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*.
 
-84 searches · 13 tasks · 3,157 nodes, each with its own
+94 searches · 13 tasks · 3,536 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 | 84 searches |
+| `train` | collection seeds (50000+) — fans to learn from | 94 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` | 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` | 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` | 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` | 6 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `drop_apple_in_bin_ks` | 8 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `move_cup_put_pen_in_cup` | 8 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `move_hamburger_onto_plate_ks` | 5 | train | kitchens_clean | 50000, 50001, 50003, 50005, 50006 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `move_pen_to_box` | 7 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `place_bowl_in_dishrack_ks` | 7 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `put_bottle_in_basket` | 7 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
 | `put_bottle_in_fridge` | 7 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006 | [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_milktea_on_shelf` | 8 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007 | [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` | 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` | 8 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) |
+| `put_stapler_next_to_mouse` | 8 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007 | [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 | 50000–50006 |
+| scene seeds | 50000–50007 |
 | 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` | 3,157 | 84 | 10 |
-| `steps` | 153,650 | 84 | 5 |
+| `nodes` | 3,536 | 94 | 10 |
+| `steps` | 172,100 | 94 | 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` | 282 |
+| `hard_success` | 312 |
 | `soft_success` | 2 |
-| `soft_failure` | 129 |
-| `hard_failure` | 7 |
+| `soft_failure` | 148 |
+| `hard_failure` | 8 |
 
 ## Loading it
 

data/nodes/task=drop_apple_in_bin_ks/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fea881bb3557abaf158463a831611137b6b6d337120345033d06223b32bb7da
+size 827789

data/nodes/task=drop_apple_in_bin_ks/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7bbc30096392b01bf78cce300a367ecec651f829975a6b4438154d18c5b8673
+size 816374

data/nodes/task=move_cup_put_pen_in_cup/move_cup_put_pen_in_cup__bench_demo_study_clean__seed50007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9ccbe3235d0a9a9623f5324120eaa359a65455fc259fa2bf889f15e9d7effc1
+size 3378484

data/nodes/task=move_hamburger_onto_plate_ks/move_hamburger_onto_plate_ks__bench_demo_kitchens_clean__seed50006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:021e1110696aa77ce37704b0294672878842332067f138248015133271e1dd04
+size 1536459

data/nodes/task=move_pen_to_box/move_pen_to_box__bench_demo_study_clean__seed50006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8780ebe47840e96713f0878af45c4d82157391075ec6e0db98af555c45577718
+size 1718366

data/nodes/task=place_bowl_in_dishrack_ks/place_bowl_in_dishrack_ks__bench_demo_kitchens_clean__seed50006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c943c48fc78dd5c1c12420fe1d210acf8863a4188d44c96a556dcbc3cdd8cd85
+size 1047228

data/nodes/task=put_bottle_in_basket/put_bottle_in_basket__bench_demo_kitchenl_clean__seed50006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89ce057abc4a2f276e92527704c9b2b03668f83e55c4910f0f0b154ef32fe267
+size 737969

data/nodes/task=put_milktea_on_shelf/put_milktea_on_shelf__bench_demo_office_clean__seed50007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fce94c8ad7829997d59a2645000b60768da056d01ca0856fb35e71e3716c2a2
+size 1287462

data/nodes/task=put_phone_on_holder/put_phone_on_holder__bench_demo_office_clean__seed50007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91ac9992a89a1e4316a767efb389ec4b317bbdfb2ca21744a166d7653de6cca5
+size 1360648

data/nodes/task=put_stapler_next_to_mouse/put_stapler_next_to_mouse__bench_demo_office_clean__seed50007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:870f9a4a618f849b013a7c975a5c725941d90e8cfd18f62aae81f63f6013839e
+size 565326

data/steps/task=drop_apple_in_bin_ks/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:346bfaac2685bca9ab76d0b435636c9dfa01f993c7ef1ebe381e192128d0a441
+size 389781

data/steps/task=drop_apple_in_bin_ks/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f45b983491fe72b2d168a18e77d4dca8af43747b3b1460995a170b523fa05e8
+size 386341

data/steps/task=move_cup_put_pen_in_cup/move_cup_put_pen_in_cup__bench_demo_study_clean__seed50007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e17cd0a0758d8ad96db9b9041db44685524b62a89653b0358ce4dcb3b6d65666
+size 1849957

data/steps/task=move_hamburger_onto_plate_ks/move_hamburger_onto_plate_ks__bench_demo_kitchens_clean__seed50006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e20981209d445a8ae88bf224c47f3eaf2b8b9fecf116754d242867761e41efda
+size 766189

data/steps/task=move_pen_to_box/move_pen_to_box__bench_demo_study_clean__seed50006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b293bc42745c763738e42217614d54c67acb2c3a6c440681a30340594595a21
+size 850720

data/steps/task=place_bowl_in_dishrack_ks/place_bowl_in_dishrack_ks__bench_demo_kitchens_clean__seed50006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4004b7b9efbbb120c462d84f516adf4c0b3a69720ddb3f932ab3a52c48c80d8
+size 485898

data/steps/task=put_bottle_in_basket/put_bottle_in_basket__bench_demo_kitchenl_clean__seed50006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f0eb0dac65787a424bc53effbbb6d651995f00601888601e98debc1693232f5
+size 348086

