Add ActionShift frozen splits, eval configs, and privileged-oracle rollout logs
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- README.md +137 -0
- artifacts/fourth_task/gate0/parity/stack_cube-oracle_nonidentity.jsonl +100 -0
- artifacts/fourth_task/gate0/stack_cube-gate0-verdict.json +64 -0
- artifacts/fourth_task/gate1/stack_cube-oracle-long_lag-seed20260718.jsonl +0 -0
- artifacts/fourth_task/gate1/stack_cube-oracle-long_lag-seed20260719.jsonl +0 -0
- artifacts/fourth_task/gate1/stack_cube-oracle-long_lag-seed20260720.jsonl +0 -0
- artifacts/fourth_task/gate1/stack_cube-oracle-seen-seed20260718.jsonl +0 -0
- artifacts/fourth_task/gate1/stack_cube-oracle-seen-seed20260719.jsonl +0 -0
- artifacts/fourth_task/gate1/stack_cube-oracle-seen-seed20260720.jsonl +0 -0
- artifacts/fourth_task/gate1/stack_cube-oracle-unseen_composition-seed20260718.jsonl +0 -0
- artifacts/fourth_task/gate1/stack_cube-oracle-unseen_composition-seed20260719.jsonl +0 -0
- artifacts/fourth_task/gate1/stack_cube-oracle-unseen_composition-seed20260720.jsonl +0 -0
- artifacts/sprint/gate0/parity/peg_insertion_side-oracle_nonidentity.jsonl +100 -0
- artifacts/sprint/gate0/parity/pick_cube-oracle_nonidentity.jsonl +100 -0
- artifacts/sprint/gate0/parity/push_cube-oracle_nonidentity.jsonl +100 -0
- artifacts/sprint/gate1/gate1-verdict.json +314 -0
- artifacts/sprint/gate1/jobs.jsonl +72 -0
- artifacts/sprint/gate1/pick_cube-oracle-long_lag-seed20260718.jsonl +0 -0
- artifacts/sprint/gate1/pick_cube-oracle-long_lag-seed20260719.jsonl +0 -0
- artifacts/sprint/gate1/pick_cube-oracle-long_lag-seed20260720.jsonl +0 -0
- artifacts/sprint/gate1/pick_cube-oracle-seen-seed20260718.jsonl +0 -0
- artifacts/sprint/gate1/pick_cube-oracle-seen-seed20260719.jsonl +0 -0
- artifacts/sprint/gate1/pick_cube-oracle-seen-seed20260720.jsonl +0 -0
- artifacts/sprint/gate1/pick_cube-oracle-unseen_composition-seed20260718.jsonl +0 -0
- artifacts/sprint/gate1/pick_cube-oracle-unseen_composition-seed20260719.jsonl +0 -0
- artifacts/sprint/gate1/pick_cube-oracle-unseen_composition-seed20260720.jsonl +0 -0
- artifacts/sprint/gate1/push_cube-oracle-long_lag-seed20260718.jsonl +0 -0
- artifacts/sprint/gate1/push_cube-oracle-long_lag-seed20260719.jsonl +0 -0
- artifacts/sprint/gate1/push_cube-oracle-long_lag-seed20260720.jsonl +0 -0
- artifacts/sprint/gate1/push_cube-oracle-seen-seed20260718.jsonl +0 -0
- artifacts/sprint/gate1/push_cube-oracle-seen-seed20260719.jsonl +0 -0
- artifacts/sprint/gate1/push_cube-oracle-seen-seed20260720.jsonl +0 -0
- artifacts/sprint/gate1/push_cube-oracle-unseen_composition-seed20260718.jsonl +0 -0
- artifacts/sprint/gate1/push_cube-oracle-unseen_composition-seed20260719.jsonl +0 -0
- artifacts/sprint/gate1/push_cube-oracle-unseen_composition-seed20260720.jsonl +0 -0
- artifacts/third_task/gate0/parity/pull_cube-oracle_nonidentity.jsonl +100 -0
- artifacts/third_task/gate1/pull_cube-gate1-verdict.json +54 -0
- artifacts/third_task/gate1/pull_cube-oracle-long_lag-seed20260718.jsonl +0 -0
- artifacts/third_task/gate1/pull_cube-oracle-long_lag-seed20260719.jsonl +0 -0
- artifacts/third_task/gate1/pull_cube-oracle-long_lag-seed20260720.jsonl +0 -0
- artifacts/third_task/gate1/pull_cube-oracle-seen-seed20260718.jsonl +0 -0
- artifacts/third_task/gate1/pull_cube-oracle-seen-seed20260719.jsonl +0 -0
- artifacts/third_task/gate1/pull_cube-oracle-seen-seed20260720.jsonl +0 -0
- artifacts/third_task/gate1/pull_cube-oracle-unseen_composition-seed20260718.jsonl +0 -0
- artifacts/third_task/gate1/pull_cube-oracle-unseen_composition-seed20260719.jsonl +0 -0
- artifacts/third_task/gate1/pull_cube-oracle-unseen_composition-seed20260720.jsonl +0 -0
- configs/contracts/core.yaml +14 -0
- configs/evaluation/headline.yaml +19 -0
- configs/method/domain_randomized.yaml +12 -0
- configs/method/dualabi.yaml +13 -0
README.md
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---
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license: mit
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task_categories:
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- reinforcement-learning
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- robotics
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tags:
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- robot-manipulation
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- action-interface
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- domain-adaptation
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- benchmark
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- maniskill
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- system-identification
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- belief-adaptation
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- sim-to-real
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pretty_name: ActionShift
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---
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# ActionShift
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Frozen splits, eval configs, and rollout logs for **ActionShift**, a benchmark that measures whether a
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manipulation policy can adapt to a hidden action-interface contract without ever being told which
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contract is active. Code: [github.com/Archerkattri/actionshift](https://github.com/Archerkattri/actionshift).
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Model checkpoints (the frozen PPO backbones and reference adaptation methods that generated these logs):
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[kattri15/actionshift-baselines](https://huggingface.co/kattri15/actionshift-baselines).
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## What is an "action-interface contract" here
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A policy emits an action vector every control step. The contract is the mapping from that vector to
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controller behavior: which channel drives which joint (`permutation`), per-channel direction
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(`sign`), per-channel gain (`scale`), delta-vs-absolute encoding (`target`), reference frame
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(`frame`), execution delay in steps (`lag`), and gripper polarity (`gripper_inverted`). ActionShift
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holds task dynamics fixed and varies only this contract, so any drop in success is attributable to the
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interface and nothing else. The declared contract grammar/product space for the tournament backbones
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is `configs/contracts/core.yaml` (32 contracts: 2 permutations x 4 signs x 2 scales x 2 lags, target
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and frame fixed).
