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)
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.
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.
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.