Upload ML10 train v40 patched success demos

ml10_train_v40_success_demos_patched_20260507/README.md

@@ -0,0 +1,19 @@
+# ML10 Train V40 Success Demos Patched
+
+Raw MetaWorld `ML10(seed=7)` scripted-policy success demos.
+
+- Suite: `ml10-train`
+- Tasks: train task ids `0..9`
+- Variant scan range: first 40 variants per task
+- Target demos: 10 success demos per task
+- Max rollout steps: 200
+- Render: `corner`, 256x256 RGB
+- Saved arrays per `.npz`: `frames`, `states`, `actions`, `task_id`, `env_name`, `variant_index`, `success_step`
+- Policy patch: tasks whose shipped V3 policy read `obs[-3:]` as an invalid zero goal use `env._target_pos` during collection.
+
+Files:
+
+- `ml10_train_v40_success_demos_patched_20260507.zip`: zipped raw `.npz` demo directories.
+- `ml10_train_v40_success_demos_patched_20260507.zip.sha256`: SHA256 checksum.
+- `manifest_first5.json`: manifest for task ids `0..4`.
+- `manifest_last5.json`: manifest for task ids `5..9`.

ml10_train_v40_success_demos_patched_20260507/manifest_first5.json

@@ -0,0 +1,508 @@
+{
+  "suite": "ml10-train",
+  "seed": 7,
+  "task_indices": [
+    0,
+    1,
+    2,
+    3,
+    4
+  ],
+  "max_variants": 40,
+  "demos_per_task": 10,
+  "max_steps": 200,
+  "render_resolution": 256,
+  "camera_name": "corner",
+  "tasks": [
+    {
+      "task_id": 0,
+      "env_name": "reach-v3",
+      "scanned_variants": 40,
+      "successes": 10,
+      "demos": [
+        {
+          "task_id": 0,
+          "env_name": "reach-v3",
+          "demo_idx": 0,
+          "variant_index": 0,
+          "success_step": 56,
+          "length": 57,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_00_reach/demo_00_variant_00.npz"
+        },
+        {
+          "task_id": 0,
+          "env_name": "reach-v3",
+          "demo_idx": 1,
+          "variant_index": 1,
+          "success_step": 43,
+          "length": 44,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_00_reach/demo_01_variant_01.npz"
+        },
+        {
+          "task_id": 0,
+          "env_name": "reach-v3",
+          "demo_idx": 2,
+          "variant_index": 2,
+          "success_step": 51,
+          "length": 52,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_00_reach/demo_02_variant_02.npz"
+        },
+        {
+          "task_id": 0,
+          "env_name": "reach-v3",
+          "demo_idx": 3,
+          "variant_index": 3,
+          "success_step": 54,
+          "length": 55,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_00_reach/demo_03_variant_03.npz"
+        },
+        {
+          "task_id": 0,
+          "env_name": "reach-v3",
+          "demo_idx": 4,
+          "variant_index": 4,
+          "success_step": 50,
+          "length": 51,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_00_reach/demo_04_variant_04.npz"
+        },
+        {
+          "task_id": 0,
+          "env_name": "reach-v3",
+          "demo_idx": 5,
+          "variant_index": 5,
+          "success_step": 46,
+          "length": 47,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_00_reach/demo_05_variant_05.npz"
+        },
+        {
+          "task_id": 0,
+          "env_name": "reach-v3",
+          "demo_idx": 6,
+          "variant_index": 6,
+          "success_step": 50,
+          "length": 51,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_00_reach/demo_06_variant_06.npz"
+        },
+        {
+          "task_id": 0,
+          "env_name": "reach-v3",
+          "demo_idx": 7,
+          "variant_index": 7,
+          "success_step": 59,
+          "length": 60,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_00_reach/demo_07_variant_07.npz"
+        },
+        {
+          "task_id": 0,
+          "env_name": "reach-v3",
+          "demo_idx": 8,
+          "variant_index": 8,
+          "success_step": 42,
+          "length": 43,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_00_reach/demo_08_variant_08.npz"
+        },
+        {
+          "task_id": 0,
+          "env_name": "reach-v3",
+          "demo_idx": 9,
+          "variant_index": 9,
+          "success_step": 47,
+          "length": 48,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_00_reach/demo_09_variant_09.npz"
+        }
+      ]
+    },
+    {
+      "task_id": 1,
+      "env_name": "push-v3",
+      "scanned_variants": 40,
+      "successes": 10,
+      "demos": [
+        {
+          "task_id": 1,
+          "env_name": "push-v3",