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## The 5 splits
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Splits are preregistered, seeded, and hash-addressed: each manifest carries a `manifest_sha256` and
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every listed contract carries its own `sha256`, so disjointness between splits is test-enforced rather
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than asserted. Generator: `split-v1`, seed `20260718`.
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| Split | Manifest | Rule |
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|---|---|---|
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| `seen` | `configs/split/manifests/seen.json` | contracts the tournament backbones were evaluated on inside the declared pool |
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| `unseen_value` | `configs/split/manifests/unseen_value.json` | field values absent from the seen set |
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| `unseen_composition` | `configs/split/manifests/unseen_composition.json` | field-value combinations absent from the seen set, zero contract- and composition-signature overlap with training |
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| `long_lag` | `configs/split/manifests/long_lag.json` | longer execution delay than any seen contract |
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| `task_transfer` | `configs/split/manifests/task_transfer.json` | held out across task family |
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Each `configs/split/*.yaml` is the split definition (name, seed, generator version, pointer to its
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manifest, `require_disjoint_contracts: true`); each `configs/split/manifests/*.json` is the
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materialized, hash-addressed contract list that definition resolves to.
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## Contents
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```
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configs/split/manifests/*.json 5 frozen split manifests (contract lists, sha256-addressed)
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configs/split/*.yaml 5 split definitions (seed, generator, disjointness requirement)
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configs/contracts/core.yaml the contract grammar / product-space manifest the tournament draws from
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configs/task/*.yaml task configs (pick_cube, push_cube, peg_insertion_side)
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configs/evaluation/headline.yaml headline eval sweep: backend, seeds, tasks, splits, methods, episode budget
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configs/method/*.yaml per-method configs (oracle, no_adapt, probes, OSI, RMA, DualABI variants)
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experiments/manifests/headline.jsonl materialized headline evaluation job matrix
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artifacts/**/gate1/*oracle*.jsonl privileged-oracle rollout logs, Gate 1 slice (see below)
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artifacts/**/gate0/parity/*oracle_nonidentity.jsonl privileged-oracle parity checks, Gate 0
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artifacts/**/jobs.jsonl, *verdict*.json run ledgers: job id, seed, checkpoint sha256, Wilson/paired-bootstrap verdicts
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```
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## Privileged-oracle rollout logs
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`artifacts/sprint/gate1/`, `artifacts/third_task/gate1/`, `artifacts/fourth_task/gate1/` hold the Gate 1
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oracle rollouts for the four competence-gated tasks (pick_cube, push_cube, pull_cube, stack_cube). The
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oracle path knows the true active contract and encodes the canonical policy action before the hidden
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wrapper executes it, so it measures the instantaneous ceiling: how well the frozen backbone does when
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contract knowledge is free. Each file is one (task, split, seed) cell, 100 episodes per contract, two
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contracts per cell. `jobs.jsonl` in each `sprint/gate1/` directory ties every rollout file to the exact
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checkpoint `sha256` that produced it. `gate0/parity/*oracle_nonidentity.jsonl` are the earlier parity
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checks (does the oracle path stay near-ceiling under a non-identity contract) that gated a task into the
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tournament in the first place.
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Headline oracle result on the real ManiSkill simulator (600 episodes/cell, Wilson 95% CI,
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`reports/gate1.md` on GitHub): Pick/seen 1.000 [0.994, 1.000], Push/seen 1.000 [0.994, 1.000], both
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collapsing the no-adapt floor to ~0. The oracle path does **not** rescue the `long_lag` split (Pick 0.027
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[0.016, 0.043], Push 0.153 [0.127, 0.184]) — contract knowledge alone is insufficient against execution
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delay, which is why a separate delay-aware backbone exists (see the model repo).
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## How these logs were generated
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The pinned official ManiSkill v3.0.1 baselines (PPO, control mode `pd_ee_delta_pose`) were trained per
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task, then evaluated through a software action-interface wrapper that composes the seven contract
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fields. Every oracle rollout row is one episode: seed, contract fields, per-step observations are not
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retained, episode outcome and success are. Full generation code and the wrapper implementation are in
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the GitHub repo (not mirrored here).
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## Honest limits
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- **Sim-only, no hardware.** Every number here comes from ManiSkill (SAPIEN/PhysX) simulation. No claim
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is made about real-robot transfer of these specific contracts or rollouts.
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- **Four tasks, one control mode.** pick_cube, push_cube, pull_cube, stack_cube, all `pd_ee_delta_pose`.
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peg_insertion_side is excluded on backbone competence (did not clear the Gate 0 floor at the official
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training budget); its Gate 0 parity log is included for the record, not as a competent-task result.
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- **The oracle is a ceiling, not a target.** It is privileged (it is told the active contract) and is
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reported as an upper bound for the adaptation methods, not a method to beat.
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- **`long_lag` breaks the oracle too.** Do not read `long_lag` numbers as "contract knowledge fixes
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everything" — see above.
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## We are not aware of a prior benchmark isolating the action-interface contract this way
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Manipulation benchmarks with domain randomization vary dynamics (mass, friction, visual appearance).
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Sim-to-real and system-identification work generally targets physical parameters, not the software
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mapping from policy output to controller command. After checking ASID and Dynamics-as-Prompts (the
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nearest system-identification-for-control comparators) and the standard ManiSkill/robomimic benchmark
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lines, we did not find a prior benchmark that holds task dynamics fixed and varies only a compositional
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action-interface contract (permutation/sign/scale/target/frame/lag/gripper) with frozen, hash-addressed,
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disjointness-enforced splits and a privileged-oracle ceiling. This is a scoped claim about what we
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checked, not a claim of exhaustive prior-art search.
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## License
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MIT, same as the code and paper. See `LICENSE` in the [GitHub repo](https://github.com/Archerkattri/actionshift).
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## Citation
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```bibtex
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@software{attri2026actionshift,
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author = {Attri, Krishi},
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title = {ActionShift: Hidden compositional action-interface adaptation benchmark},
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year = {2026},
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publisher = {Zenodo},
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doi = {10.5281/zenodo.21500713},
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url = {https://github.com/Archerkattri/actionshift}
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}
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```
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Zenodo DOI: [10.5281/zenodo.21500713](https://doi.org/10.5281/zenodo.21500713). If you use the ManiSkill
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baselines this data was generated from, cite ManiSkill separately.
