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*.
 
-36 searches · 13 tasks · 1,366 nodes, each with its own
+38 searches · 13 tasks · 1,424 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 | 36 searches |
+| `train` | collection seeds (50000+) — fans to learn from | 38 searches |
 | `test` | the benchmark's own evaluation seeds (40000+) — what a scorer is measured on | **not collected yet** |
 
 ```python
@@ -68,14 +68,14 @@ and should not be pooled. Runs of a task the change did not touch stay comparabl
 | `drop_apple_in_bin_ks` | 3 | train | kitchens_clean | 50000, 50001, 50002 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `move_cup_put_pen_in_cup` | 3 | train | study_clean | 50000, 50001, 50002 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `move_hamburger_onto_plate_ks` | 2 | train | kitchens_clean | 50000, 50001 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `move_pen_to_box` | 2 | train | study_clean | 50000, 50001 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `move_pen_to_box` | 3 | train | study_clean | 50000, 50001, 50002 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `place_bowl_in_dishrack_ks` | 3 | train | kitchens_clean | 50000, 50001, 50002 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_bottle_in_basket` | 2 | train | kitchenl_clean | 50000, 50001 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_bottle_in_fridge` | 3 | train | kitchenl_clean | 50000, 50001, 50002 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_can_in_cabinet` | 3 | train | kitchenl_clean | 50000, 50001, 50002 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_cup_on_coaster` | 3 | train | study_clean | 50000, 50001, 50002 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_milktea_on_shelf` | 3 | train | office_clean | 50000, 50001, 50002 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
-| `put_mouse_on_pad` | 3 | train | office_clean | 50000, 50001, 50002 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `put_mouse_on_pad` | 4 | train | office_clean | 50000, 50001, 50002, 50003 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_phone_on_holder` | 3 | train | office_clean | 50000, 50001, 50002 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_stapler_next_to_mouse` | 3 | train | office_clean | 50000, 50001, 50002 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 
@@ -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, 50001, 50002 |
+| scene seeds | 50000, 50001, 50002, 50003 |
 | 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` | 1,366 | 36 | 10 |
-| `steps` | 66,500 | 36 | 5 |
+| `nodes` | 1,424 | 38 | 10 |
+| `steps` | 69,300 | 38 | 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
@@ -102,9 +102,9 @@ it is true, and only those are counted here.
 
 | outcome | branches |
 |---|---|
-| `hard_success` | 118 |
+| `hard_success` | 126 |
 | `soft_success` | 2 |
-| `soft_failure` | 58 |
+| `soft_failure` | 60 |
 | `hard_failure` | 2 |
 
 ## Loading it

data/nodes/task=move_pen_to_box/move_pen_to_box__bench_demo_study_clean__seed50002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0be9c015b2669e48508e68be368ee724e5d23bd19c41d596e00f4eaf31b9c7c
+size 914979

data/nodes/task=put_mouse_on_pad/put_mouse_on_pad__bench_demo_office_clean__seed50003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aaa1c102ed2d0600218125e69c510eed8a7dc0bce4b303c4dfbadb6d7cf9f2d
+size 1125297

data/steps/task=move_pen_to_box/move_pen_to_box__bench_demo_study_clean__seed50002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d721c12e708318682abac2069c721ac0cb7e2ac8266ee52ab8b9117fde0af909
+size 458832

data/steps/task=put_mouse_on_pad/put_mouse_on_pad__bench_demo_office_clean__seed50003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17219abd1afc50db5ff2460387fdc675c6261101c12bafc8f8197772b7ade2ec
+size 566510

meta/configs/move_pen_to_box__bench_demo_study_clean__seed50002.yml

@@ -0,0 +1,37 @@
+scene:
+  task: move_pen_to_box
+  task_config: bench_demo_study_clean
+  seed: 50002
+  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: 3977909781
+  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_pen_to_box/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__seed50003.yml

@@ -0,0 +1,37 @@
+scene:
+  task: put_mouse_on_pad
+  task_config: bench_demo_office_clean
+  seed: 50003
+  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: 338752727
+  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/searches/move_pen_to_box__bench_demo_study_clean__seed50002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2f4d4137145ac6a6686461c1bdedf082cab563b8144732ceb4018bbb6cfac84
+size 14300

meta/searches/put_mouse_on_pad__bench_demo_office_clean__seed50003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f41d8e3dc8d0b2bbe18193854f3cd5dada75f984c0ebcf4ea8b398f2042dd39
+size 14370