{ "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": [ 749148, 740082, 746508, 747842, 764394, 763178, 741811, 739675, 764821, 763947, 748696, 740327, 764863, 764024, 764540, 765869, 748282, 764780, 766647, 748399 ], "spare_attempt_ids": [ 743762, 762513, 747947, 747225, 747295, 766663, 749015, 746604, 762654, 763223, 743672, 749357, 742234, 749000, 739818, 766677, 748791, 743606, 743624, 740944, 745797, 766122, 743892, 765218, 764601, 762676, 763897, 764785, 765214, 739929, 766657, 744900, 746755, 761855, 744037, 746434, 745720, 745834, 764458, 742274 ], "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); 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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, 808615, 855218, 807106, 809660, 812299, 812459, 855918, 813012, 811845, 806848, 807423, 807614, 813143, 810211, 809662, 813032, 857716, 809123, 809639 ], "spare_attempt_ids": [ 813144, 812099, 809544, 812598, 857763, 806188, 811300, 812949, 857261, 813025, 808995, 855930, 811616, 812902, 811509, 807801, 808155, 805925, 813164, 809609, 812137, 812116, 808093, 811566, 808592, 807657, 857757, 812846, 807658, 809584, 812862, 808179, 812816, 856094, 806079, 811364, 856087, 857255, 810853, 811262 ], "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": [ 1016743, 1016442, 1016825, 1013500, 1011310, 1015693, 1014932, 1015438, 1016468, 1016833, 1016167, 1015775, 1013928, 1016548, 1014105, 1016664, 1016663, 1016209, 1016806, 1016542 ], "spare_attempt_ids": [ 1016121, 1016885, 1016333, 1016723, 1016886, 1016697, 1010913, 1011183, 1016707, 1014762, 1015752, 1016770, 1010910, 1014366, 1014841, 1015964, 1016690, 1015963, 1011217, 1015658, 1016720, 1016683, 1016714, 1016771, 1015755, 1016651, 1016615, 1016122, 1010937, 1016625, 1014586, 1014033, 1016686, 1015302, 1016855, 1015280, 1016680, 1016229, 1016458, 1016329 ], "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); 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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, 1421805, 1426559, 1427706, 1421834, 1423660, 1436577, 1436488, 1426891, 1422706, 1422844, 1422910, 1423098, 1423115, 1423189, 1423244, 1423451, 1423691, 1423818, 1423898 ], "spare_attempt_ids": [ 1423926, 1424371, 1424447, 1424857, 1424911, 1425055, 1425121, 1425151, 1425374, 1425579, 1425694, 1425719, 1425854, 1425888, 1425889, 1425934, 1425936, 1426010, 1426022, 1426036, 1426126, 1426213, 1426290, 1426327, 1426342, 1426456, 1426504, 1426528, 1426628, 1426717, 1426740, 1426751, 1427038, 1427057, 1427068, 1427073, 1427108, 1427168, 1427227, 1427413 ], "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, 1472753, 1457499, 1415308, 1475777, 1459484, 1395472, 1409072, 1409968, 1433788, 1434776, 1395311, 1472865, 1423910, 1457465, 1423119, 1457580, 1457202, 1459450, 1411067 ], "spare_attempt_ids": [ 1395897, 1367157, 1367439, 1412859, 1427285, 1457549, 1429407, 1457884, 1470701, 1367221, 1453400, 1457738, 1392068, 1470266, 1457503, 1473007, 1412862, 1395879, 1457570, 1457653, 1395684, 1415667, 1457568, 1368522, 1367484, 1390405, 1457634, 1456437, 1398691, 1392938, 1457802, 1369838, 1457797, 1436280, 1410711, 1467608, 1453303, 1475849, 1396325, 1431907 ], "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); 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