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artifacts/fourth_task/gate0/parity/stack_cube-oracle_nonidentity.jsonl
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{"checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "condition": "oracle_nonidentity", "episode_index": 0, "episode_steps": 50, "seed": 20260718, "success": true, "task": "stack_cube", "task_return": 44.859222412109375}
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{"checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "condition": "oracle_nonidentity", "episode_index": 1, "episode_steps": 50, "seed": 20260718, "success": true, "task": "stack_cube", "task_return": 43.640159606933594}
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{"checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "condition": "oracle_nonidentity", "episode_index": 2, "episode_steps": 50, "seed": 20260718, "success": true, "task": "stack_cube", "task_return": 40.21892547607422}
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{"checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "condition": "oracle_nonidentity", "episode_index": 3, "episode_steps": 50, "seed": 20260718, "success": true, "task": "stack_cube", "task_return": 44.31734085083008}
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{"checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "condition": "oracle_nonidentity", "episode_index": 4, "episode_steps": 50, "seed": 20260718, "success": true, "task": "stack_cube", "task_return": 45.44271469116211}
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| 6 |
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artifacts/fourth_task/gate0/stack_cube-gate0-verdict.json
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artifacts/fourth_task/gate1/stack_cube-oracle-long_lag-seed20260718.jsonl
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artifacts/fourth_task/gate1/stack_cube-oracle-long_lag-seed20260719.jsonl
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artifacts/fourth_task/gate1/stack_cube-oracle-long_lag-seed20260720.jsonl
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artifacts/fourth_task/gate1/stack_cube-oracle-seen-seed20260718.jsonl
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artifacts/fourth_task/gate1/stack_cube-oracle-seen-seed20260719.jsonl
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artifacts/fourth_task/gate1/stack_cube-oracle-seen-seed20260720.jsonl
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artifacts/fourth_task/gate1/stack_cube-oracle-unseen_composition-seed20260718.jsonl
ADDED
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artifacts/fourth_task/gate1/stack_cube-oracle-unseen_composition-seed20260719.jsonl
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artifacts/fourth_task/gate1/stack_cube-oracle-unseen_composition-seed20260720.jsonl
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artifacts/sprint/gate0/parity/peg_insertion_side-oracle_nonidentity.jsonl
ADDED
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{"checkpoint_sha256": "3f876118ffa8e4edca98b1cee0eeda4577ecde8d6ac804c586ca03e875e9bc59", "condition": "oracle_nonidentity", "episode_index": 77, "episode_steps": 100, "seed": 20260718, "success": false, "task": "peg_insertion_side", "task_return": 34.47187423706055}
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| 79 |
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| 80 |
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| 83 |
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| 84 |
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{"checkpoint_sha256": "3f876118ffa8e4edca98b1cee0eeda4577ecde8d6ac804c586ca03e875e9bc59", "condition": "oracle_nonidentity", "episode_index": 83, "episode_steps": 100, "seed": 20260718, "success": false, "task": "peg_insertion_side", "task_return": 26.707969665527344}
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| 85 |
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| 86 |
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| 87 |
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| 89 |
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{"checkpoint_sha256": "3f876118ffa8e4edca98b1cee0eeda4577ecde8d6ac804c586ca03e875e9bc59", "condition": "oracle_nonidentity", "episode_index": 88, "episode_steps": 100, "seed": 20260718, "success": false, "task": "peg_insertion_side", "task_return": 8.5174560546875}
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| 90 |
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| 91 |
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{"checkpoint_sha256": "3f876118ffa8e4edca98b1cee0eeda4577ecde8d6ac804c586ca03e875e9bc59", "condition": "oracle_nonidentity", "episode_index": 90, "episode_steps": 100, "seed": 20260718, "success": false, "task": "peg_insertion_side", "task_return": 37.446014404296875}
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| 92 |
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{"checkpoint_sha256": "3f876118ffa8e4edca98b1cee0eeda4577ecde8d6ac804c586ca03e875e9bc59", "condition": "oracle_nonidentity", "episode_index": 91, "episode_steps": 100, "seed": 20260718, "success": false, "task": "peg_insertion_side", "task_return": 4.881261825561523}
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| 93 |
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{"checkpoint_sha256": "3f876118ffa8e4edca98b1cee0eeda4577ecde8d6ac804c586ca03e875e9bc59", "condition": "oracle_nonidentity", "episode_index": 92, "episode_steps": 100, "seed": 20260718, "success": false, "task": "peg_insertion_side", "task_return": 6.8124871253967285}
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| 94 |
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{"checkpoint_sha256": "3f876118ffa8e4edca98b1cee0eeda4577ecde8d6ac804c586ca03e875e9bc59", "condition": "oracle_nonidentity", "episode_index": 93, "episode_steps": 100, "seed": 20260718, "success": false, "task": "peg_insertion_side", "task_return": 8.010571479797363}
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| 95 |
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{"checkpoint_sha256": "3f876118ffa8e4edca98b1cee0eeda4577ecde8d6ac804c586ca03e875e9bc59", "condition": "oracle_nonidentity", "episode_index": 94, "episode_steps": 100, "seed": 20260718, "success": false, "task": "peg_insertion_side", "task_return": 6.922146320343018}
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| 96 |
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{"checkpoint_sha256": "3f876118ffa8e4edca98b1cee0eeda4577ecde8d6ac804c586ca03e875e9bc59", "condition": "oracle_nonidentity", "episode_index": 95, "episode_steps": 100, "seed": 20260718, "success": false, "task": "peg_insertion_side", "task_return": 7.151254653930664}
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| 97 |
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{"checkpoint_sha256": "3f876118ffa8e4edca98b1cee0eeda4577ecde8d6ac804c586ca03e875e9bc59", "condition": "oracle_nonidentity", "episode_index": 96, "episode_steps": 100, "seed": 20260718, "success": false, "task": "peg_insertion_side", "task_return": 37.26858901977539}
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| 98 |
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{"checkpoint_sha256": "3f876118ffa8e4edca98b1cee0eeda4577ecde8d6ac804c586ca03e875e9bc59", "condition": "oracle_nonidentity", "episode_index": 97, "episode_steps": 100, "seed": 20260718, "success": false, "task": "peg_insertion_side", "task_return": 23.648225784301758}
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| 99 |
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{"checkpoint_sha256": "3f876118ffa8e4edca98b1cee0eeda4577ecde8d6ac804c586ca03e875e9bc59", "condition": "oracle_nonidentity", "episode_index": 98, "episode_steps": 100, "seed": 20260718, "success": false, "task": "peg_insertion_side", "task_return": 32.54434585571289}
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| 100 |
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{"checkpoint_sha256": "3f876118ffa8e4edca98b1cee0eeda4577ecde8d6ac804c586ca03e875e9bc59", "condition": "oracle_nonidentity", "episode_index": 99, "episode_steps": 100, "seed": 20260718, "success": false, "task": "peg_insertion_side", "task_return": 8.08446979522705}
|
artifacts/sprint/gate0/parity/pick_cube-oracle_nonidentity.jsonl
ADDED
|
@@ -0,0 +1,100 @@
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| 1 |
+
{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 0, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 42.35918045043945}
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| 2 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 1, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 42.49422836303711}
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| 3 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 2, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 44.18239974975586}
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 3, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 44.413265228271484}
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| 5 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 4, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 45.03205490112305}
