Stage 15-task VLA dataset release

README.md

@@ -24,8 +24,8 @@ configs:
 
 Scripted-expert demonstrations for human-robot collaborative manipulation in
 the [Genesis](https://github.com/Genesis-Embodied-AI/Genesis) simulator. This
-release contains exactly **300 validated successful episodes for each of 11
-tasks**: 3,300 episodes and 984,797 policy steps in total.
+release contains exactly **300 validated successful episodes for each of 15
+tasks**: 4,500 episodes and 1,154,102 policy steps in total.
 
 The robot is a single-arm Franka. Observations include head-camera and
 right-wrist RGB-D streams, robot state, end-effector pose, and gripper state.
@@ -41,13 +41,18 @@ giving a 20 Hz policy rate.
 - `dump_bin_assist`
 - `dump_bin_interrupt`
 - `place_bread_in_basket_interrupt`
+- `place_burger_fries_assist`
 - `place_burger_fries_interrupt`
+- `place_dual_shoes_assist`
 - `place_dual_shoes_interrupt`
 - `place_food_in_skillet_assist`
 - `pour_water`
+- `stack_bowls_three_assist`
 - `stack_bowls_three_interrupt`
+- `stack_bowls_three_neutral`
 
-Additional completed tasks will be added in a later release.
+Tasks are added to this directory only after 300 validated successful episodes
+are available.
 
 ## Layout
 
@@ -66,6 +71,7 @@ Repository-level metadata:
 - `manifest.jsonl`: one row per episode, used as the Hub viewer index
 - `dataset_summary.json`: selection policy and per-task inventory
 - `task_pool.txt`: task names in this release
+- `SHA256SUMS`: checksums for every other file in the release
 
 ## `steps.h5` schema
 

dataset_summary.json

@@ -1,5 +1,5 @@
 {
-  "completed_task_count": 11,
+  "completed_task_count": 15,
   "contains_symlinks": false,
   "created_at": "2026-08-11T04:01:55.730840+00:00",
   "episode_files": [
@@ -10,22 +10,18 @@
   "materialization": [
     "hardlink"
   ],
-  "permanently_excluded_tasks": [
-    "oil_bottle_recovery"
-  ],
   "pending_tasks_excluded": [
     "place_bread_in_basket_neutral",
-    "place_burger_fries_assist",
     "place_burger_fries_neutral",
-    "place_dual_shoes_assist",
     "put_object_cabinet_interrupt",
-    "put_object_cabinet_neutral",
-    "stack_bowls_three_assist",
-    "stack_bowls_three_neutral"
+    "put_object_cabinet_neutral"
+  ],
+  "permanently_excluded_tasks": [
+    "oil_bottle_recovery"
   ],
   "schema_version": "genesis_hr_bench.vla_hf_ready.v1",
   "selected_per_task": 300,
-  "selected_total": 3300,
+  "selected_total": 4500,
   "selection_policy": "ascending numeric seed among validated successes",
   "tasks": {
     "categorize_cooperative": {
@@ -70,6 +66,13 @@
       "rejected_or_incomplete_candidates": 0,
       "selected": 300
     },
+    "place_burger_fries_assist": {
+      "available_validated_successes": 340,
+      "first_selected_seed": 0,
+      "last_selected_seed": 595,
+      "rejected_or_incomplete_candidates": 0,
+      "selected": 300
+    },
     "place_burger_fries_interrupt": {
       "available_validated_successes": 300,
       "first_selected_seed": 1,
@@ -77,6 +80,13 @@
       "rejected_or_incomplete_candidates": 0,
       "selected": 300
     },
+    "place_dual_shoes_assist": {
+      "available_validated_successes": 327,
+      "first_selected_seed": 0,
+      "last_selected_seed": 363,
+      "rejected_or_incomplete_candidates": 8,
+      "selected": 300
+    },
     "place_dual_shoes_interrupt": {
       "available_validated_successes": 300,
       "first_selected_seed": 0,
@@ -98,12 +108,27 @@
       "rejected_or_incomplete_candidates": 0,
       "selected": 300
     },
+    "stack_bowls_three_assist": {
+      "available_validated_successes": 305,
+      "first_selected_seed": 1,
+      "last_selected_seed": 487,
+      "rejected_or_incomplete_candidates": 32,
+      "selected": 300
+    },
     "stack_bowls_three_interrupt": {
       "available_validated_successes": 378,
       "first_selected_seed": 0,
       "last_selected_seed": 300,
       "rejected_or_incomplete_candidates": 8,
       "selected": 300
+    },
+    "stack_bowls_three_neutral": {
+      "available_validated_successes": 313,
+      "first_selected_seed": 2,
+      "last_selected_seed": 1118,
+      "rejected_or_incomplete_candidates": 16,
+      "selected": 300
     }
-  }
+  },
+  "updated_at": "2026-08-11T05:38:14.921402+00:00"
 }