data/steps/task=put_milktea_on_shelf/put_milktea_on_shelf__bench_demo_office_clean__seed50007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91d2e3fdd5ebd838f4eac07d6e44786c0ec93d98b249c919ce71552b023ea542
+size 658840

data/steps/task=put_phone_on_holder/put_phone_on_holder__bench_demo_office_clean__seed50007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba7d3f821d247b2eca95952c1671f74dae3db147fde95cb32041c1b83d64c302
+size 654658

data/steps/task=put_stapler_next_to_mouse/put_stapler_next_to_mouse__bench_demo_office_clean__seed50007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4a9a75efd0fb9c4851a1b8a66db42fcfd47a2e9b989030c4bdcb644edd44519
+size 287395

meta/configs/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50006.yml

@@ -0,0 +1,37 @@
+scene:
+  task: drop_apple_in_bin_ks
+  task_config: bench_demo_kitchens_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: 2085724835
+  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/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50007.yml

@@ -0,0 +1,37 @@
+scene:
+  task: drop_apple_in_bin_ks
+  task_config: bench_demo_kitchens_clean
+  seed: 50007
+  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: 2085724834
+  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__seed50007.yml

@@ -0,0 +1,37 @@
+scene:
+  task: move_cup_put_pen_in_cup
+  task_config: bench_demo_study_clean
+  seed: 50007
+  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: 2355980971
+  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_hamburger_onto_plate_ks__bench_demo_kitchens_clean__seed50006.yml

@@ -0,0 +1,37 @@
+scene:
+  task: move_hamburger_onto_plate_ks
+  task_config: bench_demo_kitchens_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: 4148609586
+  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

meta/configs/move_pen_to_box__bench_demo_study_clean__seed50006.yml

@@ -0,0 +1,37 @@
+scene:
+  task: move_pen_to_box
+  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: 3977909777
+  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/place_bowl_in_dishrack_ks__bench_demo_kitchens_clean__seed50006.yml

@@ -0,0 +1,37 @@
+scene:
+  task: place_bowl_in_dishrack_ks
+  task_config: bench_demo_kitchens_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: 1258136406
+  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

meta/configs/put_bottle_in_basket__bench_demo_kitchenl_clean__seed50006.yml

@@ -0,0 +1,37 @@
+scene:
+  task: put_bottle_in_basket
+  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
+  candidate_opt:
+    seed: 3735260269
+  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

meta/configs/put_milktea_on_shelf__bench_demo_office_clean__seed50007.yml

@@ -0,0 +1,37 @@
+scene:
+  task: put_milktea_on_shelf
+  task_config: bench_demo_office_clean
+  seed: 50007
+  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: 1521334204
+  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_phone_on_holder__bench_demo_office_clean__seed50007.yml

@@ -0,0 +1,37 @@
+scene:
+  task: put_phone_on_holder
+  task_config: bench_demo_office_clean
+  seed: 50007
+  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: 313763982
+  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_stapler_next_to_mouse__bench_demo_office_clean__seed50007.yml

@@ -0,0 +1,37 @@
+scene:
+  task: put_stapler_next_to_mouse
+  task_config: bench_demo_office_clean
+  seed: 50007
+  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: 42388714
+  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

meta/searches/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a738ca27557561266ea2eb4f3d540d39c85a9d758e968085c69a984470f09942
+size 14594

meta/searches/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d4d84687afd2b01555da3bea2e7448083f84173a376c0f7725d5ff9d8e9544e
+size 14596

meta/searches/move_cup_put_pen_in_cup__bench_demo_study_clean__seed50007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b754c9eb02cfadf8fbe4aa7c3ab5858cc1a171f106595f5cc9a953e0367fe85
+size 14599

meta/searches/move_hamburger_onto_plate_ks__bench_demo_kitchens_clean__seed50006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98e85ea6a3cce7b6c36b723b7f97bc6b45a5ca3113e3211f5134d568f4076004
+size 14778

meta/searches/move_pen_to_box__bench_demo_study_clean__seed50006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aadebbb7e2d026141ae71a65c123e03d7e6ad910039f080a8dd009bdefde5b8
+size 14301

meta/searches/place_bowl_in_dishrack_ks__bench_demo_kitchens_clean__seed50006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8007ee94faa898a9940ae80179da4031dd3558666b815c7c04fff151cf2942ad
+size 14670

meta/searches/put_bottle_in_basket__bench_demo_kitchenl_clean__seed50006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bf19894fb156205139550223e121df04c46fad931d2f08a1e0469c4673e1164
+size 14609

meta/searches/put_milktea_on_shelf__bench_demo_office_clean__seed50007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e3f4203aeb8a420f3c796718a88bdf9a244c2acc46f7c29500145b29d181fe5
+size 14569

meta/searches/put_phone_on_holder__bench_demo_office_clean__seed50007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2966732a810bbdc67ae8a7422a2005d24d9e7aaa93303c6421e683a6d6f31de
+size 14446

meta/searches/put_stapler_next_to_mouse__bench_demo_office_clean__seed50007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55b660f48d2be9f54ae2cc04e90ea8e96d1d1540a3fdbaa4521e1ffdcc427312
+size 14638