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| 6 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 5, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 43.57181167602539}
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| 7 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 6, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 45.154693603515625}
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| 8 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 7, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 44.22943878173828}
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| 9 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 8, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 44.89750289916992}
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| 10 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 9, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 45.016273498535156}
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| 11 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 10, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 42.94563293457031}
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| 12 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 11, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 43.68025588989258}
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| 13 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 12, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 45.603023529052734}
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| 14 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 13, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 43.83089065551758}
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| 15 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 14, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 42.928226470947266}
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| 16 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 15, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 43.97077178955078}
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| 17 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 16, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 43.151973724365234}
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| 18 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 17, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 42.954959869384766}
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| 19 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 18, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 43.836246490478516}
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| 20 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 19, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 44.275794982910156}
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| 21 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 20, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 43.77785110473633}
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| 22 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 21, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 43.432491302490234}
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| 23 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 22, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 44.88053894042969}
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| 24 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 23, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 43.043128967285156}
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| 25 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 24, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 42.64617156982422}
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| 26 |
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| 27 |
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| 29 |
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| 30 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 29, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 43.96146011352539}
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| 31 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 30, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 45.50982666015625}
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| 32 |
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| 33 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 32, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 44.97918701171875}
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| 34 |
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 33, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 44.494285583496094}
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{"checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "condition": "oracle_nonidentity", "episode_index": 34, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pick_cube", "task_return": 41.813621520996094}
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| 92 |
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| 94 |
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| 98 |
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| 99 |
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| 100 |
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artifacts/sprint/gate0/parity/push_cube-oracle_nonidentity.jsonl
ADDED
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@@ -0,0 +1,100 @@
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| 1 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 0, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 14.75775146484375}
|
| 2 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 1, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 44.14634704589844}
|
| 3 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 2, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 15.917166709899902}
|
| 4 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 3, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 14.643760681152344}
|
| 5 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 4, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 18.84906578063965}
|
| 6 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 5, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 15.476232528686523}
|
| 7 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 6, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 21.680116653442383}
|
| 8 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 7, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 20.62801170349121}
|
| 9 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 8, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 18.35445213317871}
|
| 10 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 9, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 38.538856506347656}
|
| 11 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 10, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 13.393150329589844}
|
| 12 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 11, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 45.23390579223633}
|
| 13 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 12, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 24.729806900024414}
|
| 14 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 13, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 32.72267150878906}
|
| 15 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 14, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 14.002655029296875}
|
| 16 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 15, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 28.33413314819336}
|
| 17 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 16, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 15.474148750305176}
|
| 18 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 17, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 15.233039855957031}
|
| 19 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 18, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 16.206378936767578}
|
| 20 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 19, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 22.454010009765625}
|
| 21 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 20, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 19.42950439453125}
|
| 22 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 21, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 45.587493896484375}
|
| 23 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 22, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 18.867713928222656}
|
| 24 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 23, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 17.432960510253906}
|
| 25 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 24, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 18.74186897277832}
|
| 26 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 25, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 15.823755264282227}
|
| 27 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 26, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 18.67491340637207}
