add search runs

README.md

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+---
+task_categories:
+- robotics
+tags:
+- robotics
+- action-selection
+- search
+- branch-and-rollback
+configs:
+- config_name: searches
+  data_files:
+  - split: train
+    path: meta/searches/*__seed5*.parquet
+- config_name: nodes
+  data_files:
+  - split: train
+    path: data/nodes/**/*__seed5*.parquet
+- config_name: steps
+  data_files:
+  - split: train
+    path: data/steps/**/*__seed5*.parquet
+---
+
+# scoring_data
+
+**At a state: several action chunks proposed from it, and how each one actually ended.**
+A branch the search dropped was cut off mid-episode, so it is resumed from its own snapshot
+and carried to a finish — the action nobody executed still gets an answer to *would this
+have worked*.
+
+6 searches · 6 tasks · 253 nodes, each with its own
+state and image.
+
+This repo hosts the data. **What it means, how it was produced and how to use it live in
+the code that wrote it:** [https://github.com/EAI-RSM/rewind](https://github.com/EAI-RSM/rewind) — see its README for the format, the
+search strategies, and worked examples of loading a record.
+
+## Splits
+
+Both halves live here, told apart by the `split` column of `meta/searches` rather than by
+path. The blocks are disjoint by construction, so a scorer trained on one can be measured
+on the other without having seen it.
+
+| split | seeds | in this repo |
+|---|---|---|
+| `train` | collection seeds (50000+) — fans to learn from | 6 searches |
+| `test` | the benchmark's own evaluation seeds (40000+) — what a scorer is measured on | **not collected yet** |
+
+```python
+from rewind.record.hub import index
+runs  = index("mahgoobi/scoring_data")
+train = [r for r in runs if r["split"] == "train"]
+test  = [r for r in runs if r["split"] == "test"]
+```
+
+## Tasks
+
+One row per task: how many searches it contributed, which splits, which scene configs, the
+seeds, and the **benchmark commit** whose code built those scenes.
+
+That last column is not bookkeeping. The benchmark's success criteria change over time —
+`put_milktea_on_shelf` gained an upright requirement, `put_milktea_next_to_laptop` a 15°
+tolerance — so two runs of one task under different commits are scored by different rules
+and should not be pooled. Runs of a task the change did not touch stay comparable.
+
+| task | runs | splits | configs | seeds | benchmark commit |
+|---|---|---|---|---|---|
+| `drop_apple_in_bin_ks` | 1 | train | kitchens_clean | 50000 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `move_cup_put_pen_in_cup` | 1 | train | study_clean | 50000 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `put_can_in_cabinet` | 1 | train | kitchenl_clean | 50000 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `put_milktea_on_shelf` | 1 | train | office_clean | 50000 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `put_mouse_on_pad` | 1 | train | office_clean | 50000 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `put_stapler_next_to_mouse` | 1 | train | office_clean | 50000 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+
+## Contents
+
+| | |
+|---|---|
+| tasks | `drop_apple_in_bin_ks`, `move_cup_put_pen_in_cup`, `put_can_in_cabinet`, `put_milktea_on_shelf`, `put_mouse_on_pad`, `put_stapler_next_to_mouse` |
+| scene seeds | 50000 |
+| search | `branch_once`, fan of 5, horizon 7 |
+| policy | `roboresearch_policy` — None @ 0 |
+| cameras | countertop_camera, right_camera, left_camera |
+| action chunk | 50 steps |
+
+| table | rows | files | columns |
+|---|---|---|---|
+| `nodes` | 253 | 6 | 10 |
+| `steps` | 12,350 | 6 | 5 |
+
+Outcomes, best to worst: `hard_success` solved it cleanly, `soft_success` solved it after
+a collision, `soft_failure` missed, `hard_failure` missed and collided. `terminal` says
+whether the episode had ended when the outcome was read — `tier` is an outcome only where
+it is true, and only those are counted here.
+
+| outcome | branches |
+|---|---|
+| `hard_success` | 16 |
+| `soft_failure` | 14 |
+
+## Loading it
+
+```python
+from datasets import load_dataset
+train = load_dataset("mahgoobi/scoring_data", "nodes", split="train")   # the collection seeds
+```
+
+The library's splits ARE the `split` column of `meta/searches`: the frontmatter above
+names each run's shard under the block that column puts it in, so the two cannot drift.
+Only the blocks this repo actually holds are declared.
+
+Every node carries its own state — poses, the robot's command, and one JPEG per camera —
+so `nodes` alone answers most questions. `steps` is what happened between two nodes.
+There is no video: `rewind video` builds one from these frames when you want to watch a
+branch.
+
+Data is partitioned as `data/<table>/task=<task>/<search_id>.parquet`, so one task is one
+directory:
+
+```python
+from huggingface_hub import snapshot_download
+snapshot_download("mahgoobi/scoring_data", repo_type="dataset",
+                  allow_patterns=["meta/**", "data/*/task=drop_apple_in_bin_ks/*"])
+```
+
+Each run's config is stored verbatim at `meta/configs/<search_id>.yml`, so any run can be
+repeated from the record itself.
+
+Full format, and everything else: [https://github.com/EAI-RSM/rewind](https://github.com/EAI-RSM/rewind).

