| # MetaWorld demo generation — technical notes (AAAI datasets) |
|
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| This file documents **how our MetaWorld Zarr differs** from downloading pre-built demos elsewhere. |
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| ## Generator |
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| - 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` |
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| ## Expert |
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| - 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. |
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|
| ```python |
| roll_seed = episode_idx * 1_000_000 + attempt_idx |
| obs_dict, _ = env.reset(seed=roll_seed) |
| ``` |
|
|
| ## Relation to sim-env |
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| 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. |
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| **Paper stance:** MetaWorld results are interpreted **within this demo port** (see paper limitations). |
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| ## Single-task vs MT4 |
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| | File | Use in paper | |
| |------|----------------| |
| | `{task}_N50.zarr` | **Table P** (single-task specialist training) | |
| | `mt4_N50.zarr` | Exploratory multitask only | |
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| 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. |
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