|
| 28 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 27, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 23.645084381103516}
|
| 29 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 28, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 14.651342391967773}
|
| 30 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 29, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 23.66197967529297}
|
| 31 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 30, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 17.397798538208008}
|
| 32 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 31, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 45.58007049560547}
|
| 33 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 32, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 14.899316787719727}
|
| 34 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 33, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 15.902745246887207}
|
| 35 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 34, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 20.454164505004883}
|
| 36 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 35, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 15.311661720275879}
|
| 37 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 36, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 20.915050506591797}
|
| 38 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 37, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 14.747949600219727}
|
| 39 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 38, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 15.257801055908203}
|
| 40 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 39, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 20.8945369720459}
|
| 41 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 40, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 16.084407806396484}
|
| 42 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 41, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 17.112735748291016}
|
| 43 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 42, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 44.74480056762695}
|
| 44 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 43, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 44.763160705566406}
|
| 45 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 44, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 20.86454200744629}
|
| 46 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 45, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 21.950611114501953}
|
| 47 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 46, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 44.662052154541016}
|
| 48 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 47, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 20.764375686645508}
|
| 49 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 48, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 16.5476016998291}
|
| 50 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 49, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 43.6241455078125}
|
| 51 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 50, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 19.463485717773438}
|
| 52 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 51, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 15.66750431060791}
|
| 53 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 52, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 46.099754333496094}
|
| 54 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 53, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 23.67855453491211}
|
| 55 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 54, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 23.46320343017578}
|
| 56 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 55, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 19.872852325439453}
|
| 57 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 56, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 17.780166625976562}
|
| 58 |
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{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 57, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 45.550453186035156}
|
| 59 |
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{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 58, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 15.882683753967285}
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| 60 |
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{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 59, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 16.894634246826172}
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| 61 |
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{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 60, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 14.543400764465332}
|
| 62 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 61, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 15.766485214233398}
|
| 63 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 62, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 13.822754859924316}
|
| 64 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 63, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 44.48439407348633}
|
| 65 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 64, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 45.493873596191406}
|
| 66 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 65, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 15.990898132324219}
|
| 67 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 66, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 39.597572326660156}
|
| 68 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 67, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 45.65470504760742}
|
| 69 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 68, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 21.96417999267578}
|
| 70 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 69, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 16.15039825439453}
|
| 71 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 70, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 45.8058967590332}
|
| 72 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 71, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 17.77680778503418}
|
| 73 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 72, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 45.39414978027344}
|
| 74 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 73, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 43.27220153808594}
|
| 75 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 74, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 18.150102615356445}
|
| 76 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 75, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 44.94963836669922}
|
| 77 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 76, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 40.77201843261719}
|
| 78 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 77, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 45.529151916503906}
|
| 79 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 78, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 45.289634704589844}
|
| 80 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 79, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 19.305419921875}
|
| 81 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 80, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 21.968772888183594}
|
| 82 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 81, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 16.435867309570312}
|
| 83 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 82, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 14.7429838180542}
|
| 84 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 83, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 43.99055099487305}
|
| 85 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 84, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 45.537750244140625}
|
| 86 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 85, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 45.04694747924805}
|
| 87 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 86, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 15.031155586242676}
|
| 88 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 87, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 23.2453556060791}
|
| 89 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 88, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 23.10065269470215}
|
| 90 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 89, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 15.345076560974121}
|
| 91 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 90, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 43.14118576049805}
|
| 92 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 91, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 44.684165954589844}