data/nodes/task=drop_apple_in_bin_ks/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50000.parquet

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meta/configs/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50000.yml

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+scene:
+  task: drop_apple_in_bin_ks
+  task_config: bench_demo_kitchens_clean
+  seed: 50000
+  seeds: null
+  eval_mode: true
+policy:
+  name: roboresearch_policy
+  config: /work/mohammed/roboresearch/critic_fans/deploy_fan5.yml
+  instruction: null
+  instruction_type: unseen
+  candidate_opt: {}
+  overrides: {}
+search:
+  strategy: branch_once
+  k: 5
+  depth: -1
+  top_m: 1
+  stop_on_success: false
+  params: {}
+fitness:
+  name: oracle
+  dist_tiebreak: true
+verify:
+  enabled: false
+  atol: 1.0e-05
+output:
+  plans: /work/mohammed/roboresearch/critic_fans/drop_apple_in_bin_ks/plans
+  episodes: null
+record:
+  dir: /work/mohammed/roboresearch/critic_fans/record
+  save_intermediate: false
+  cameras: []
+  carry_branches: true
+  branch_every: 0

meta/configs/move_cup_put_pen_in_cup__bench_demo_study_clean__seed50000.yml

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+scene:
+  task: move_cup_put_pen_in_cup
+  task_config: bench_demo_study_clean
+  seed: 50000
+  seeds: null
+  eval_mode: true
+policy:
+  name: roboresearch_policy
+  config: /work/mohammed/roboresearch/critic_fans/deploy_fan5.yml
+  instruction: null
+  instruction_type: unseen
+  candidate_opt: {}
+  overrides: {}
+search:
+  strategy: branch_once
+  k: 5
+  depth: -1
+  top_m: 1
+  stop_on_success: false
+  params: {}
+fitness:
+  name: oracle
+  dist_tiebreak: true
+verify:
+  enabled: false
+  atol: 1.0e-05
+output:
+  plans: /work/mohammed/roboresearch/critic_fans/move_cup_put_pen_in_cup/plans
+  episodes: null
+record:
+  dir: /work/mohammed/roboresearch/critic_fans/record
+  save_intermediate: false
+  cameras: []
+  carry_branches: true
+  branch_every: 0

meta/configs/put_can_in_cabinet__bench_demo_kitchenl_clean__seed50000.yml

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+scene:
+  task: put_can_in_cabinet
+  task_config: bench_demo_kitchenl_clean
+  seed: 50000
+  seeds: null
+  eval_mode: true
+policy:
+  name: roboresearch_policy
+  config: /work/mohammed/roboresearch/critic_fans/deploy_fan5.yml
+  instruction: null
+  instruction_type: unseen
+  candidate_opt: {}
+  overrides: {}
+search:
+  strategy: branch_once
+  k: 5
+  depth: -1
+  top_m: 1
+  stop_on_success: false
+  params: {}
+fitness:
+  name: oracle
+  dist_tiebreak: true
+verify:
+  enabled: false
+  atol: 1.0e-05
+output:
+  plans: /work/mohammed/roboresearch/critic_fans/put_can_in_cabinet/plans
+  episodes: null
+record:
+  dir: /work/mohammed/roboresearch/critic_fans/record
+  save_intermediate: false
+  cameras: []
+  carry_branches: true
+  branch_every: 0