place_burger_fries_assist/rasterizer/seed_0/meta.json

@@ -0,0 +1,254 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 0,
+  "instruction": "place the hamburger and side foods on the tray while the human adds one food item",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 413.5218689441681,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "safe_distance_m": 0.2615250657651894,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2615250657651894
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5160
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.059999999999999,
+      "min_distance_m": 0.2615250657651894,
+      "mean_distance_m": 0.4149938736633667,
+      "p5_distance_m": 0.26584807070803623,
+      "p25_distance_m": 0.295485497224076,
+      "median_distance_m": 0.452846010041298,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2615250657651894
+      ],
+      "closest_sim_step": 5160,
+      "closest_time_s": 10.32,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 0.8776267664433828,
+        "approach_speed_at_min_mps": 0.002480944423589408
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null,
+  "config_snapshot": {
+    "robot_type": "franka",
+    "action_substeps": 25,
+    "setting": "sim",
+    "track_avatar_collision": true,
+    "randomize_avatar": true,
+    "randomize_table": false,
+    "table_variant_name": null,
+    "random_object": false,
+    "random_interrupt_target": false,
+    "neutral_avatar_motion": null,
+    "neutral_avatar_motion_choices": null,
+    "neutral_avatar_object_prop_asset": null,
+    "opposite_head_camera": true
+  },
+  "n_steps": 240,
+  "cameras": {
+    "head_camera": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          1.0,
+          -0.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          2.365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    },
+    "right_wrist": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          -0.4929107470339621,
+          -0.8317820427318213,
+          0.2552990968399614,
+          0.06287838518619537
+        ],
+        [
+          0.8700798787803459,
+          -0.4712145609286998,
+          0.14463001801269074,
+          -0.15372931957244873
+        ],
+        [
+          0.0,
+          0.2934202974534162,
+          0.9559835401524175,
+          1.0225942134857178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    }
+  },
+  "recorder": {
+    "cams": [
+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
+      "qpos_target_action",
+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}

place_burger_fries_assist/rasterizer/seed_0/steps.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e36828c9d7931ba6e985a9dba0d98a4e37550fec9919c41a87417d16ce23599c
+size 23777384

place_burger_fries_assist/rasterizer/seed_0/verdict.json

@@ -0,0 +1,122 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 0,
+  "mode": "record",
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "success": true,
+  "plan_success": true,
+  "infra_failure_reason": null,
+  "error": null,
+  "wall_time_s": 413.5218689441681,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "safe_distance_m": 0.2615250657651894,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2615250657651894
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5160
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.059999999999999,
+      "min_distance_m": 0.2615250657651894,
+      "mean_distance_m": 0.4149938736633667,
+      "p5_distance_m": 0.26584807070803623,
+      "p25_distance_m": 0.295485497224076,
+      "median_distance_m": 0.452846010041298,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2615250657651894
+      ],
+      "closest_sim_step": 5160,
+      "closest_time_s": 10.32,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 0.8776267664433828,
+        "approach_speed_at_min_mps": 0.002480944423589408
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null
+}