|
| 93 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 92, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 16.50375747680664}
|
| 94 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 93, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 14.334524154663086}
|
| 95 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 94, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 32.103973388671875}
|
| 96 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 95, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 20.689085006713867}
|
| 97 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 96, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 43.74002456665039}
|
| 98 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 97, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 17.57757568359375}
|
| 99 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 98, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 18.336328506469727}
|
| 100 |
+
{"checkpoint_sha256": "a4a02198b309e73cb877959079023d967d5f63ec78380de9703a10c9efafc0cf", "condition": "oracle_nonidentity", "episode_index": 99, "episode_steps": 50, "seed": 20260718, "success": true, "task": "push_cube", "task_return": 45.544795989990234}
|
artifacts/sprint/gate1/gate1-verdict.json
ADDED
|
@@ -0,0 +1,314 @@
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|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"claim_status": "matched_three_seed_ceiling_comparison",
|
| 3 |
+
"comparisons": {
|
| 4 |
+
"pick_cube/long_lag": {
|
| 5 |
+
"interpretation": "privileged ceiling gap; not an adaptation-method superiority claim",
|
| 6 |
+
"matched_seeds": [
|
| 7 |
+
20260718,
|
| 8 |
+
20260719,
|
| 9 |
+
20260720
|
| 10 |
+
],
|
| 11 |
+
"oracle_minus_no_adapt": {
|
| 12 |
+
"confidence": 0.95,
|
| 13 |
+
"estimate": 0.021666666666666667,
|
| 14 |
+
"lower": 0.008333333333333333,
|
| 15 |
+
"pairs": 600,
|
| 16 |
+
"samples": 10000,
|
| 17 |
+
"upper": 0.03666666666666667
|
| 18 |
+
},
|
| 19 |
+
"three_seed_comparison": true
|
| 20 |
+
},
|
| 21 |
+
"pick_cube/seen": {
|
| 22 |
+
"interpretation": "privileged ceiling gap; not an adaptation-method superiority claim",
|
| 23 |
+
"matched_seeds": [
|
| 24 |
+
20260718,
|
| 25 |
+
20260719,
|
| 26 |
+
20260720
|
| 27 |
+
],
|
| 28 |
+
"oracle_minus_no_adapt": {
|
| 29 |
+
"confidence": 0.95,
|
| 30 |
+
"estimate": 1.0,
|
| 31 |
+
"lower": 1.0,
|
| 32 |
+
"pairs": 600,
|
| 33 |
+
"samples": 10000,
|
| 34 |
+
"upper": 1.0
|
| 35 |
+
},
|
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| 37 |
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|
| 313 |
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|
| 314 |
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|
artifacts/sprint/gate1/jobs.jsonl
ADDED
|
@@ -0,0 +1,72 @@
|
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|
|
| 1 |
+
{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/8131f330bd69aa6b/final_ckpt.pt", "checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "contracts": 2, "episodes_per_contract": 100, "job_id": "da09da83a078913e", "method": "oracle", "num_envs": 16, "output": "artifacts/sprint/gate1/pick_cube-oracle-seen-seed20260718.jsonl", "schema_version": "1.0", "seed": 20260718, "split": "seen", "task": "pick_cube"}
|
| 2 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/8131f330bd69aa6b/final_ckpt.pt", "checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "contracts": 2, "episodes_per_contract": 100, "job_id": "5305c0f4f6f30dcc", "method": "oracle", "num_envs": 16, "output": "artifacts/sprint/gate1/pick_cube-oracle-unseen_composition-seed20260718.jsonl", "schema_version": "1.0", "seed": 20260718, "split": "unseen_composition", "task": "pick_cube"}
|
| 3 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/8131f330bd69aa6b/final_ckpt.pt", "checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "contracts": 2, "episodes_per_contract": 100, "job_id": "f215f668069b540c", "method": "oracle", "num_envs": 16, "output": "artifacts/sprint/gate1/pick_cube-oracle-long_lag-seed20260718.jsonl", "schema_version": "1.0", "seed": 20260718, "split": "long_lag", "task": "pick_cube"}
|
| 4 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/8131f330bd69aa6b/final_ckpt.pt", "checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "contracts": 2, "episodes_per_contract": 100, "job_id": "74031e2c50e3c34f", "method": "no_adapt", "num_envs": 16, "output": "artifacts/sprint/gate1/pick_cube-no_adapt-seen-seed20260718.jsonl", "schema_version": "1.0", "seed": 20260718, "split": "seen", "task": "pick_cube"}
|
| 5 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/8131f330bd69aa6b/final_ckpt.pt", "checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "contracts": 2, "episodes_per_contract": 100, "job_id": "54629306c0a9715e", "method": "no_adapt", "num_envs": 16, "output": "artifacts/sprint/gate1/pick_cube-no_adapt-unseen_composition-seed20260718.jsonl", "schema_version": "1.0", "seed": 20260718, "split": "unseen_composition", "task": "pick_cube"}
|
| 6 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/8131f330bd69aa6b/final_ckpt.pt", "checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "contracts": 2, "episodes_per_contract": 100, "job_id": "244c15b6e8fc079b", "method": "no_adapt", "num_envs": 16, "output": "artifacts/sprint/gate1/pick_cube-no_adapt-long_lag-seed20260718.jsonl", "schema_version": "1.0", "seed": 20260718, "split": "long_lag", "task": "pick_cube"}
|
| 7 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/8131f330bd69aa6b/final_ckpt.pt", "checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "contracts": 2, "episodes_per_contract": 100, "job_id": "ef4e43b758ade66f", "method": "oracle", "num_envs": 16, "output": "artifacts/sprint/gate1/pick_cube-oracle-seen-seed20260719.jsonl", "schema_version": "1.0", "seed": 20260719, "split": "seen", "task": "pick_cube"}
|
| 8 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/8131f330bd69aa6b/final_ckpt.pt", "checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "contracts": 2, "episodes_per_contract": 100, "job_id": "5d6042676ee2044c", "method": "oracle", "num_envs": 16, "output": "artifacts/sprint/gate1/pick_cube-oracle-unseen_composition-seed20260719.jsonl", "schema_version": "1.0", "seed": 20260719, "split": "unseen_composition", "task": "pick_cube"}
|
| 9 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/8131f330bd69aa6b/final_ckpt.pt", "checkpoint_sha256": "3e6c95d63a2132843323e24cf7ba962b8cf2610f04b2a5a43f3efb6fef8497a8", "contracts": 2, "episodes_per_contract": 100, "job_id": "fd817a2c9efd80df", "method": "oracle", "num_envs": 16, "output": "artifacts/sprint/gate1/pick_cube-oracle-long_lag-seed20260719.jsonl", "schema_version": "1.0", "seed": 20260719, "split": "long_lag", "task": "pick_cube"}
|
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| 48 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/pull_cube-ppo-2M-s20260718/final_ckpt.pt", "checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "contracts": 2, "episodes_per_contract": 100, "job_id": "01c42814fa697b64", "method": "no_adapt", "num_envs": 16, "output": "artifacts/third_task/gate1/pull_cube-no_adapt-long_lag-seed20260719.jsonl", "schema_version": "1.0", "seed": 20260719, "split": "long_lag", "task": "pull_cube"}
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| 49 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/pull_cube-ppo-2M-s20260718/final_ckpt.pt", "checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "contracts": 2, "episodes_per_contract": 100, "job_id": "5c7b5267dd71b394", "method": "oracle", "num_envs": 16, "output": "artifacts/third_task/gate1/pull_cube-oracle-seen-seed20260720.jsonl", "schema_version": "1.0", "seed": 20260720, "split": "seen", "task": "pull_cube"}
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| 50 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/pull_cube-ppo-2M-s20260718/final_ckpt.pt", "checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "contracts": 2, "episodes_per_contract": 100, "job_id": "100880de1e6f2f2f", "method": "oracle", "num_envs": 16, "output": "artifacts/third_task/gate1/pull_cube-oracle-unseen_composition-seed20260720.jsonl", "schema_version": "1.0", "seed": 20260720, "split": "unseen_composition", "task": "pull_cube"}
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| 51 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/pull_cube-ppo-2M-s20260718/final_ckpt.pt", "checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "contracts": 2, "episodes_per_contract": 100, "job_id": "a9e3a5e9e371fb00", "method": "oracle", "num_envs": 16, "output": "artifacts/third_task/gate1/pull_cube-oracle-long_lag-seed20260720.jsonl", "schema_version": "1.0", "seed": 20260720, "split": "long_lag", "task": "pull_cube"}
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| 52 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/pull_cube-ppo-2M-s20260718/final_ckpt.pt", "checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "contracts": 2, "episodes_per_contract": 100, "job_id": "009e10724f46db5c", "method": "no_adapt", "num_envs": 16, "output": "artifacts/third_task/gate1/pull_cube-no_adapt-seen-seed20260720.jsonl", "schema_version": "1.0", "seed": 20260720, "split": "seen", "task": "pull_cube"}
