add search runs

README.md

@@ -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*.
 
-73 searches · 13 tasks · 2,733 nodes, each with its own
+82 searches · 13 tasks · 3,073 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 | 73 searches |
+| `train` | collection seeds (50000+) — fans to learn from | 82 searches |
 | `test` | the benchmark's own evaluation seeds (40000+) — what a scorer is measured on | **not collected yet** |
 
 ```python
@@ -66,17 +66,17 @@ 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` | 6 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `move_cup_put_pen_in_cup` | 6 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `move_cup_put_pen_in_cup` | 7 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `move_hamburger_onto_plate_ks` | 4 | train | kitchens_clean | 50000, 50001, 50003, 50005 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `move_pen_to_box` | 5 | train | study_clean | 50000, 50001, 50002, 50003, 50004 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `move_pen_to_box` | 6 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `place_bowl_in_dishrack_ks` | 6 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `put_bottle_in_basket` | 5 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `put_bottle_in_basket` | 6 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_bottle_in_fridge` | 6 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `put_can_in_cabinet` | 6 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `put_cup_on_coaster` | 6 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `put_milktea_on_shelf` | 6 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `put_mouse_on_pad` | 6 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `put_phone_on_holder` | 5 | train | office_clean | 50000, 50001, 50002, 50003, 50004 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `put_can_in_cabinet` | 7 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `put_cup_on_coaster` | 7 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `put_milktea_on_shelf` | 7 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `put_mouse_on_pad` | 7 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `put_phone_on_holder` | 7 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_stapler_next_to_mouse` | 6 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005 | [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 | 50000–50005 |
+| scene seeds | 50000–50006 |
 | 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` | 2,733 | 73 | 10 |
-| `steps` | 133,000 | 73 | 5 |
+| `nodes` | 3,073 | 82 | 10 |
+| `steps` | 149,550 | 82 | 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` | 246 |
+| `hard_success` | 277 |
 | `soft_success` | 2 |
-| `soft_failure` | 111 |
-| `hard_failure` | 6 |
+| `soft_failure` | 124 |
+| `hard_failure` | 7 |
 
 ## Loading it
 

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meta/configs/move_cup_put_pen_in_cup__bench_demo_study_clean__seed50006.yml

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+scene:
+  task: move_cup_put_pen_in_cup
+  task_config: bench_demo_study_clean
+  seed: 50006
+  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: 2355980970
+  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
+  carry_fixed_noise: false

meta/configs/move_pen_to_box__bench_demo_study_clean__seed50005.yml

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+scene:
+  task: move_pen_to_box
+  task_config: bench_demo_study_clean
+  seed: 50005
+  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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+  overrides: {}
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+  depth: -1
+  top_m: 1
+  stop_on_success: false
+  params: {}
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+  name: oracle
+  dist_tiebreak: true
+verify:
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+  atol: 1.0e-05
+output:
+  plans: /work/mohammed/roboresearch/critic_fans/move_pen_to_box/plans
+  episodes: null
+record:
+  dir: /work/mohammed/roboresearch/critic_fans/record
+  save_intermediate: false
+  cameras: []
+  carry_branches: true
+  branch_every: 0
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meta/configs/put_bottle_in_basket__bench_demo_kitchenl_clean__seed50005.yml

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+scene:
+  task: put_bottle_in_basket
+  task_config: bench_demo_kitchenl_clean
+  seed: 50005
+  seeds: null
+  eval_mode: true
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+  name: roboresearch_policy
+  config: /work/mohammed/roboresearch/critic_fans/deploy_fan5.yml
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+  instruction_type: unseen
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+  dist_tiebreak: true
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+  plans: /work/mohammed/roboresearch/critic_fans/put_bottle_in_basket/plans
+  episodes: null
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+  dir: /work/mohammed/roboresearch/critic_fans/record
+  save_intermediate: false
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+  carry_branches: true
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+  carry_fixed_noise: false

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+  task: put_can_in_cabinet
+  task_config: bench_demo_kitchenl_clean
+  seed: 50006
+  seeds: null
+  eval_mode: true
+policy:
+  name: roboresearch_policy
+  config: /work/mohammed/roboresearch/critic_fans/deploy_fan5.yml
+  instruction: null
+  instruction_type: unseen
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+  overrides: {}
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+  top_m: 1
+  stop_on_success: false
+  params: {}
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+  name: oracle
+  dist_tiebreak: true
+verify:
+  enabled: false
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+output:
+  plans: /work/mohammed/roboresearch/critic_fans/put_can_in_cabinet/plans
+  episodes: null
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+  dir: /work/mohammed/roboresearch/critic_fans/record
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+scene:
+  task: put_cup_on_coaster
+  task_config: bench_demo_study_clean
+  seed: 50006
+  seeds: null
+  eval_mode: true
+policy:
+  name: roboresearch_policy
+  config: /work/mohammed/roboresearch/critic_fans/deploy_fan5.yml
+  instruction: null
+  instruction_type: unseen
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+  overrides: {}
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+  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_cup_on_coaster/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/put_milktea_on_shelf__bench_demo_office_clean__seed50006.yml

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+scene:
+  task: put_milktea_on_shelf
+  task_config: bench_demo_office_clean
+  seed: 50006
+  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: 1521334205
+  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
+  carry_fixed_noise: false

meta/configs/put_mouse_on_pad__bench_demo_office_clean__seed50006.yml

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+scene:
+  task: put_mouse_on_pad
+  task_config: bench_demo_office_clean
+  seed: 50006
+  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: 338752722
+  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
+  carry_fixed_noise: false

meta/configs/put_phone_on_holder__bench_demo_office_clean__seed50005.yml

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+scene:
+  task: put_phone_on_holder
+  task_config: bench_demo_office_clean
+  seed: 50005
+  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: 313763980
+  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_phone_on_holder/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/put_phone_on_holder__bench_demo_office_clean__seed50006.yml

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+scene:
+  task: put_phone_on_holder
+  task_config: bench_demo_office_clean
+  seed: 50006
+  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: 313763983
+  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_phone_on_holder/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

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