place_burger_fries_assist/rasterizer/seed_1/meta.json

@@ -0,0 +1,254 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 1,
+  "instruction": "place the hamburger and side foods on the tray while the human adds one food item",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 412.4973225593567,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 203,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 203,
+      "n_valid_distance_checks": 203,
+      "safe_distance_m": 0.26281566491344116,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.26281566491344116
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5910
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 203,
+      "n_valid_distance_checks": 203,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.18,
+      "min_distance_m": 0.26281566491344116,
+      "mean_distance_m": 0.396417295670315,
+      "p5_distance_m": 0.26282066766026146,
+      "p25_distance_m": 0.3131142211128646,
+      "median_distance_m": 0.38480922269709117,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.26281566491344116
+      ],
+      "closest_sim_step": 5910,
+      "closest_time_s": 11.82,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 203,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 203,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 203,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.1768849381547717,
+        "approach_speed_at_min_mps": 1.6730441448897793e-06
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null,
+  "config_snapshot": {
+    "robot_type": "franka",
+    "action_substeps": 25,
+    "setting": "sim",
+    "track_avatar_collision": true,
+    "randomize_avatar": true,
+    "randomize_table": false,
+    "table_variant_name": null,
+    "random_object": false,
+    "random_interrupt_target": false,
+    "neutral_avatar_motion": null,
+    "neutral_avatar_motion_choices": null,
+    "neutral_avatar_object_prop_asset": null,
+    "opposite_head_camera": true
+  },
+  "n_steps": 243,
+  "cameras": {
+    "head_camera": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          1.0,
+          -0.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          2.365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    },
+    "right_wrist": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          -0.4929107470339621,
+          -0.8317820427318213,
+          0.2552990968399614,
+          0.06287838518619537
+        ],
+        [
+          0.8700798787803459,
+          -0.4712145609286998,
+          0.14463001801269074,
+          -0.15372931957244873
+        ],
+        [
+          0.0,
+          0.2934202974534162,
+          0.9559835401524175,
+          1.0225942134857178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    }
+  },
+  "recorder": {
+    "cams": [
+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
+      "qpos_target_action",
+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}

place_burger_fries_assist/rasterizer/seed_1/steps.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38aa7dd8792c7a46464795487c3fd6d6de09e096459139af515f5d9006a2a564
+size 24879428

place_burger_fries_assist/rasterizer/seed_1/verdict.json

@@ -0,0 +1,122 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 1,
+  "mode": "record",
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "success": true,
+  "plan_success": true,
+  "infra_failure_reason": null,
+  "error": null,
+  "wall_time_s": 412.4973225593567,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 203,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 203,
+      "n_valid_distance_checks": 203,
+      "safe_distance_m": 0.26281566491344116,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.26281566491344116
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5910
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 203,
+      "n_valid_distance_checks": 203,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.18,
+      "min_distance_m": 0.26281566491344116,
+      "mean_distance_m": 0.396417295670315,
+      "p5_distance_m": 0.26282066766026146,
+      "p25_distance_m": 0.3131142211128646,
+      "median_distance_m": 0.38480922269709117,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.26281566491344116
+      ],
+      "closest_sim_step": 5910,
+      "closest_time_s": 11.82,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 203,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 203,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 203,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.1768849381547717,
+        "approach_speed_at_min_mps": 1.6730441448897793e-06
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null
+}

