diff --git a/README.md b/README.md index 4b7254ab5b910cfe602aee4decc1d8a0ad0e33eb..ba83f4b0c1ae39c64cc38de5d414f6101322ef53 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*. -127 searches · 13 tasks · 4,949 nodes, each with its own +140 searches · 13 tasks · 5,298 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 | 127 searches | +| `train` | collection seeds (50000+) — fans to learn from | 140 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` | 10 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `drop_apple_in_bin_ks` | 11 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | | `move_cup_put_pen_in_cup` | 11 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `move_hamburger_onto_plate_ks` | 6 | train | kitchens_clean | 50000, 50001, 50003, 50005, 50006, 50007 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `move_pen_to_box` | 10 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `place_bowl_in_dishrack_ks` | 9 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_bottle_in_basket` | 10 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `move_hamburger_onto_plate_ks` | 8 | train | kitchens_clean | 50000, 50001, 50003, 50005, 50006, 50007, 50009, 50010 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `move_pen_to_box` | 11 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `place_bowl_in_dishrack_ks` | 11 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_bottle_in_basket` | 11 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | | `put_bottle_in_fridge` | 10 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_can_in_cabinet` | 10 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_can_in_cabinet` | 11 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | | `put_cup_on_coaster` | 10 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_milktea_on_shelf` | 11 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_mouse_on_pad` | 10 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_phone_on_holder` | 10 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_stapler_next_to_mouse` | 10 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_milktea_on_shelf` | 12 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_mouse_on_pad` | 12 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_phone_on_holder` | 11 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_stapler_next_to_mouse` | 11 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010 | [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 | 50000–50010 | +| scene seeds | 50000–50011 | | 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` | 4,949 | 127 | 10 | -| `steps` | 241,100 | 127 | 5 | +| `nodes` | 5,298 | 140 | 10 | +| `steps` | 257,900 | 140 | 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` | 396 | +| `hard_success` | 450 | | `soft_success` | 5 | -| `soft_failure` | 224 | +| `soft_failure` | 235 | | `hard_failure` | 10 | ## Loading it diff --git a/data/nodes/task=drop_apple_in_bin_ks/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50010.parquet b/data/nodes/task=drop_apple_in_bin_ks/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50010.parquet new file mode 100644 index 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0000000000000000000000000000000000000000..6dae00b50d376c59e159d70e6a9379c1df045917 --- /dev/null +++ b/data/steps/task=put_stapler_next_to_mouse/put_stapler_next_to_mouse__bench_demo_office_clean__seed50010.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33dce446384aa7b623b894a5ffb1c0c6b1f4fe82a4fa4f51e9a4906a61aa2a5b +size 632304 diff --git a/meta/configs/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50010.yml b/meta/configs/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50010.yml new file mode 100644 index 0000000000000000000000000000000000000000..5cfd06c9d8397bd7870876208dd9d69a98c73b3d --- /dev/null +++ b/meta/configs/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50010.yml @@ -0,0 +1,37 @@ +scene: + task: drop_apple_in_bin_ks + task_config: bench_demo_kitchens_clean + seed: 50010 + 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: 2085724847 + 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__seed50009.yml b/meta/configs/move_hamburger_onto_plate_ks__bench_demo_kitchens_clean__seed50009.yml new file mode 100644 index 0000000000000000000000000000000000000000..9163fa7317750f761f7101617153c9a8bd3dcf97 --- /dev/null +++ b/meta/configs/move_hamburger_onto_plate_ks__bench_demo_kitchens_clean__seed50009.yml @@ -0,0 +1,37 @@ +scene: + task: move_hamburger_onto_plate_ks + task_config: bench_demo_kitchens_clean + seed: 50009 + 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: 4148609597 + 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_hamburger_onto_plate_ks__bench_demo_kitchens_clean__seed50010.yml b/meta/configs/move_hamburger_onto_plate_ks__bench_demo_kitchens_clean__seed50010.yml new file mode 100644 index 0000000000000000000000000000000000000000..7dde1d1da28b1437ea0c67c0f72e30ef18cfe734 --- /dev/null +++ b/meta/configs/move_hamburger_onto_plate_ks__bench_demo_kitchens_clean__seed50010.yml @@ -0,0 +1,37 @@ +scene: + task: move_hamburger_onto_plate_ks + task_config: bench_demo_kitchens_clean + seed: 50010 + 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: 4148609598 + 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__seed50010.yml b/meta/configs/move_pen_to_box__bench_demo_study_clean__seed50010.yml new file mode 100644 index 