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| 53 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/pull_cube-ppo-2M-s20260718/final_ckpt.pt", "checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "contracts": 2, "episodes_per_contract": 100, "job_id": "4da7ecb4b2c7a947", "method": "no_adapt", "num_envs": 16, "output": "artifacts/third_task/gate1/pull_cube-no_adapt-unseen_composition-seed20260720.jsonl", "schema_version": "1.0", "seed": 20260720, "split": "unseen_composition", "task": "pull_cube"}
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| 54 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/pull_cube-ppo-2M-s20260718/final_ckpt.pt", "checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "contracts": 2, "episodes_per_contract": 100, "job_id": "d99660ecb33ff624", "method": "no_adapt", "num_envs": 16, "output": "artifacts/third_task/gate1/pull_cube-no_adapt-long_lag-seed20260720.jsonl", "schema_version": "1.0", "seed": 20260720, "split": "long_lag", "task": "pull_cube"}
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| 55 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/stack_cube-ppo-25M-s20260718/final_ckpt.pt", "checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "contracts": 2, "episodes_per_contract": 100, "job_id": "92a39aaf2c695720", "method": "oracle", "num_envs": 16, "output": "artifacts/fourth_task/gate1/stack_cube-oracle-seen-seed20260718.jsonl", "schema_version": "1.0", "seed": 20260718, "split": "seen", "task": "stack_cube"}
|
| 56 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/stack_cube-ppo-25M-s20260718/final_ckpt.pt", "checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "contracts": 2, "episodes_per_contract": 100, "job_id": "9c74655cd8c22579", "method": "oracle", "num_envs": 16, "output": "artifacts/fourth_task/gate1/stack_cube-oracle-unseen_composition-seed20260718.jsonl", "schema_version": "1.0", "seed": 20260718, "split": "unseen_composition", "task": "stack_cube"}
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| 57 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/stack_cube-ppo-25M-s20260718/final_ckpt.pt", "checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "contracts": 2, "episodes_per_contract": 100, "job_id": "420c74f15f60d0b8", "method": "oracle", "num_envs": 16, "output": "artifacts/fourth_task/gate1/stack_cube-oracle-long_lag-seed20260718.jsonl", "schema_version": "1.0", "seed": 20260718, "split": "long_lag", "task": "stack_cube"}
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| 58 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/stack_cube-ppo-25M-s20260718/final_ckpt.pt", "checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "contracts": 2, "episodes_per_contract": 100, "job_id": "4339d6702a4378a3", "method": "no_adapt", "num_envs": 16, "output": "artifacts/fourth_task/gate1/stack_cube-no_adapt-seen-seed20260718.jsonl", "schema_version": "1.0", "seed": 20260718, "split": "seen", "task": "stack_cube"}
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| 59 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/stack_cube-ppo-25M-s20260718/final_ckpt.pt", "checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "contracts": 2, "episodes_per_contract": 100, "job_id": "7e8d678ada8ca659", "method": "no_adapt", "num_envs": 16, "output": "artifacts/fourth_task/gate1/stack_cube-no_adapt-unseen_composition-seed20260718.jsonl", "schema_version": "1.0", "seed": 20260718, "split": "unseen_composition", "task": "stack_cube"}
|
| 60 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/stack_cube-ppo-25M-s20260718/final_ckpt.pt", "checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "contracts": 2, "episodes_per_contract": 100, "job_id": "9053d4a240b8ad46", "method": "no_adapt", "num_envs": 16, "output": "artifacts/fourth_task/gate1/stack_cube-no_adapt-long_lag-seed20260718.jsonl", "schema_version": "1.0", "seed": 20260718, "split": "long_lag", "task": "stack_cube"}
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| 61 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/stack_cube-ppo-25M-s20260718/final_ckpt.pt", "checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "contracts": 2, "episodes_per_contract": 100, "job_id": "e7ac6e048222ec1b", "method": "oracle", "num_envs": 16, "output": "artifacts/fourth_task/gate1/stack_cube-oracle-seen-seed20260719.jsonl", "schema_version": "1.0", "seed": 20260719, "split": "seen", "task": "stack_cube"}
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| 62 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/stack_cube-ppo-25M-s20260718/final_ckpt.pt", "checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "contracts": 2, "episodes_per_contract": 100, "job_id": "e52fd2bd394c8742", "method": "oracle", "num_envs": 16, "output": "artifacts/fourth_task/gate1/stack_cube-oracle-unseen_composition-seed20260719.jsonl", "schema_version": "1.0", "seed": 20260719, "split": "unseen_composition", "task": "stack_cube"}
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| 63 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/stack_cube-ppo-25M-s20260718/final_ckpt.pt", "checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "contracts": 2, "episodes_per_contract": 100, "job_id": "eabdc25d72af8629", "method": "oracle", "num_envs": 16, "output": "artifacts/fourth_task/gate1/stack_cube-oracle-long_lag-seed20260719.jsonl", "schema_version": "1.0", "seed": 20260719, "split": "long_lag", "task": "stack_cube"}
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| 64 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/stack_cube-ppo-25M-s20260718/final_ckpt.pt", "checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "contracts": 2, "episodes_per_contract": 100, "job_id": "7634c3f215b58802", "method": "no_adapt", "num_envs": 16, "output": "artifacts/fourth_task/gate1/stack_cube-no_adapt-seen-seed20260719.jsonl", "schema_version": "1.0", "seed": 20260719, "split": "seen", "task": "stack_cube"}
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| 65 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/stack_cube-ppo-25M-s20260718/final_ckpt.pt", "checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "contracts": 2, "episodes_per_contract": 100, "job_id": "423624adf8dbc147", "method": "no_adapt", "num_envs": 16, "output": "artifacts/fourth_task/gate1/stack_cube-no_adapt-unseen_composition-seed20260719.jsonl", "schema_version": "1.0", "seed": 20260719, "split": "unseen_composition", "task": "stack_cube"}
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/stack_cube-ppo-25M-s20260718/final_ckpt.pt", "checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "contracts": 2, "episodes_per_contract": 100, "job_id": "371a74c8ac64124f", "method": "oracle", "num_envs": 16, "output": "artifacts/fourth_task/gate1/stack_cube-oracle-long_lag-seed20260720.jsonl", "schema_version": "1.0", "seed": 20260720, "split": "long_lag", "task": "stack_cube"}
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| 70 |
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{"checkpoint": "third_party/maniskill/examples/baselines/ppo/runs/stack_cube-ppo-25M-s20260718/final_ckpt.pt", "checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "contracts": 2, "episodes_per_contract": 100, "job_id": "6b0d4cc02902f405", "method": "no_adapt", "num_envs": 16, "output": "artifacts/fourth_task/gate1/stack_cube-no_adapt-seen-seed20260720.jsonl", "schema_version": "1.0", "seed": 20260720, "split": "seen", "task": "stack_cube"}
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| 72 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 0, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 11.725251197814941}
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 1, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 11.691716194152832}
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 67, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 13.502002716064453}
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| 69 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 68, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 9.481843948364258}
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| 70 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 69, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 8.139280319213867}
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 70, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 12.073503494262695}
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| 72 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 71, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 11.345588684082031}
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| 73 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 72, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 8.369598388671875}
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| 74 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 73, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 12.402241706848145}
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| 75 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 74, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 9.426465034484863}