+          "demo_idx": 0,
+          "variant_index": 0,
+          "success_step": 50,
+          "length": 51,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_01_push/demo_00_variant_00.npz"
+        },
+        {
+          "task_id": 1,
+          "env_name": "push-v3",
+          "demo_idx": 1,
+          "variant_index": 1,
+          "success_step": 56,
+          "length": 57,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_01_push/demo_01_variant_01.npz"
+        },
+        {
+          "task_id": 1,
+          "env_name": "push-v3",
+          "demo_idx": 2,
+          "variant_index": 2,
+          "success_step": 63,
+          "length": 64,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_01_push/demo_02_variant_02.npz"
+        },
+        {
+          "task_id": 1,
+          "env_name": "push-v3",
+          "demo_idx": 3,
+          "variant_index": 3,
+          "success_step": 65,
+          "length": 66,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_01_push/demo_03_variant_03.npz"
+        },
+        {
+          "task_id": 1,
+          "env_name": "push-v3",
+          "demo_idx": 4,
+          "variant_index": 4,
+          "success_step": 52,
+          "length": 53,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_01_push/demo_04_variant_04.npz"
+        },
+        {
+          "task_id": 1,
+          "env_name": "push-v3",
+          "demo_idx": 5,
+          "variant_index": 5,
+          "success_step": 62,
+          "length": 63,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_01_push/demo_05_variant_05.npz"
+        },
+        {
+          "task_id": 1,
+          "env_name": "push-v3",
+          "demo_idx": 6,
+          "variant_index": 6,
+          "success_step": 59,
+          "length": 60,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_01_push/demo_06_variant_06.npz"
+        },
+        {
+          "task_id": 1,
+          "env_name": "push-v3",
+          "demo_idx": 7,
+          "variant_index": 7,
+          "success_step": 67,
+          "length": 68,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_01_push/demo_07_variant_07.npz"
+        },
+        {
+          "task_id": 1,
+          "env_name": "push-v3",
+          "demo_idx": 8,
+          "variant_index": 8,
+          "success_step": 70,
+          "length": 71,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_01_push/demo_08_variant_08.npz"
+        },
+        {
+          "task_id": 1,
+          "env_name": "push-v3",
+          "demo_idx": 9,
+          "variant_index": 9,
+          "success_step": 62,
+          "length": 63,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_01_push/demo_09_variant_09.npz"
+        }
+      ]
+    },
+    {
+      "task_id": 2,
+      "env_name": "pick-place-v3",
+      "scanned_variants": 40,
+      "successes": 10,
+      "demos": [
+        {
+          "task_id": 2,
+          "env_name": "pick-place-v3",
+          "demo_idx": 0,
+          "variant_index": 0,
+          "success_step": 55,
+          "length": 56,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_02_pick-place/demo_00_variant_00.npz"
+        },
+        {
+          "task_id": 2,
+          "env_name": "pick-place-v3",
+          "demo_idx": 1,
+          "variant_index": 1,
+          "success_step": 61,
+          "length": 62,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_02_pick-place/demo_01_variant_01.npz"
+        },
+        {
+          "task_id": 2,
+          "env_name": "pick-place-v3",
+          "demo_idx": 2,
+          "variant_index": 2,
+          "success_step": 57,
+          "length": 58,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_02_pick-place/demo_02_variant_02.npz"
+        },
+        {
+          "task_id": 2,
+          "env_name": "pick-place-v3",
+          "demo_idx": 3,
+          "variant_index": 3,
+          "success_step": 48,
+          "length": 49,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_02_pick-place/demo_03_variant_03.npz"
+        },
+        {
+          "task_id": 2,
+          "env_name": "pick-place-v3",
+          "demo_idx": 4,
+          "variant_index": 4,
+          "success_step": 53,
+          "length": 54,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_02_pick-place/demo_04_variant_04.npz"
+        },
+        {
+          "task_id": 2,
+          "env_name": "pick-place-v3",
+          "demo_idx": 5,
+          "variant_index": 5,