0000000000000000000000000000000000000000..ebd61fc55192e18210b3c88ab834f533a42a8883 --- /dev/null +++ b/meta/configs/move_pen_to_box__bench_demo_study_clean__seed50010.yml @@ -0,0 +1,37 @@ +scene: + task: move_pen_to_box + task_config: bench_demo_study_clean + seed: 50010 + 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: 3977909789 + 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__seed50009.yml b/meta/configs/place_bowl_in_dishrack_ks__bench_demo_kitchens_clean__seed50009.yml new file mode 100644 index 0000000000000000000000000000000000000000..820026e95959c93d83c67d020d5e2f94070f88cc --- /dev/null +++ b/meta/configs/place_bowl_in_dishrack_ks__bench_demo_kitchens_clean__seed50009.yml @@ -0,0 +1,37 @@ +scene: + task: place_bowl_in_dishrack_ks + task_config: bench_demo_kitchens_clean + seed: 50009 + 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: 1258136409 + 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/place_bowl_in_dishrack_ks__bench_demo_kitchens_clean__seed50010.yml b/meta/configs/place_bowl_in_dishrack_ks__bench_demo_kitchens_clean__seed50010.yml new file mode 100644 index 0000000000000000000000000000000000000000..8ae7b610d9fc741eda00f3ccb72105cf32922dde --- /dev/null +++ b/meta/configs/place_bowl_in_dishrack_ks__bench_demo_kitchens_clean__seed50010.yml @@ -0,0 +1,37 @@ +scene: + task: place_bowl_in_dishrack_ks + task_config: bench_demo_kitchens_clean + seed: 50010 + 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: 1258136410 + 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__seed50010.yml b/meta/configs/put_bottle_in_basket__bench_demo_kitchenl_clean__seed50010.yml new file mode 100644 index 0000000000000000000000000000000000000000..287a119c1456620645e1ede8b2b08cc66f22e197 --- /dev/null +++ b/meta/configs/put_bottle_in_basket__bench_demo_kitchenl_clean__seed50010.yml @@ -0,0 +1,37 @@ +scene: + task: put_bottle_in_basket + task_config: bench_demo_kitchenl_clean + seed: 50010 + 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: 3735260257 + 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_can_in_cabinet__bench_demo_kitchenl_clean__seed50010.yml b/meta/configs/put_can_in_cabinet__bench_demo_kitchenl_clean__seed50010.yml new file mode 100644 index 0000000000000000000000000000000000000000..353b1c1e8776cb8922409c88eb37164714bb8ada --- /dev/null +++ b/meta/configs/put_can_in_cabinet__bench_demo_kitchenl_clean__seed50010.yml @@ -0,0 +1,37 @@ +scene: + task: put_can_in_cabinet + task_config: bench_demo_kitchenl_clean + seed: 50010 + 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: 34018148 + 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_milktea_on_shelf__bench_demo_office_clean__seed50011.yml b/meta/configs/put_milktea_on_shelf__bench_demo_office_clean__seed50011.yml new file mode 100644 index 0000000000000000000000000000000000000000..3cecea5ae8b9104f472de15ed58931715d378027 --- /dev/null +++ b/meta/configs/put_milktea_on_shelf__bench_demo_office_clean__seed50011.yml @@ -0,0 +1,37 @@ +scene: + task: put_milktea_on_shelf + task_config: bench_demo_office_clean + seed: 50011 + 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: 1521334192 + 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__seed50010.yml b/meta/configs/put_mouse_on_pad__bench_demo_office_clean__seed50010.yml new file mode 100644 index 0000000000000000000000000000000000000000..e9dd578c58993b881c3233c0fae4b1554baf0dbe --- /dev/null +++ b/meta/configs/put_mouse_on_pad__bench_demo_office_clean__seed50010.yml @@ -0,0 +1,37 @@ +scene: + task: put_mouse_on_pad + task_config: bench_demo_office_clean + seed: 50010 + 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: 338752734 + 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_mouse_on_pad__bench_demo_office_clean__seed50011.yml b/meta/configs/put_mouse_on_pad__bench_demo_office_clean__seed50011.yml new file mode 100644 index 0000000000000000000000000000000000000000..aa38b0b3016ef55713ef4e0635a0e2551852aebd --- /dev/null +++ b/meta/configs/put_mouse_on_pad__bench_demo_office_clean__seed50011.yml @@ -0,0 +1,37 @@ +scene: + task: put_mouse_on_pad + task_config: bench_demo_office_clean + seed: 50011 + 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: 338752735 + 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__seed50010.yml b/meta/configs/put_phone_on_holder__bench_demo_office_clean__seed50010.yml new file mode 100644 index 0000000000000000000000000000000000000000..fca1597089352a3ba272ae5f9344c11a4fda0297 --- /dev/null +++ b/meta/configs/put_phone_on_holder__bench_demo_office_clean__seed50010.yml @@ -0,0 +1,37 @@ +scene: + task: put_phone_on_holder + task_config: bench_demo_office_clean + seed: 50010 + 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: 313763971 + 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__seed50010.yml b/meta/configs/put_stapler_next_to_mouse__bench_demo_office_clean__seed50010.yml new file mode 100644 index 0000000000000000000000000000000000000000..2ead784df5bcae5d8b6614c71afdbe03350d3567 --- /dev/null +++ b/meta/configs/put_stapler_next_to_mouse__bench_demo_office_clean__seed50010.yml @@ -0,0 +1,37 @@ +scene: + task: put_stapler_next_to_mouse + task_config: bench_demo_office_clean + seed: 50010 + 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: 42388711 + 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/searches/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50010.parquet 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