place_burger_fries_assist/rasterizer/seed_10/meta.json

@@ -0,0 +1,254 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 10,
+  "instruction": "place the hamburger and side foods on the tray while the human adds one food item",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 426.83019971847534,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 202,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 202,
+      "n_valid_distance_checks": 202,
+      "safe_distance_m": 0.2110988567287047,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2110988567287047
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5220
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 202,
+      "n_valid_distance_checks": 202,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.12,
+      "min_distance_m": 0.2110988567287047,
+      "mean_distance_m": 0.3753770221947312,
+      "p5_distance_m": 0.2165325784403013,
+      "p25_distance_m": 0.28720561032118996,
+      "median_distance_m": 0.39887123266455204,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2110988567287047
+      ],
+      "closest_sim_step": 5220,
+      "closest_time_s": 10.44,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 202,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 202,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 202,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 0.9879383614673702,
+        "approach_speed_at_min_mps": 0.004180551437471536
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null,
+  "config_snapshot": {
+    "robot_type": "franka",
+    "action_substeps": 25,
+    "setting": "sim",
+    "track_avatar_collision": true,
+    "randomize_avatar": true,
+    "randomize_table": false,
+    "table_variant_name": null,
+    "random_object": false,
+    "random_interrupt_target": false,
+    "neutral_avatar_motion": null,
+    "neutral_avatar_motion_choices": null,
+    "neutral_avatar_object_prop_asset": null,
+    "opposite_head_camera": true
+  },
+  "n_steps": 241,
+  "cameras": {
+    "head_camera": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          1.0,
+          -0.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          2.365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    },
+    "right_wrist": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          -0.4929107470339621,
+          -0.8317820427318213,
+          0.2552990968399614,
+          0.06287838518619537
+        ],
+        [
+          0.8700798787803459,
+          -0.4712145609286998,
+          0.14463001801269074,
+          -0.15372931957244873
+        ],
+        [
+          0.0,
+          0.2934202974534162,
+          0.9559835401524175,
+          1.0225942134857178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    }
+  },
+  "recorder": {
+    "cams": [
+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
+      "qpos_target_action",
+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}

place_burger_fries_assist/rasterizer/seed_10/steps.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28cfc09944bc9133efea85176bb8857d2c0cfd403b2f19cc9960cb49f9c65d27
+size 24512532

place_burger_fries_assist/rasterizer/seed_10/verdict.json

@@ -0,0 +1,122 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 10,
+  "mode": "record",
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "success": true,
+  "plan_success": true,
+  "infra_failure_reason": null,
+  "error": null,
+  "wall_time_s": 426.83019971847534,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 202,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 202,
+      "n_valid_distance_checks": 202,
+      "safe_distance_m": 0.2110988567287047,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2110988567287047
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5220
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 202,
+      "n_valid_distance_checks": 202,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.12,
+      "min_distance_m": 0.2110988567287047,
+      "mean_distance_m": 0.3753770221947312,
+      "p5_distance_m": 0.2165325784403013,
+      "p25_distance_m": 0.28720561032118996,
+      "median_distance_m": 0.39887123266455204,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2110988567287047
+      ],
+      "closest_sim_step": 5220,
+      "closest_time_s": 10.44,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 202,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 202,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 202,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 0.9879383614673702,
+        "approach_speed_at_min_mps": 0.004180551437471536
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null
+}

place_burger_fries_assist/rasterizer/seed_100/meta.json

@@ -0,0 +1,254 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 100,
+  "instruction": "place the hamburger and side foods on the tray while the human adds one food item",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 330.24671030044556,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_valid_distance_checks": 200,
+      "safe_distance_m": 0.22986600043049005,
+      "closest_pair": [
+        "link7",
+        "l_palm",
+        0.22986600043049005
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 630
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_valid_distance_checks": 200,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.0,
+      "min_distance_m": 0.22986600043049005,
+      "mean_distance_m": 0.3753446682515566,
+      "p5_distance_m": 0.2551989930211198,
+      "p25_distance_m": 0.2785017588186052,
+      "median_distance_m": 0.37224670716063285,
+      "closest_pair": [
+        "link7",
+        "l_palm",
+        0.22986600043049005
+      ],
+      "closest_sim_step": 630,
+      "closest_time_s": 1.26,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.0988357916747404,
+        "approach_speed_at_min_mps": 0.2719549445334498
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null,
+  "config_snapshot": {
+    "robot_type": "franka",
+    "action_substeps": 25,
+    "setting": "sim",
+    "track_avatar_collision": true,
+    "randomize_avatar": true,
+    "randomize_table": false,
+    "table_variant_name": null,
+    "random_object": false,
+    "random_interrupt_target": false,
+    "neutral_avatar_motion": null,
+    "neutral_avatar_motion_choices": null,
+    "neutral_avatar_object_prop_asset": null,
+    "opposite_head_camera": true
+  },
+  "n_steps": 240,
+  "cameras": {
+    "head_camera": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          1.0,
+          -0.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          2.365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    },
+    "right_wrist": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          -0.4929107470339621,
+          -0.8317820427318213,
+          0.2552990968399614,
+          0.06287838518619537
+        ],
+        [
+          0.8700798787803459,
+          -0.4712145609286998,
+          0.14463001801269074,
+          -0.15372931957244873
+        ],
+        [
+          0.0,
+          0.2934202974534162,
+          0.9559835401524175,
+          1.0225942134857178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    }
+  },
+  "recorder": {
+    "cams": [
+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
+      "qpos_target_action",
+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}

