diff --git a/README.md b/README.md index 8b58ab5c4269e8d1649279bd73eed8d280ee2b52..e32e26d1ebbd8c3fe9ef775caa8afabe250a528e 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*. -164 searches · 13 tasks · 6,286 nodes, each with its own +177 searches · 13 tasks · 6,644 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 | 164 searches | +| `train` | collection seeds (50000+) — fans to learn from | 177 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` | 12 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `move_cup_put_pen_in_cup` | 13 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `move_hamburger_onto_plate_ks` | 9 | train | kitchens_clean | 50000, 50001, 50003, 50005, 50006, 50007, 50009, 50010, 50011 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `move_pen_to_box` | 13 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `place_bowl_in_dishrack_ks` | 12 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_bottle_in_basket` | 13 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `drop_apple_in_bin_ks` | 14 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `move_cup_put_pen_in_cup` | 14 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `move_hamburger_onto_plate_ks` | 11 | train | kitchens_clean | 50000, 50001, 50003, 50005, 50006, 50007, 50009, 50010, 50011, 50012, 50013 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `move_pen_to_box` | 14 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `place_bowl_in_dishrack_ks` | 14 | train | kitchens_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_bottle_in_basket` | 14 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | | `put_bottle_in_fridge` | 13 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | | `put_can_in_cabinet` | 13 | train | kitchenl_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | | `put_cup_on_coaster` | 13 | train | study_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | | `put_milktea_on_shelf` | 14 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_mouse_on_pad` | 13 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_phone_on_holder` | 13 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | -| `put_stapler_next_to_mouse` | 13 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_mouse_on_pad` | 15 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013, 50014 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_phone_on_holder` | 14 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013 | [RoboPRO @ `2a1adee`](https://github.com/EAI-RSM/RoboPRO/commit/2a1adee49dbaebe06379398745233b8f0b43c85f) | +| `put_stapler_next_to_mouse` | 14 | train | office_clean | 50000, 50001, 50002, 50003, 50004, 50005, 50006, 50007, 50008, 50009, 50010, 50011, 50012, 50013 | [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 | 50000–50013 | +| scene seeds | 50000–50014 | | 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` | 6,286 | 164 | 10 | -| `steps` | 306,100 | 164 | 5 | +| `nodes` | 6,644 | 177 | 10 | +| `steps` | 323,350 | 177 | 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` | 514 | +| `hard_success` | 569 | | `soft_success` | 5 | -| `soft_failure` | 290 | -| `hard_failure` | 11 | +| `soft_failure` | 299 | +| `hard_failure` | 12 | ## Loading it diff --git a/data/nodes/task=drop_apple_in_bin_ks/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50012.parquet b/data/nodes/task=drop_apple_in_bin_ks/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50012.parquet new file mode 100644 index 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null + instruction_type: unseen + candidate_opt: + seed: 2085724841 + 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/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50013.yml b/meta/configs/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50013.yml new file mode 100644 index 0000000000000000000000000000000000000000..0f7394c010c260585bd3f2450eea01682f9b26a9 --- /dev/null +++ b/meta/configs/drop_apple_in_bin_ks__bench_demo_kitchens_clean__seed50013.yml @@ -0,0 +1,37 @@ +scene: + task: drop_apple_in_bin_ks + task_config: bench_demo_kitchens_clean + seed: 50013 + 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: 2085724840 + 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_cup_put_pen_in_cup__bench_demo_study_clean__seed50013.yml b/meta/configs/move_cup_put_pen_in_cup__bench_demo_study_clean__seed50013.yml new file mode 100644 index 0000000000000000000000000000000000000000..b03bd0e05e40c351d109c620b98bf3a36f797941 --- /dev/null +++ b/meta/configs/move_cup_put_pen_in_cup__bench_demo_study_clean__seed50013.yml @@ -0,0 +1,37 @@ +scene: + task: move_cup_put_pen_in_cup + task_config: bench_demo_study_clean + seed: 50013 + 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: 2355980961 + 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 diff --git a/meta/configs/move_hamburger_onto_plate_ks__bench_demo_kitchens_clean__seed50012.yml b/meta/configs/move_hamburger_onto_plate_ks__bench_demo_kitchens_clean__seed50012.yml new file mode 100644 index 0000000000000000000000000000000000000000..fd964fbf1511f8b1a2be590923f8754758931a9a --- /dev/null +++ b/meta/configs/move_hamburger_onto_plate_ks__bench_demo_kitchens_clean__seed50012.yml @@ -0,0 +1,37 @@ +scene: + task: move_hamburger_onto_plate_ks + task_config: bench_demo_kitchens_clean + seed: 50012 + 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: 4148609592 + 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__seed50013.yml b/meta/configs/move_hamburger_onto_plate_ks__bench_demo_kitchens_clean__seed50013.yml new file mode 100644 index 0000000000000000000000000000000000000000..d25e6047fe1c4758fc93b650be0aaa206266ae37 --- /dev/null +++ b/meta/configs/move_hamburger_onto_plate_ks__bench_demo_kitchens_clean__seed50013.yml @@ -0,0 +1,37 @@ +scene: + task: move_hamburger_onto_plate_ks + task_config: bench_demo_kitchens_clean + seed: 50013 + 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: 4148609593 + 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__seed50013.yml b/meta/configs/move_pen_to_box__bench_demo_study_clean__seed50013.yml new file mode 100644 index 0000000000000000000000000000000000000000..48bb534a4b01cb623d863706382400ca53533ed7 --- /dev/null +++ b/meta/configs/move_pen_to_box__bench_demo_study_clean__seed50013.yml @@ -0,0 +1,37 @@ +scene: + task: move_pen_to_box + task_config: bench_demo_study_clean + seed: 50013 + 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: 3977909786 + 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__seed50012.yml b/meta/configs/place_bowl_in_dishrack_ks__bench_demo_kitchens_clean__seed50012.yml new file mode 100644 index 0000000000000000000000000000000000000000..8f0703cb70e906b5491d24f237d990fa670a0884 --- /dev/null +++ b/meta/configs/place_bowl_in_dishrack_ks__bench_demo_kitchens_clean__seed50012.yml @@ -0,0 +1,37 @@ +scene: + task: place_bowl_in_dishrack_ks + task_config: bench_demo_kitchens_clean + seed: 50012 + 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: 1258136412 + 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__seed50013.yml b/meta/configs/place_bowl_in_dishrack_ks__bench_demo_kitchens_clean__seed50013.yml new file mode 100644 index 0000000000000000000000000000000000000000..ace8587e77dea7133e2b8c4cac7538e9803624db --- /dev/null +++ b/meta/configs/place_bowl_in_dishrack_ks__bench_demo_kitchens_clean__seed50013.yml @@ -0,0 +1,37 @@ +scene: + task: place_bowl_in_dishrack_ks + task_config: bench_demo_kitchens_clean + seed: 50013 + 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: 1258136413 + 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__seed50013.yml b/meta/configs/put_bottle_in_basket__bench_demo_kitchenl_clean__seed50013.yml new file mode 100644 index 0000000000000000000000000000000000000000..b5391394ed98cdfff9f22a90d3bf41b57bf3f49b --- /dev/null +++ b/meta/configs/put_bottle_in_basket__bench_demo_kitchenl_clean__seed50013.yml @@ -0,0 +1,37 @@ +scene: + task: put_bottle_in_basket + task_config: bench_demo_kitchenl_clean + seed: 50013 + 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: 3735260262 + 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_mouse_on_pad__bench_demo_office_clean__seed50013.yml b/meta/configs/put_mouse_on_pad__bench_demo_office_clean__seed50013.yml new file mode 100644 index 0000000000000000000000000000000000000000..8cd8c0a8ee160f2d9bf5abf691a5377d44c58020 --- /dev/null +++ b/meta/configs/put_mouse_on_pad__bench_demo_office_clean__seed50013.yml @@ -0,0 +1,37 @@ +scene: + task: put_mouse_on_pad + task_config: bench_demo_office_clean + seed: 50013 + 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: 338752729 + 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__seed50014.yml b/meta/configs/put_mouse_on_pad__bench_demo_office_clean__seed50014.yml new file mode 100644 index 0000000000000000000000000000000000000000..8bea2e6993c86e899dc453d7ddac35a4ebad057e --- /dev/null +++ b/meta/configs/put_mouse_on_pad__bench_demo_office_clean__seed50014.yml @@ -0,0 +1,37 @@ +scene: + task: put_mouse_on_pad + task_config: bench_demo_office_clean + seed: 50014 + 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: 338752730 + 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__seed50013.yml b/meta/configs/put_phone_on_holder__bench_demo_office_clean__seed50013.yml new file mode 100644 index 0000000000000000000000000000000000000000..c0951d73aa7db9ed79cf03978c67c78f1130f69c --- /dev/null +++ b/meta/configs/put_phone_on_holder__bench_demo_office_clean__seed50013.yml @@ -0,0 +1,37 @@ +scene: + task: put_phone_on_holder + task_config: bench_demo_office_clean + seed: 50013 + 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: 313763972 + 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__seed50013.yml b/meta/configs/put_stapler_next_to_mouse__bench_demo_office_clean__seed50013.yml new file mode 100644 index 0000000000000000000000000000000000000000..1c3008af41b1b8ba6ffff66f06f530b2a703e434 --- /dev/null +++ b/meta/configs/put_stapler_next_to_mouse__bench_demo_office_clean__seed50013.yml @@ -0,0 +1,37 @@ +scene: + task: put_stapler_next_to_mouse + task_config: bench_demo_office_clean + seed: 50013 + 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: 42388704 + 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 + 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