+          "success_step": 47,
+          "length": 48,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_02_pick-place/demo_05_variant_05.npz"
+        },
+        {
+          "task_id": 2,
+          "env_name": "pick-place-v3",
+          "demo_idx": 6,
+          "variant_index": 6,
+          "success_step": 52,
+          "length": 53,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_02_pick-place/demo_06_variant_06.npz"
+        },
+        {
+          "task_id": 2,
+          "env_name": "pick-place-v3",
+          "demo_idx": 7,
+          "variant_index": 7,
+          "success_step": 57,
+          "length": 58,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_02_pick-place/demo_07_variant_07.npz"
+        },
+        {
+          "task_id": 2,
+          "env_name": "pick-place-v3",
+          "demo_idx": 8,
+          "variant_index": 8,
+          "success_step": 57,
+          "length": 58,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_02_pick-place/demo_08_variant_08.npz"
+        },
+        {
+          "task_id": 2,
+          "env_name": "pick-place-v3",
+          "demo_idx": 9,
+          "variant_index": 9,
+          "success_step": 52,
+          "length": 53,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_02_pick-place/demo_09_variant_09.npz"
+        }
+      ]
+    },
+    {
+      "task_id": 3,
+      "env_name": "door-open-v3",
+      "scanned_variants": 40,
+      "successes": 10,
+      "demos": [
+        {
+          "task_id": 3,
+          "env_name": "door-open-v3",
+          "demo_idx": 0,
+          "variant_index": 0,
+          "success_step": 82,
+          "length": 83,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_03_door-open/demo_00_variant_00.npz"
+        },
+        {
+          "task_id": 3,
+          "env_name": "door-open-v3",
+          "demo_idx": 1,
+          "variant_index": 2,
+          "success_step": 118,
+          "length": 119,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_03_door-open/demo_01_variant_02.npz"
+        },
+        {
+          "task_id": 3,
+          "env_name": "door-open-v3",
+          "demo_idx": 2,
+          "variant_index": 3,
+          "success_step": 76,
+          "length": 77,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_03_door-open/demo_02_variant_03.npz"
+        },
+        {
+          "task_id": 3,
+          "env_name": "door-open-v3",
+          "demo_idx": 3,
+          "variant_index": 4,
+          "success_step": 76,
+          "length": 77,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_03_door-open/demo_03_variant_04.npz"
+        },
+        {
+          "task_id": 3,
+          "env_name": "door-open-v3",
+          "demo_idx": 4,
+          "variant_index": 5,
+          "success_step": 84,
+          "length": 85,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_03_door-open/demo_04_variant_05.npz"
+        },
+        {
+          "task_id": 3,
+          "env_name": "door-open-v3",
+          "demo_idx": 5,
+          "variant_index": 6,
+          "success_step": 81,
+          "length": 82,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_03_door-open/demo_05_variant_06.npz"
+        },
+        {
+          "task_id": 3,
+          "env_name": "door-open-v3",
+          "demo_idx": 6,
+          "variant_index": 7,
+          "success_step": 119,
+          "length": 120,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_03_door-open/demo_06_variant_07.npz"
+        },
+        {
+          "task_id": 3,
+          "env_name": "door-open-v3",
+          "demo_idx": 7,
+          "variant_index": 8,
+          "success_step": 84,
+          "length": 85,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_03_door-open/demo_07_variant_08.npz"
+        },
+        {
+          "task_id": 3,
+          "env_name": "door-open-v3",
+          "demo_idx": 8,
+          "variant_index": 11,
+          "success_step": 84,
+          "length": 85,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_03_door-open/demo_08_variant_11.npz"
+        },
+        {
+          "task_id": 3,
+          "env_name": "door-open-v3",
+          "demo_idx": 9,
+          "variant_index": 12,
+          "success_step": 74,
+          "length": 75,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_03_door-open/demo_09_variant_12.npz"
+        }
+      ]
+    },
+    {
+      "task_id": 4,
+      "env_name": "drawer-close-v3",