place_burger_fries_assist/rasterizer/seed_100/steps.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7538e62363ab97f0dd00e897f1818e66d56658b3d8dc380aa5ec094e87fe2dcf
+size 24755479

place_burger_fries_assist/rasterizer/seed_100/verdict.json

@@ -0,0 +1,122 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 100,
+  "mode": "record",
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "success": true,
+  "plan_success": true,
+  "infra_failure_reason": null,
+  "error": null,
+  "wall_time_s": 330.24671030044556,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_valid_distance_checks": 200,
+      "safe_distance_m": 0.22986600043049005,
+      "closest_pair": [
+        "link7",
+        "l_palm",
+        0.22986600043049005
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 630
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_valid_distance_checks": 200,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.0,
+      "min_distance_m": 0.22986600043049005,
+      "mean_distance_m": 0.3753446682515566,
+      "p5_distance_m": 0.2551989930211198,
+      "p25_distance_m": 0.2785017588186052,
+      "median_distance_m": 0.37224670716063285,
+      "closest_pair": [
+        "link7",
+        "l_palm",
+        0.22986600043049005
+      ],
+      "closest_sim_step": 630,
+      "closest_time_s": 1.26,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.0988357916747404,
+        "approach_speed_at_min_mps": 0.2719549445334498
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null
+}

place_burger_fries_assist/rasterizer/seed_102/meta.json

@@ -0,0 +1,254 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 102,
+  "instruction": "place the hamburger and side foods on the tray while the human adds one food item",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 382.0121684074402,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 199,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 199,
+      "n_valid_distance_checks": 199,
+      "safe_distance_m": 0.2323277986737171,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2323277986737171
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5100
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 199,
+      "n_valid_distance_checks": 199,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 11.94,
+      "min_distance_m": 0.2323277986737171,
+      "mean_distance_m": 0.36485555833772854,
+      "p5_distance_m": 0.23616798303382844,
+      "p25_distance_m": 0.28063463210733186,
+      "median_distance_m": 0.3370374503567743,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2323277986737171
+      ],
+      "closest_sim_step": 5100,
+      "closest_time_s": 10.200000000000001,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 199,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 199,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 199,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 0.6345349107005859,
+        "approach_speed_at_min_mps": 0.0016489254484404934
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null,
+  "config_snapshot": {
+    "robot_type": "franka",
+    "action_substeps": 25,
+    "setting": "sim",
+    "track_avatar_collision": true,
+    "randomize_avatar": true,
+    "randomize_table": false,
+    "table_variant_name": null,
+    "random_object": false,
+    "random_interrupt_target": false,
+    "neutral_avatar_motion": null,
+    "neutral_avatar_motion_choices": null,
+    "neutral_avatar_object_prop_asset": null,
+    "opposite_head_camera": true
+  },
+  "n_steps": 237,
+  "cameras": {
+    "head_camera": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          1.0,
+          -0.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          2.365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    },
+    "right_wrist": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          -0.4929107470339621,
+          -0.8317820427318213,
+          0.2552990968399614,
+          0.06287838518619537
+        ],
+        [
+          0.8700798787803459,
+          -0.4712145609286998,
+          0.14463001801269074,
+          -0.15372931957244873
+        ],
+        [
+          0.0,
+          0.2934202974534162,
+          0.9559835401524175,
+          1.0225942134857178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    }
+  },
+  "recorder": {
+    "cams": [
+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
+      "qpos_target_action",
+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}

