diff --git a/README.md b/README.md index fef14bcd5ef5b22348188175bd103c69835271f9..f8b654b83439b996a87cf012c4d22f29c9dbb54c 100644 --- a/README.md +++ b/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*. -267 searches · 13 tasks · 10,094 nodes, each with its own +282 searches · 13 tasks · 10,509 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 | 267 searches | +| `train` | collection seeds (50000+) — fans to learn from | 282 searches | | `test` | the benchmark's own evaluation seeds (40000+) — what a scorer is measured on | **not collected yet** | ```python @@ -65,26 +65,26 @@ 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` | 21 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `drop_apple_in_bin_ks` | 22 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50022 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | | `move_cup_put_pen_in_cup` | 22 | 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 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `move_hamburger_onto_plate_ks` | 15 | train | kitchens_clean | 50000, 50001, 50003, 50005, 50006, 50007, 50009, 50010, 50011, 50012, 50013, 50015, 50018, 50019, 50020 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `move_pen_to_box` | 21 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50021 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `place_bowl_in_dishrack_ks` | 21 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_bottle_in_basket` | 20 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_bottle_in_fridge` | 21 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_can_in_cabinet` | 21 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_cup_on_coaster` | 21 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_milktea_on_shelf` | 21 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_mouse_on_pad` | 21 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_phone_on_holder` | 21 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50021 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_stapler_next_to_mouse` | 21 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `move_hamburger_onto_plate_ks` | 16 | train | kitchens_clean | 50000, 50001, 50003, 50005, 50006, 50007, 50009, 50010, 50011, 50012, 50013, 50015, 50018, 50019, 50020, 50022 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `move_pen_to_box` | 22 | 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 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `place_bowl_in_dishrack_ks` | 22 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014, 50015, 50016, 50017, 50018, 50019, 50020, 50022 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_bottle_in_basket` | 22 | 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 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_bottle_in_fridge` | 22 | 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 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_can_in_cabinet` | 22 | 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 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_cup_on_coaster` | 22 | 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 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_milktea_on_shelf` | 23 | 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 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_mouse_on_pad` | 22 | 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 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_phone_on_holder` | 22 | 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 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_stapler_next_to_mouse` | 23 | 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 | [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 | 50000–50021 | +| scene seeds | 50000–50022 | | 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` | 10,094 | 267 | 10 | -| `steps` | 491,350 | 267 | 5 | +| `nodes` | 10,509 | 282 | 10 | +| `steps` | 511,350 | 282 | 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` | 853 | +| `hard_success` | 914 | | `soft_success` | 8 | -| `soft_failure` | 457 | -| `hard_failure` | 17 | +| `soft_failure` | 469 | +| `hard_failure` | 19 | ## Loading it diff --git a/data/nodes/task=drop_apple_in_bin_ks/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50022.parquet b/data/nodes/task=drop_apple_in_bin_ks/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50022.parquet new file mode 100644 index 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null + instruction_type: unseen + candidate_opt: + seed: 2085724819 + 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 diff --git a/meta/configs/move_hamburger_onto_plate_ks__bench_demo_kitchens_clean__seed50022.yml b/meta/configs/move_hamburger_onto_plate_ks__bench_demo_kitchens_clean__seed50022.yml new file mode 100644 index 0000000000000000000000000000000000000000..f0f770fcf5d21291fab7ede053e7c68537ad8150 --- /dev/null +++ b/meta/configs/move_hamburger_onto_plate_ks__bench_demo_kitchens_clean__seed50022.yml @@ -0,0 +1,37 @@ +scene: + task: move_hamburger_onto_plate_ks + task_config: bench_demo_kitchens_clean + seed: 50022 + 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: 4148609538 + 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_hamburger_onto_plate_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 diff --git a/meta/configs/move_pen_to_box__bench_demo_study_clean__seed50020.yml b/meta/configs/move_pen_to_box__bench_demo_study_clean__seed50020.yml new file mode 100644 index 0000000000000000000000000000000000000000..a0bd706191ef0db4bf56ef1cb9ac14a102fc8dd7 --- /dev/null +++ b/meta/configs/move_pen_to_box__bench_demo_study_clean__seed50020.yml @@ -0,0 +1,37 @@ +scene: + task: move_pen_to_box + task_config: bench_demo_study_clean + seed: 50020 + 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: 3977909795 + 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 diff --git a/meta/configs/place_bowl_in_dishrack_ks__bench_demo_kitchens_clean__seed50022.yml b/meta/configs/place_bowl_in_dishrack_ks__bench_demo_kitchens_clean__seed50022.yml new file mode 100644 index 0000000000000000000000000000000000000000..198a292b03a4f2499a951270eeecb0c9fa03b22a --- /dev/null +++ b/meta/configs/place_bowl_in_dishrack_ks__bench_demo_kitchens_clean__seed50022.yml @@ -0,0 +1,37 @@ +scene: + task: place_bowl_in_dishrack_ks + task_config: bench_demo_kitchens_clean + seed: 50022 + 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: 1258136422 + 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/place_bowl_in_dishrack_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 diff --git a/meta/configs/put_bottle_in_basket__bench_demo_kitchenl_clean__seed50020.yml b/meta/configs/put_bottle_in_basket__bench_demo_kitchenl_clean__seed50020.yml new file mode 100644 index 0000000000000000000000000000000000000000..ef3debde45263fdf9c31b695d6e733e2aedaada8 --- /dev/null +++ b/meta/configs/put_bottle_in_basket__bench_demo_kitchenl_clean__seed50020.yml @@ -0,0 +1,37 @@ +scene: + task: put_bottle_in_basket + task_config: bench_demo_kitchenl_clean + seed: 50020 + 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: 3735260255 + 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_bottle_in_basket/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 diff --git a/meta/configs/put_bottle_in_basket__bench_demo_kitchenl_clean__seed50021.yml b/meta/configs/put_bottle_in_basket__bench_demo_kitchenl_clean__seed50021.yml new file mode 100644 index 0000000000000000000000000000000000000000..05d427d643630e2e452c3654565ccd056bc08f67 --- /dev/null +++ b/meta/configs/put_bottle_in_basket__bench_demo_kitchenl_clean__seed50021.yml @@ -0,0 +1,37 @@ +scene: + task: put_bottle_in_basket + task_config: bench_demo_kitchenl_clean + seed: 50021 + 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: 3735260254 + 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_bottle_in_basket/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 diff --git a/meta/configs/put_bottle_in_fridge__bench_demo_kitchenl_clean__seed50021.yml b/meta/configs/put_bottle_in_fridge__bench_demo_kitchenl_clean__seed50021.yml new file mode 100644 index 0000000000000000000000000000000000000000..3683034e31481f01e3168b2fd670077eb336c76d --- /dev/null +++ b/meta/configs/put_bottle_in_fridge__bench_demo_kitchenl_clean__seed50021.yml @@ -0,0 +1,37 @@ +scene: + task: put_bottle_in_fridge + task_config: bench_demo_kitchenl_clean + seed: 50021 + 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: 235704748 + 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_bottle_in_fridge/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 diff --git a/meta/configs/put_can_in_cabinet__bench_demo_kitchenl_clean__seed50021.yml b/meta/configs/put_can_in_cabinet__bench_demo_kitchenl_clean__seed50021.yml new file mode 100644 index 0000000000000000000000000000000000000000..6f450aa7e7607b6859f5288e725c483cb4fd36f7 --- /dev/null +++ b/meta/configs/put_can_in_cabinet__bench_demo_kitchenl_clean__seed50021.yml @@ -0,0 +1,37 @@ +scene: + task: put_can_in_cabinet + task_config: bench_demo_kitchenl_clean + seed: 50021 + 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: 34018139 + 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 + carry_fixed_noise: false diff --git a/meta/configs/put_cup_on_coaster__bench_demo_study_clean__seed50021.yml b/meta/configs/put_cup_on_coaster__bench_demo_study_clean__seed50021.yml new file mode 100644 index 0000000000000000000000000000000000000000..3a5fa36dd9334adc7bd441040f41db6d57c6ac46 --- /dev/null +++ b/meta/configs/put_cup_on_coaster__bench_demo_study_clean__seed50021.yml @@ -0,0 +1,37 @@ +scene: + task: put_cup_on_coaster + task_config: bench_demo_study_clean + seed: 50021 + 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: 609402490 + 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_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 diff --git a/meta/configs/put_milktea_on_shelf__bench_demo_office_clean__seed50021.yml b/meta/configs/put_milktea_on_shelf__bench_demo_office_clean__seed50021.yml new file mode 100644 index 0000000000000000000000000000000000000000..7cc4fce74bfae97f342902161ddb37b5739cce25 --- /dev/null +++ b/meta/configs/put_milktea_on_shelf__bench_demo_office_clean__seed50021.yml @@ -0,0 +1,37 @@ +scene: + task: put_milktea_on_shelf + task_config: bench_demo_office_clean + seed: 50021 + 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: 1521334158 + 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 diff --git a/meta/configs/put_milktea_on_shelf__bench_demo_office_clean__seed50022.yml b/meta/configs/put_milktea_on_shelf__bench_demo_office_clean__seed50022.yml new file mode 100644 index 0000000000000000000000000000000000000000..ab4d6aa0c5330ea945602606e17480cad0d7f54b --- /dev/null +++ b/meta/configs/put_milktea_on_shelf__bench_demo_office_clean__seed50022.yml @@ -0,0 +1,37 @@ +scene: + task: put_milktea_on_shelf + task_config: bench_demo_office_clean + seed: 50022 + 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: 1521334157 + 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 diff --git a/meta/configs/put_mouse_on_pad__bench_demo_office_clean__seed50021.yml b/meta/configs/put_mouse_on_pad__bench_demo_office_clean__seed50021.yml new file mode 100644 index 0000000000000000000000000000000000000000..217262fb0d47a80f799783439f003eaa566abb57 --- /dev/null +++ b/meta/configs/put_mouse_on_pad__bench_demo_office_clean__seed50021.yml @@ -0,0 +1,37 @@ +scene: + task: put_mouse_on_pad + task_config: bench_demo_office_clean + seed: 50021 + 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: 338752737 + 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 diff --git a/meta/configs/put_phone_on_holder__bench_demo_office_clean__seed50020.yml b/meta/configs/put_phone_on_holder__bench_demo_office_clean__seed50020.yml new file mode 100644 index 0000000000000000000000000000000000000000..2d6ad8cbfc8fa3ed48f19045199152a73a620e01 --- /dev/null +++ b/meta/configs/put_phone_on_holder__bench_demo_office_clean__seed50020.yml @@ -0,0 +1,37 @@ +scene: + task: put_phone_on_holder + task_config: bench_demo_office_clean + seed: 50020 + 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: 313764029 + 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 diff --git a/meta/configs/put_stapler_next_to_mouse__bench_demo_office_clean__seed50021.yml b/meta/configs/put_stapler_next_to_mouse__bench_demo_office_clean__seed50021.yml new file mode 100644 index 0000000000000000000000000000000000000000..1dd9ba209ca6e5b6175f260a92ce62b128876ed0 --- /dev/null +++ b/meta/configs/put_stapler_next_to_mouse__bench_demo_office_clean__seed50021.yml @@ -0,0 +1,37 @@ +scene: + task: put_stapler_next_to_mouse + task_config: bench_demo_office_clean + seed: 50021 + 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: 42388696 + 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 + carry_fixed_noise: false diff --git a/meta/configs/put_stapler_next_to_mouse__bench_demo_office_clean__seed50022.yml b/meta/configs/put_stapler_next_to_mouse__bench_demo_office_clean__seed50022.yml new file mode 100644 index 0000000000000000000000000000000000000000..ba077be908b5b95306927bb128366e94037f9467 --- /dev/null +++ b/meta/configs/put_stapler_next_to_mouse__bench_demo_office_clean__seed50022.yml @@ -0,0 +1,37 @@ +scene: + task: put_stapler_next_to_mouse + task_config: bench_demo_office_clean + seed: 50022 + 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: 42388699 + 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: 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