meta/configs/put_milktea_on_shelf__bench_demo_office_clean__seed50000.yml

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+scene:
+  task: put_milktea_on_shelf
+  task_config: bench_demo_office_clean
+  seed: 50000
+  seeds: null
+  eval_mode: true
+policy:
+  name: roboresearch_policy
+  config: /work/mohammed/roboresearch/critic_fans/deploy_fan5.yml
+  instruction: null
+  instruction_type: unseen
+  candidate_opt: {}
+  overrides: {}
+search:
+  strategy: branch_once
+  k: 5
+  depth: -1
+  top_m: 1
+  stop_on_success: false
+  params: {}
+fitness:
+  name: oracle
+  dist_tiebreak: true
+verify:
+  enabled: false
+  atol: 1.0e-05
+output:
+  plans: /work/mohammed/roboresearch/critic_fans/put_milktea_on_shelf/plans
+  episodes: null
+record:
+  dir: /work/mohammed/roboresearch/critic_fans/record
+  save_intermediate: false
+  cameras: []
+  carry_branches: true
+  branch_every: 0

meta/configs/put_mouse_on_pad__bench_demo_office_clean__seed50000.yml

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+scene:
+  task: put_mouse_on_pad
+  task_config: bench_demo_office_clean
+  seed: 50000
+  seeds: null
+  eval_mode: true
+policy:
+  name: roboresearch_policy
+  config: /work/mohammed/roboresearch/critic_fans/deploy_fan5.yml
+  instruction: null
+  instruction_type: unseen
+  candidate_opt: {}
+  overrides: {}
+search:
+  strategy: branch_once
+  k: 5
+  depth: -1
+  top_m: 1
+  stop_on_success: false
+  params: {}
+fitness:
+  name: oracle
+  dist_tiebreak: true
+verify:
+  enabled: false
+  atol: 1.0e-05
+output:
+  plans: /work/mohammed/roboresearch/critic_fans/put_mouse_on_pad/plans
+  episodes: null
+record:
+  dir: /work/mohammed/roboresearch/critic_fans/record
+  save_intermediate: false
+  cameras: []
+  carry_branches: true
+  branch_every: 0

meta/configs/put_stapler_next_to_mouse__bench_demo_office_clean__seed50000.yml

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+scene:
+  task: put_stapler_next_to_mouse
+  task_config: bench_demo_office_clean
+  seed: 50000
+  seeds: null
+  eval_mode: true
+policy:
+  name: roboresearch_policy
+  config: /work/mohammed/roboresearch/critic_fans/deploy_fan5.yml
+  instruction: null
+  instruction_type: unseen
+  candidate_opt: {}
+  overrides: {}
+search:
+  strategy: branch_once
+  k: 5
+  depth: -1
+  top_m: 1
+  stop_on_success: false
+  params: {}
+fitness:
+  name: oracle
+  dist_tiebreak: true
+verify:
+  enabled: false
+  atol: 1.0e-05
+output:
+  plans: /work/mohammed/roboresearch/critic_fans/put_stapler_next_to_mouse/plans
+  episodes: null
+record:
+  dir: /work/mohammed/roboresearch/critic_fans/record
+  save_intermediate: false
+  cameras: []
+  carry_branches: true
+  branch_every: 0

meta/info.json

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+{
+ "format": "search_record_v2",
+ "cameras": [
+  "countertop_camera",
+  "right_camera",
+  "left_camera"
+ ],
+ "chunk": 50,
+ "state": "named object poses, articulation root/qpos/qvel, the 14-dim robot command, and one JPEG per camera \u2014 all at the node, captured where the search stood"
+}

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