place_burger_fries_assist/rasterizer/seed_102/steps.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c12dbb01b6337c1e013f94cfcca6028c04529f1aeee725027add587a32a2fd2
+size 24760682

place_burger_fries_assist/rasterizer/seed_102/verdict.json

@@ -0,0 +1,122 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 102,
+  "mode": "record",
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "success": true,
+  "plan_success": true,
+  "infra_failure_reason": null,
+  "error": null,
+  "wall_time_s": 382.0121684074402,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 199,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 199,
+      "n_valid_distance_checks": 199,
+      "safe_distance_m": 0.2323277986737171,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2323277986737171
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5100
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 199,
+      "n_valid_distance_checks": 199,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 11.94,
+      "min_distance_m": 0.2323277986737171,
+      "mean_distance_m": 0.36485555833772854,
+      "p5_distance_m": 0.23616798303382844,
+      "p25_distance_m": 0.28063463210733186,
+      "median_distance_m": 0.3370374503567743,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2323277986737171
+      ],
+      "closest_sim_step": 5100,
+      "closest_time_s": 10.200000000000001,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 199,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 199,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 199,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 0.6345349107005859,
+        "approach_speed_at_min_mps": 0.0016489254484404934
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null
+}

place_burger_fries_assist/rasterizer/seed_103/meta.json

@@ -0,0 +1,254 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 103,
+  "instruction": "place the hamburger and side foods on the tray while the human adds one food item",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 270.9672315120697,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_valid_distance_checks": 200,
+      "safe_distance_m": 0.2838675516434934,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2838675516434934
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5880
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_valid_distance_checks": 200,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.0,
+      "min_distance_m": 0.2838675516434934,
+      "mean_distance_m": 0.4072904728898486,
+      "p5_distance_m": 0.28387937307525973,
+      "p25_distance_m": 0.31764206902425873,
+      "median_distance_m": 0.40429342133450163,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2838675516434934
+      ],
+      "closest_sim_step": 5880,
+      "closest_time_s": 11.76,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.2376775959750084,
+        "approach_speed_at_min_mps": 2.0803746780817534e-06
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null,
+  "config_snapshot": {
+    "robot_type": "franka",
+    "action_substeps": 25,
+    "setting": "sim",
+    "track_avatar_collision": true,
+    "randomize_avatar": true,
+    "randomize_table": false,
+    "table_variant_name": null,
+    "random_object": false,
+    "random_interrupt_target": false,
+    "neutral_avatar_motion": null,
+    "neutral_avatar_motion_choices": null,
+    "neutral_avatar_object_prop_asset": null,
+    "opposite_head_camera": true
+  },
+  "n_steps": 239,
+  "cameras": {
+    "head_camera": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          1.0,
+          -0.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          2.365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    },
+    "right_wrist": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          -0.4929107470339621,
+          -0.8317820427318213,
+          0.2552990968399614,
+          0.06287838518619537
+        ],
+        [
+          0.8700798787803459,
+          -0.4712145609286998,
+          0.14463001801269074,
+          -0.15372931957244873
+        ],
+        [
+          0.0,
+          0.2934202974534162,
+          0.9559835401524175,
+          1.0225942134857178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    }
+  },
+  "recorder": {
+    "cams": [
+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
+      "qpos_target_action",
+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}

place_burger_fries_assist/rasterizer/seed_103/steps.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcbb9da201ad8b68d17298a701c893bf2710d4f6e149800088c2c034db1a274d
+size 24150921