+      "scanned_variants": 40,
+      "successes": 10,
+      "demos": [
+        {
+          "task_id": 4,
+          "env_name": "drawer-close-v3",
+          "demo_idx": 0,
+          "variant_index": 0,
+          "success_step": 79,
+          "length": 80,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_04_drawer-close/demo_00_variant_00.npz"
+        },
+        {
+          "task_id": 4,
+          "env_name": "drawer-close-v3",
+          "demo_idx": 1,
+          "variant_index": 1,
+          "success_step": 78,
+          "length": 79,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_04_drawer-close/demo_01_variant_01.npz"
+        },
+        {
+          "task_id": 4,
+          "env_name": "drawer-close-v3",
+          "demo_idx": 2,
+          "variant_index": 2,
+          "success_step": 78,
+          "length": 79,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_04_drawer-close/demo_02_variant_02.npz"
+        },
+        {
+          "task_id": 4,
+          "env_name": "drawer-close-v3",
+          "demo_idx": 3,
+          "variant_index": 3,
+          "success_step": 78,
+          "length": 79,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_04_drawer-close/demo_03_variant_03.npz"
+        },
+        {
+          "task_id": 4,
+          "env_name": "drawer-close-v3",
+          "demo_idx": 4,
+          "variant_index": 4,
+          "success_step": 78,
+          "length": 79,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_04_drawer-close/demo_04_variant_04.npz"
+        },
+        {
+          "task_id": 4,
+          "env_name": "drawer-close-v3",
+          "demo_idx": 5,
+          "variant_index": 5,
+          "success_step": 79,
+          "length": 80,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_04_drawer-close/demo_05_variant_05.npz"
+        },
+        {
+          "task_id": 4,
+          "env_name": "drawer-close-v3",
+          "demo_idx": 6,
+          "variant_index": 6,
+          "success_step": 78,
+          "length": 79,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_04_drawer-close/demo_06_variant_06.npz"
+        },
+        {
+          "task_id": 4,
+          "env_name": "drawer-close-v3",
+          "demo_idx": 7,
+          "variant_index": 7,
+          "success_step": 78,
+          "length": 79,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_04_drawer-close/demo_07_variant_07.npz"
+        },
+        {
+          "task_id": 4,
+          "env_name": "drawer-close-v3",
+          "demo_idx": 8,
+          "variant_index": 8,
+          "success_step": 79,
+          "length": 80,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_04_drawer-close/demo_08_variant_08.npz"
+        },
+        {
+          "task_id": 4,
+          "env_name": "drawer-close-v3",
+          "demo_idx": 9,
+          "variant_index": 9,
+          "success_step": 78,
+          "length": 79,
+          "path": "data/metaworld_success_demos/ml10_train_first5_v40_success_patched/task_04_drawer-close/demo_09_variant_09.npz"
+        }
+      ]
+    }
+  ]
+}

ml10_train_v40_success_demos_patched_20260507/manifest_last5.json

@@ -0,0 +1,508 @@
+{
+  "suite": "ml10-train",
+  "seed": 7,
+  "task_indices": [
+    5,
+    6,
+    7,
+    8,
+    9
+  ],
+  "max_variants": 40,
+  "demos_per_task": 10,
+  "max_steps": 200,
+  "render_resolution": 256,
+  "camera_name": "corner",
+  "tasks": [
+    {
+      "task_id": 5,
+      "env_name": "button-press-topdown-v3",
+      "scanned_variants": 40,
+      "successes": 10,
+      "demos": [
+        {
+          "task_id": 5,
+          "env_name": "button-press-topdown-v3",
+          "demo_idx": 0,
+          "variant_index": 0,
+          "success_step": 65,
+          "length": 66,
+          "path": "data/metaworld_success_demos/ml10_train_last5_v40_success_patched2/task_05_button-press-topdown/demo_00_variant_00.npz"
+        },
+        {
+          "task_id": 5,
+          "env_name": "button-press-topdown-v3",
+          "demo_idx": 1,
+          "variant_index": 1,
+          "success_step": 68,
+          "length": 69,
+          "path": "data/metaworld_success_demos/ml10_train_last5_v40_success_patched2/task_05_button-press-topdown/demo_01_variant_01.npz"
+        },
+        {
+          "task_id": 5,
+          "env_name": "button-press-topdown-v3",
+          "demo_idx": 2,
+          "variant_index": 2,
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