Datasets:

mahgoobi
/

scoring_data

@@ -28,7 +28,7 @@ A branch the search dropped was cut off mid-episode, so it is resumed from its o
 and carried to a finish — the action nobody executed still gets an answer to *would this
 have worked*.
-348 searches · 13 tasks · 13,083 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
@@ -43,7 +43,7 @@ on the other without having seen it.
 | split | seeds | in this repo |
 |---|---|---|
-| `train` | collection seeds (50000+) — fans to learn from | 348 searches |
 | `test` | the benchmark's own evaluation seeds (40000+) — what a scorer is measured on | **not collected yet** |
 ```python
@@ -65,18 +65,18 @@ and should not be pooled. Runs of a task the change did not touch stay comparabl
 | task | runs | splits | configs | seeds | benchmark commit |
 |---|---|---|---|---|---|
-| `drop_apple_in_bin_ks` | 27 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `move_cup_put_pen_in_cup` | 28 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026, 50027 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `move_hamburger_onto_plate_ks` | 19 | train | kitchens_clean | 50000, 50001, 50003, 50005, 50006, 50007, 50009, 50010, 50011, 50012, 50013, 50015, 50018, 50019, 50020, 50021, 50022, 50023, 50026 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `move_pen_to_box` | 27 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `place_bowl_in_dishrack_ks` | 27 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_bottle_in_basket` | 26 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `put_bottle_in_fridge` | 27 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `put_can_in_cabinet` | 28 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026, 50027 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_cup_on_coaster` | 28 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026, 50027 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_milktea_on_shelf` | 28 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026, 50027 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `put_mouse_on_pad` | 28 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026, 50027 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `put_phone_on_holder` | 27 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_stapler_next_to_mouse` | 28 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026, 50027 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 ## Contents
@@ -84,7 +84,7 @@ and should not be pooled. Runs of a task the change did not touch stay comparabl
 | | |
 |---|---|
 | tasks | `drop_apple_in_bin_ks`, `move_cup_put_pen_in_cup`, `move_hamburger_onto_plate_ks`, `move_pen_to_box`, `place_bowl_in_dishrack_ks`, `put_bottle_in_basket`, `put_bottle_in_fridge`, `put_can_in_cabinet`, `put_cup_on_coaster`, `put_milktea_on_shelf`, `put_mouse_on_pad`, `put_phone_on_holder`, `put_stapler_next_to_mouse` |
-| scene seeds | 50000–50027 |
 | search | `branch_once`, fan of 5, horizon 12 |
 | policy | `roboresearch_policy` — None @ 0 |
 | cameras | countertop_camera, right_camera, left_camera |
@@ -92,8 +92,8 @@ and should not be pooled. Runs of a task the change did not touch stay comparabl
 | table | rows | files | columns |
 |---|---|---|---|
-| `nodes` | 13,083 | 348 | 10 |
-| `steps` | 636,750 | 348 | 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
@@ -102,10 +102,10 @@ it is true, and only those are counted here.
 | outcome | branches |
 |---|---|
-| `hard_success` | 1,126 |
 | `soft_success` | 10 |
-| `soft_failure` | 582 |
-| `hard_failure` | 22 |
 ## Loading it

 and carried to a finish — the action nobody executed still gets an answer to *would this
 have worked*.
+357 searches · 13 tasks · 13,406 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
 | split | seeds | in this repo |
 |---|---|---|
+| `train` | collection seeds (50000+) — fans to learn from | 357 searches |
 | `test` | the benchmark's own evaluation seeds (40000+) — what a scorer is measured on | **not collected yet** |
 ```python
 | task | runs | splits | configs | seeds | benchmark commit |
 |---|---|---|---|---|---|
+| `drop_apple_in_bin_ks` | 28 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026, 50027 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `move_cup_put_pen_in_cup` | 29 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026, 50027, 50028 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `move_hamburger_onto_plate_ks` | 20 | train | kitchens_clean | 50000, 50001, 50003, 50005, 50006, 50007, 50009, 50010, 50011, 50012, 50013, 50015, 50018, 50019, 50020, 50021, 50022, 50023, 50026, 50027 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `move_pen_to_box` | 28 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026, 50028 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `place_bowl_in_dishrack_ks` | 28 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026, 50027 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_bottle_in_basket` | 26 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `put_bottle_in_fridge` | 28 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026, 50027 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `put_can_in_cabinet` | 29 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026, 50027, 50028 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_cup_on_coaster` | 28 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026, 50027 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_milktea_on_shelf` | 28 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026, 50027 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `put_mouse_on_pad` | 29 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026, 50027, 50028 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `put_phone_on_holder` | 28 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026, 50028 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_stapler_next_to_mouse` | 28 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50021, 50022, 50023, 50024, 50025, 50026, 50027 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 ## Contents
 | | |
 |---|---|
 | tasks | `drop_apple_in_bin_ks`, `move_cup_put_pen_in_cup`, `move_hamburger_onto_plate_ks`, `move_pen_to_box`, `place_bowl_in_dishrack_ks`, `put_bottle_in_basket`, `put_bottle_in_fridge`, `put_can_in_cabinet`, `put_cup_on_coaster`, `put_milktea_on_shelf`, `put_mouse_on_pad`, `put_phone_on_holder`, `put_stapler_next_to_mouse` |
+| scene seeds | 50000–50028 |
 | search | `branch_once`, fan of 5, horizon 12 |
 | policy | `roboresearch_policy` — None @ 0 |
 | cameras | countertop_camera, right_camera, left_camera |
 | table | rows | files | columns |
 |---|---|---|---|
+| `nodes` | 13,406 | 357 | 10 |
+| `steps` | 652,450 | 357 | 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
 | outcome | branches |
 |---|---|
+| `hard_success` | 1,158 |
 | `soft_success` | 10 |
+| `soft_failure` | 594 |
+| `hard_failure` | 23 |
 ## Loading it