place_burger_fries_assist/rasterizer/seed_103/verdict.json

@@ -0,0 +1,122 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 103,
+  "mode": "record",
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "success": true,
+  "plan_success": true,
+  "infra_failure_reason": null,
+  "error": null,
+  "wall_time_s": 270.9672315120697,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_valid_distance_checks": 200,
+      "safe_distance_m": 0.2838675516434934,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2838675516434934
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5880
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_valid_distance_checks": 200,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.0,
+      "min_distance_m": 0.2838675516434934,
+      "mean_distance_m": 0.4072904728898486,
+      "p5_distance_m": 0.28387937307525973,
+      "p25_distance_m": 0.31764206902425873,
+      "median_distance_m": 0.40429342133450163,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2838675516434934
+      ],
+      "closest_sim_step": 5880,
+      "closest_time_s": 11.76,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.2376775959750084,
+        "approach_speed_at_min_mps": 2.0803746780817534e-06
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null
+}

place_burger_fries_assist/rasterizer/seed_104/meta.json

@@ -0,0 +1,254 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 104,
+  "instruction": "place the hamburger and side foods on the tray while the human adds one food item",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 319.71104431152344,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 199,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 199,
+      "n_valid_distance_checks": 199,
+      "safe_distance_m": 0.20751808442748793,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.20751808442748793
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5010
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 199,
+      "n_valid_distance_checks": 199,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 11.94,
+      "min_distance_m": 0.20751808442748793,
+      "mean_distance_m": 0.331295636610611,
+      "p5_distance_m": 0.21074555977295883,
+      "p25_distance_m": 0.24478839628281426,
+      "median_distance_m": 0.30808760871420615,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.20751808442748793
+      ],
+      "closest_sim_step": 5010,
+      "closest_time_s": 10.02,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 199,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 199,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 199,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.2437848027201992,
+        "approach_speed_at_min_mps": 0.0011395906885286466
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null,
+  "config_snapshot": {
+    "robot_type": "franka",
+    "action_substeps": 25,
+    "setting": "sim",
+    "track_avatar_collision": true,
+    "randomize_avatar": true,
+    "randomize_table": false,
+    "table_variant_name": null,
+    "random_object": false,
+    "random_interrupt_target": false,
+    "neutral_avatar_motion": null,
+    "neutral_avatar_motion_choices": null,
+    "neutral_avatar_object_prop_asset": null,
+    "opposite_head_camera": true
+  },
+  "n_steps": 238,
+  "cameras": {
+    "head_camera": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          1.0,
+          -0.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          2.365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    },
+    "right_wrist": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          -0.4929107470339621,
+          -0.8317820427318213,
+          0.2552990968399614,
+          0.06287838518619537
+        ],
+        [
+          0.8700798787803459,
+          -0.4712145609286998,
+          0.14463001801269074,
+          -0.15372931957244873
+        ],
+        [
+          0.0,
+          0.2934202974534162,
+          0.9559835401524175,
+          1.0225942134857178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    }
+  },
+  "recorder": {
+    "cams": [
+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
+      "qpos_target_action",
+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}

place_burger_fries_assist/rasterizer/seed_104/steps.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e99af9cc3413a2fd9a1a0ff90599f7dafb3594a592500e6720479aa4aaac166
+size 24093369

place_burger_fries_assist/rasterizer/seed_104/verdict.json

@@ -0,0 +1,122 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 104,
+  "mode": "record",
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "success": true,
+  "plan_success": true,
+  "infra_failure_reason": null,
+  "error": null,
+  "wall_time_s": 319.71104431152344,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 199,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 199,
+      "n_valid_distance_checks": 199,
+      "safe_distance_m": 0.20751808442748793,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.20751808442748793
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5010
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 199,
+      "n_valid_distance_checks": 199,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 11.94,
+      "min_distance_m": 0.20751808442748793,
+      "mean_distance_m": 0.331295636610611,
+      "p5_distance_m": 0.21074555977295883,
+      "p25_distance_m": 0.24478839628281426,
+      "median_distance_m": 0.30808760871420615,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.20751808442748793
+      ],
+      "closest_sim_step": 5010,
+      "closest_time_s": 10.02,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 199,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 199,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 199,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.2437848027201992,
+        "approach_speed_at_min_mps": 0.0011395906885286466
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null
+}

