange,spare,1425936,603,0.9126
+1426,rearrange three items,rearrange,spare,1426010,618,0.9126
+1426,rearrange three items,rearrange,spare,1426022,615,0.9126
+1426,rearrange three items,rearrange,spare,1426036,612,0.9126
+1426,rearrange three items,rearrange,spare,1426126,600,0.9126
+1426,rearrange three items,rearrange,spare,1426213,600,0.9126
+1426,rearrange three items,rearrange,spare,1426290,618,0.9126
+1426,rearrange three items,rearrange,spare,1426327,606,0.9126
+1426,rearrange three items,rearrange,spare,1426342,600,0.9126
+1426,rearrange three items,rearrange,spare,1426456,612,0.9126
+1426,rearrange three items,rearrange,spare,1426504,612,0.9126
+1426,rearrange three items,rearrange,spare,1426528,603,0.9126
+1426,rearrange three items,rearrange,spare,1426628,612,0.9126
+1426,rearrange three items,rearrange,spare,1426717,615,0.9126
+1426,rearrange three items,rearrange,spare,1426740,609,0.9126
+1426,rearrange three items,rearrange,spare,1426751,606,0.9126
+1426,rearrange three items,rearrange,spare,1427038,597,0.9126
+1426,rearrange three items,rearrange,spare,1427057,603,0.9126
+1426,rearrange three items,rearrange,spare,1427068,603,0.9126
+1426,rearrange three items,rearrange,spare,1427073,606,0.9126
+1426,rearrange three items,rearrange,spare,1427108,615,0.9126
+1426,rearrange three items,rearrange,spare,1427168,600,0.9126
+1426,rearrange three items,rearrange,spare,1427227,603,0.9126
+1426,rearrange three items,rearrange,spare,1427413,615,0.9126
+1459,fit lid onto container,insert,required,1409900,1191,0.9231
+1459,fit lid onto container,insert,required,1472753,315,0.9217
+1459,fit lid onto container,insert,required,1457499,321,0.9092
+1459,fit lid onto container,insert,required,1415308,6957,0.9068
+1459,fit lid onto container,insert,required,1475777,504,0.9065
+1459,fit lid onto container,insert,required,1459484,234,0.9046
+1459,fit lid onto container,insert,required,1395472,1005,0.9045
+1459,fit lid onto container,insert,required,1409072,303,0.9039
+1459,fit lid onto container,insert,required,1409968,453,0.9012
+1459,fit lid onto container,insert,required,1433788,1065,0.901
+1459,fit lid onto container,insert,required,1434776,732,0.9004
+1459,fit lid onto container,insert,required,1395311,1221,0.9004
+1459,fit lid onto container,insert,required,1472865,174,0.9003
+1459,fit lid onto container,insert,required,1423910,300,0.8999
+1459,fit lid onto container,insert,required,1457465,414,0.8999
+1459,fit lid onto container,insert,required,1423119,1218,0.8997
+1459,fit lid onto container,insert,required,1457580,366,0.8993
+1459,fit lid onto container,insert,required,1457202,279,0.8993
+1459,fit lid onto container,insert,required,1459450,762,0.8991
+1459,fit lid onto container,insert,required,1411067,480,0.8989
+1459,fit lid onto container,insert,spare,1395897,294,0.8988
+1459,fit lid onto container,insert,spare,1367157,2064,0.8985
+1459,fit lid onto container,insert,spare,1367439,957,0.8985
+1459,fit lid onto container,insert,spare,1412859,432,0.8984
+1459,fit lid onto container,insert,spare,1427285,1656,0.8981
+1459,fit lid onto container,insert,spare,1457549,744,0.8981
+1459,fit lid onto container,insert,spare,1429407,1215,0.8979
+1459,fit lid onto container,insert,spare,1457884,7956,0.8972
+1459,fit lid onto container,insert,spare,1470701,480,0.8972
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render_request/attempts/task_1426.json

@@ -0,0 +1,71 @@
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+}

render_request/attempts/task_1459.json

@@ -0,0 +1,71 @@
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render_request/attempts/task_1889.json

@@ -0,0 +1,71 @@
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render_request/attempts/task_809.json

@@ -0,0 +1,71 @@
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render_request/attempts/task_811.json

@@ -0,0 +1,71 @@
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render_request/attempts/task_866.json

@@ -0,0 +1,71 @@
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render_request/attempts/task_868.json

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render_request/attempts/task_945.json

@@ -0,0 +1,71 @@
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render_request/attempts/task_953.json

@@ -0,0 +1,71 @@
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+}

render_request/attempts/task_966.json

@@ -0,0 +1,71 @@
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+ "task_id": 966,
+ "name": "put the eyeglasses case on the tissue box",
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+}

render_request/camera_rig.json

@@ -0,0 +1,32 @@
+{
+ "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.",
+ "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
+}

render_request/tasks.json

@@ -0,0 +1,750 @@
+{
+ "schema": "axis_heldout_render_request_v2",
+ "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.",
+  "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
+ },
+ "n_tasks": 10,
+ "demos_per_task": 20,
+ "total_required_episodes": 200,
+ "tasks": [
+  {
+   "task_id": 809,
+   "name": "separate the sandwich from the juice",
+   "operation": "separate",
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+   "name": "reach target pose",
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+   "mean_reward_final": 0.932
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+  {
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+   "name": "rotate the computer mouse",
+   "operation": "rotate",
+   "n_required": 20,
+   "required_attempt_ids": [
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+   "mean_reward_final": 0.9028
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+  {
+   "task_id": 868,
+   "name": "pick single rigid object",
+   "operation": "pick",
+   "n_required": 20,
+   "required_attempt_ids": [
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+   ],
+   "mean_reward_final": 0.942
+  },
+  {
+   "task_id": 945,
+   "name": "put both the potato and the pepper in the bowl",
+   "operation": "put_into",
+   "n_required": 20,
+   "required_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",
+   "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",
+   "n_required": 20,
+   "required_attempt_ids": [
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+   "mean_reward_final": 0.9231
+  },
+  {
+   "task_id": 1426,
+   "name": "rearrange three items",
+   "operation": "rearrange",
+   "n_required": 20,
+   "required_attempt_ids": [
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+   "mean_reward_final": 0.9132
+  },
+  {
+   "task_id": 1459,
+   "name": "fit lid onto container",
+   "operation": "insert",
+   "n_required": 20,
+   "required_attempt_ids": [
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+   "mean_reward_final": 0.904
+  },
+  {
+   "task_id": 1889,
+   "name": "put the kiwi beside the banana",
+   "operation": "put_beside",
+   "n_required": 20,
+   "required_attempt_ids": [
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+   ],
+   "mean_reward_final": 0.917
+  }
+ ]
+}

render_request/uploads/README.md

@@ -0,0 +1,4 @@
+# Upload rendered output here
+
+One directory per task, named `task_<task_id>` — see the parent README for the layout and for the
+`render_manifest.json` that carries the `attempt_id -> episode_index` mapping.