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c9deeb3 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 | # MetaWorld demo generation — technical notes (AAAI datasets)
This file documents **how our MetaWorld Zarr differs** from downloading pre-built demos elsewhere.
## Generator
- Script: `scripts/gen_metaworld_data.py`
- Cluster log (single-task regen): `logs/metaworld_single_data_regen.log`
- Multitask log: `logs/gen_metaworld_mt4_N50.log`
## Expert
- MetaWorld v2 **oracle / expert policies** roll out until horizon or success.
- **4× RGB** 128×128: `corner`, `corner2`, `corner3`, `behindGripper`
- **`agent_pos`**: 9D
- **Action**: 4D
## Episode filter (critical)
```python
episode_success_count += int(bool(info.get("success", False)))
if episode_success_count == 0:
attempt_idx += 1
continue # reject — do not advance episode_idx
```
→ Episode is **accepted if success is True on any step**, not only the last step.
We briefly tested **terminal-only** success; on successful rollouts it was equivalent, but we kept the any-step rule to match `mt4_N50` and avoid rejecting valid expert demos.
## Reset seed (critical fix, 2026-07-10)
Without `seed`, our `MetaworldEnv.reset()` restored the **same** MuJoCo init snapshot → infinite reject loop on hard inits.
```python
roll_seed = episode_idx * 1_000_000 + attempt_idx
obs_dict, _ = env.reset(seed=roll_seed)
```
## Relation to sim-env
Env/runner ported from [Chaoqi-LIU/sim-env](https://github.com/Chaoqi-LIU/sim-env).
We do **not** ship sim-env's original demo files; we **regenerated** 50 eps/task under our port.
**Paper stance:** MetaWorld results are interpreted **within this demo port** (see paper limitations).
## Single-task vs MT4
| File | Use in paper |
|------|----------------|
| `{task}_N50.zarr` | **Table P** (single-task specialist training) |
| `mt4_N50.zarr` | Exploratory multitask only |
Split from MT4 (`scripts/split_metaworld_mt4_zarr.py`, round-robin `episode i → task i%4`) is byte-identical to source episodes for those indices.
|