{ "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 They currently exist ONLY at the superseded camera rig, so they must be re-rendered at the pretraining rig or every evaluated arm suffers a train/eval viewpoint mismatch.", "embodiment": "franka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" } ] }