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+scene:
+  task: drop_apple_in_bin_ks
+  task_config: bench_demo_kitchens_clean
+  seed: 50027
+  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:
+    seed: 2085724830
+  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
+  carry_fixed_noise: false

meta/configs/move_cup_put_pen_in_cup__bench_demo_study_clean__seed50028.yml ADDED Viewed

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+scene:
+  task: move_cup_put_pen_in_cup
+  task_config: bench_demo_study_clean
+  seed: 50028
+  seeds: null
+  eval_mode: true
+policy:
+  name: roboresearch_policy
+  config: /work/mohammed/roboresearch/critic_fans/deploy_fan5.yml
+  instruction: null
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+fitness:
+  name: oracle
+  dist_tiebreak: true
+verify:
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+  plans: /work/mohammed/roboresearch/critic_fans/move_cup_put_pen_in_cup/plans
+  episodes: null
+record:
+  dir: /work/mohammed/roboresearch/critic_fans/record
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+scene:
+  task: move_hamburger_onto_plate_ks
+  task_config: bench_demo_kitchens_clean
+  seed: 50027
+  seeds: null
+  eval_mode: true
+policy:
+  name: roboresearch_policy
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+  params: {}
+fitness:
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+  dist_tiebreak: true
+verify:
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+  plans: /work/mohammed/roboresearch/critic_fans/move_hamburger_onto_plate_ks/plans
+  episodes: null
+record:
+  dir: /work/mohammed/roboresearch/critic_fans/record
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+scene:
+  task: move_pen_to_box
+  task_config: bench_demo_study_clean
+  seed: 50028
+  seeds: null
+  eval_mode: true
+policy:
+  name: roboresearch_policy
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+  plans: /work/mohammed/roboresearch/critic_fans/move_pen_to_box/plans
+  episodes: null
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+  dir: /work/mohammed/roboresearch/critic_fans/record
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+scene:
+  task: place_bowl_in_dishrack_ks
+  task_config: bench_demo_kitchens_clean
+  seed: 50027
+  seeds: null
+  eval_mode: true
+policy:
+  name: roboresearch_policy
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+  dir: /work/mohammed/roboresearch/critic_fans/record
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+scene:
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+  task_config: bench_demo_kitchenl_clean
+  seed: 50027
+  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:
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+  name: oracle
+  dist_tiebreak: true
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+  plans: /work/mohammed/roboresearch/critic_fans/put_bottle_in_fridge/plans
+  episodes: null
+record:
+  dir: /work/mohammed/roboresearch/critic_fans/record
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+scene:
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+  seed: 50028
+  seeds: null
+  eval_mode: true
+policy:
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+  config: /work/mohammed/roboresearch/critic_fans/deploy_fan5.yml
+  instruction: null
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+  params: {}
+fitness:
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+  dist_tiebreak: true
+verify:
+  enabled: false
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+output:
+  plans: /work/mohammed/roboresearch/critic_fans/put_can_in_cabinet/plans
+  episodes: null
+record:
+  dir: /work/mohammed/roboresearch/critic_fans/record
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+scene:
+  task: put_mouse_on_pad
+  task_config: bench_demo_office_clean
+  seed: 50028
+  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:
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+  params: {}
+fitness:
+  name: oracle
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+verify:
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+output:
+  plans: /work/mohammed/roboresearch/critic_fans/put_mouse_on_pad/plans
+  episodes: null
+record:
+  dir: /work/mohammed/roboresearch/critic_fans/record
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+  task_config: bench_demo_office_clean
+  seed: 50028
+  seeds: null
+  eval_mode: true
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+  instruction: null
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+  candidate_opt:
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+output:
+  plans: /work/mohammed/roboresearch/critic_fans/put_phone_on_holder/plans
+  episodes: null
+record:
+  dir: /work/mohammed/roboresearch/critic_fans/record
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