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| 76 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 75, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 11.430547714233398}
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| 77 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 76, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 10.850139617919922}
|
| 78 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 77, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 11.945128440856934}
|
| 79 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 78, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 13.22987174987793}
|
| 80 |
+
{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 79, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 12.131892204284668}
|
| 81 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 80, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 11.129850387573242}
|
| 82 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 81, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 8.42055892944336}
|
| 83 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 82, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 9.727529525756836}
|
| 84 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 83, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 8.765973091125488}
|
| 85 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 84, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 11.262764930725098}
|
| 86 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 85, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 12.036221504211426}
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| 87 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 86, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 10.6964750289917}
|
| 88 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 87, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 10.116474151611328}
|
| 89 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 88, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 14.381009101867676}
|
| 90 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 89, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 14.375900268554688}
|
| 91 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 90, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 10.13373851776123}
|
| 92 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 91, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 12.157255172729492}
|
| 93 |
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{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 92, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 13.096054077148438}
|
| 94 |
+
{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 93, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 10.399023056030273}
|
| 95 |
+
{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 94, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 11.02037239074707}
|
| 96 |
+
{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 95, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 9.53717041015625}
|
| 97 |
+
{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 96, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 9.682129859924316}
|
| 98 |
+
{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 97, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 13.960084915161133}
|
| 99 |
+
{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 98, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 9.928132057189941}
|
| 100 |
+
{"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7", "condition": "oracle_nonidentity", "episode_index": 99, "episode_steps": 50, "seed": 20260718, "success": true, "task": "pull_cube", "task_return": 9.74460506439209}
|
artifacts/third_task/gate1/pull_cube-gate1-verdict.json
ADDED
|
@@ -0,0 +1,54 @@
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|
| 1 |
+
{
|
| 2 |
+
"cells": {
|
| 3 |
+
"long_lag/no_adapt": {
|
| 4 |
+
"success_rate": 0.0,
|
| 5 |
+
"successes": 0,
|
| 6 |
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"total": 600,
|
| 7 |
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"wilson_lower": 0.0,
|
| 8 |
+
"wilson_upper": 0.006361701013700707
|
| 9 |
+
},
|
| 10 |
+
"long_lag/oracle": {
|
| 11 |
+
"success_rate": 0.32166666666666666,
|
| 12 |
+
"successes": 193,
|
| 13 |
+
"total": 600,
|
| 14 |
+
"wilson_lower": 0.2855266131737779,
|
| 15 |
+
"wilson_upper": 0.3600757268544421
|
| 16 |
+
},
|
| 17 |
+
"seen/no_adapt": {
|
| 18 |
+
"success_rate": 0.0,
|
| 19 |
+
"successes": 0,
|
| 20 |
+
"total": 600,
|
| 21 |
+
"wilson_lower": 0.0,
|
| 22 |
+
"wilson_upper": 0.006361701013700707
|
| 23 |
+
},
|
| 24 |
+
"seen/oracle": {
|
| 25 |
+
"success_rate": 1.0,
|
| 26 |
+
"successes": 600,
|
| 27 |
+
"total": 600,
|
| 28 |
+
"wilson_lower": 0.9936382989862994,
|
| 29 |
+
"wilson_upper": 1.0000000000000002
|
| 30 |
+
},
|
| 31 |
+
"unseen_composition/no_adapt": {
|
| 32 |
+
"success_rate": 0.0,
|
| 33 |
+
"successes": 0,
|
| 34 |
+
"total": 600,
|
| 35 |
+
"wilson_lower": 0.0,
|
| 36 |
+
"wilson_upper": 0.006361701013700707
|
| 37 |
+
},
|
| 38 |
+
"unseen_composition/oracle": {
|
| 39 |
+
"success_rate": 0.9983333333333333,
|
| 40 |
+
"successes": 599,
|
| 41 |
+
"total": 600,
|
| 42 |
+
"wilson_lower": 0.9906204395238613,
|
| 43 |
+
"wilson_upper": 0.9997057317991506
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"checkpoint_sha256": "74ae6a09b9af5e9e50dc71944f2e99316a8b67b02f3a96ca45df4a6d53dc1bd7",
|
| 47 |
+
"episodes_per_cell": 600,
|
| 48 |
+
"seeds": [
|
| 49 |
+
20260718,
|
| 50 |
+
20260719,
|
| 51 |
+
20260720
|
| 52 |
+
],
|
| 53 |
+
"task": "pull_cube"
|
| 54 |
+
}
|
artifacts/third_task/gate1/pull_cube-oracle-long_lag-seed20260718.jsonl
ADDED
|
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artifacts/third_task/gate1/pull_cube-oracle-long_lag-seed20260719.jsonl
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artifacts/third_task/gate1/pull_cube-oracle-long_lag-seed20260720.jsonl
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artifacts/third_task/gate1/pull_cube-oracle-seen-seed20260718.jsonl
ADDED
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artifacts/third_task/gate1/pull_cube-oracle-seen-seed20260719.jsonl
ADDED
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artifacts/third_task/gate1/pull_cube-oracle-seen-seed20260720.jsonl
ADDED
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artifacts/third_task/gate1/pull_cube-oracle-unseen_composition-seed20260718.jsonl
ADDED
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|
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artifacts/third_task/gate1/pull_cube-oracle-unseen_composition-seed20260719.jsonl
ADDED
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|
artifacts/third_task/gate1/pull_cube-oracle-unseen_composition-seed20260720.jsonl
ADDED
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|
configs/contracts/core.yaml
ADDED
|
@@ -0,0 +1,14 @@
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|
| 1 |
+
schema_version: "1.0"
|
| 2 |
+
generator_version: "core-v1"
|
| 3 |
+
seed: 20260718
|
| 4 |
+
dimension: 2
|
| 5 |
+
product:
|
| 6 |
+
permutation: [[0, 1], [1, 0]]
|
| 7 |
+
sign: [[-1, -1], [-1, 1], [1, -1], [1, 1]]
|
| 8 |
+
scale: [[1.0, 1.0], [1.5, 1.5]]
|
| 9 |
+
lag: [0, 2]
|
| 10 |
+
fixed:
|
| 11 |
+
target: delta
|
| 12 |
+
frame: base
|
| 13 |
+
gripper_inverted: false
|
| 14 |
+
contract_count: 32
|
configs/evaluation/headline.yaml
ADDED
|
@@ -0,0 +1,19 @@
|
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|
| 1 |
+
schema_version: "1.0"
|
| 2 |
+
backend: maniskill
|
| 3 |
+
seeds: [20260718, 20260719, 20260720, 20260721, 20260722]
|
| 4 |
+
tasks: [pick_cube, push_cube, peg_insertion_side]
|
| 5 |
+
splits: [seen, unseen_value, unseen_composition, long_lag, task_transfer]
|
| 6 |
+
methods:
|
| 7 |
+
- oracle
|
| 8 |
+
- no_adapt
|
| 9 |
+
- domain_randomized
|
| 10 |
+
- recurrent
|
| 11 |
+
- osi
|
| 12 |
+
- rma
|
| 13 |
+
- random_probes
|
| 14 |
+
- fixed_probes
|
| 15 |
+
- dualabi
|
| 16 |
+
- dualabi_entropy
|
| 17 |
+
episodes_per_job: 100
|
| 18 |
+
primary_metric: success_rate
|
| 19 |
+
confidence: 0.95
|
configs/method/domain_randomized.yaml
ADDED
|
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|
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|
| 1 |
+
name: domain_randomized
|
| 2 |
+
privileged_contract_context: none
|
| 3 |
+
sample_training_contract_per_episode: true
|
| 4 |
+
history: none
|
| 5 |
+
actor_hidden_dim: 256
|
| 6 |
+
critic_hidden_dim: 256
|
| 7 |
+
ppo:
|
| 8 |
+
learning_rate: 0.0003
|
| 9 |
+
rollout_steps: 32
|
| 10 |
+
epochs: 4
|
| 11 |
+
minibatch_size: 1024
|
| 12 |
+
clip_ratio: 0.2
|
configs/method/dualabi.yaml
ADDED
|
@@ -0,0 +1,13 @@
|
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|
|
| 1 |
+
name: dualabi
|
| 2 |
+
belief: learned_factorized
|
| 3 |
+
information_mode: task_regret
|
| 4 |
+
candidate_count: 13
|
| 5 |
+
candidate_radius: 0.1
|
| 6 |
+
safety_weight: 4.0
|
| 7 |
+
information_weight: 0.8
|
| 8 |
+
terminal_weight: 1.0
|
| 9 |
+
dynamics_ensemble_size: 5
|
| 10 |
+
actor_hidden_dim: 256
|
| 11 |
+
critic_hidden_dim: 256
|
| 12 |
+
history_length: 8
|
| 13 |
+
hard_safety_mask: true
|