place_burger_fries_assist/rasterizer/seed_105/meta.json

@@ -0,0 +1,254 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 105,
+  "instruction": "place the hamburger and side foods on the tray while the human adds one food item",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 383.8492064476013,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 204,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 204,
+      "n_valid_distance_checks": 204,
+      "safe_distance_m": 0.24647412581033912,
+      "closest_pair": [
+        "link7",
+        "l_palm",
+        0.24647412581033912
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 630
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 204,
+      "n_valid_distance_checks": 204,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.24,
+      "min_distance_m": 0.24647412581033912,
+      "mean_distance_m": 0.3941316611551033,
+      "p5_distance_m": 0.2527712870039454,
+      "p25_distance_m": 0.2863104148093112,
+      "median_distance_m": 0.40988273711129175,
+      "closest_pair": [
+        "link7",
+        "l_palm",
+        0.24647412581033912
+      ],
+      "closest_sim_step": 630,
+      "closest_time_s": 1.26,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 204,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 204,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 204,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 0.9358478383746205,
+        "approach_speed_at_min_mps": 0.2305504315199658
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null,
+  "config_snapshot": {
+    "robot_type": "franka",
+    "action_substeps": 25,
+    "setting": "sim",
+    "track_avatar_collision": true,
+    "randomize_avatar": true,
+    "randomize_table": false,
+    "table_variant_name": null,
+    "random_object": false,
+    "random_interrupt_target": false,
+    "neutral_avatar_motion": null,
+    "neutral_avatar_motion_choices": null,
+    "neutral_avatar_object_prop_asset": null,
+    "opposite_head_camera": true
+  },
+  "n_steps": 244,
+  "cameras": {
+    "head_camera": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          1.0,
+          -0.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          2.365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    },
+    "right_wrist": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          -0.4929107470339621,
+          -0.8317820427318213,
+          0.2552990968399614,
+          0.06287838518619537
+        ],
+        [
+          0.8700798787803459,
+          -0.4712145609286998,
+          0.14463001801269074,
+          -0.15372931957244873
+        ],
+        [
+          0.0,
+          0.2934202974534162,
+          0.9559835401524175,
+          1.0225942134857178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    }
+  },
+  "recorder": {
+    "cams": [
+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
+      "qpos_target_action",
+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}

place_burger_fries_assist/rasterizer/seed_105/steps.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e578af3fcc8c20e41e9cc14b186ad080559a09a89c11d5ae29ad36b0aebcbc1
+size 24975533

place_burger_fries_assist/rasterizer/seed_105/verdict.json

@@ -0,0 +1,122 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 105,
+  "mode": "record",
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "success": true,
+  "plan_success": true,
+  "infra_failure_reason": null,
+  "error": null,
+  "wall_time_s": 383.8492064476013,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 204,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 204,
+      "n_valid_distance_checks": 204,
+      "safe_distance_m": 0.24647412581033912,
+      "closest_pair": [
+        "link7",
+        "l_palm",
+        0.24647412581033912
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 630
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 204,
+      "n_valid_distance_checks": 204,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.24,
+      "min_distance_m": 0.24647412581033912,
+      "mean_distance_m": 0.3941316611551033,
+      "p5_distance_m": 0.2527712870039454,
+      "p25_distance_m": 0.2863104148093112,
+      "median_distance_m": 0.40988273711129175,
+      "closest_pair": [
+        "link7",
+        "l_palm",
+        0.24647412581033912
+      ],
+      "closest_sim_step": 630,
+      "closest_time_s": 1.26,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 204,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 204,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 204,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 0.9358478383746205,
+        "approach_speed_at_min_mps": 0.2305504315199658
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null
+}

place_burger_fries_assist/rasterizer/seed_11/meta.json

@@ -0,0 +1,254 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 11,
+  "instruction": "place the hamburger and side foods on the tray while the human adds one food item",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 422.3596603870392,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "safe_distance_m": 0.25916284425625763,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.25916284425625763
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5340
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.059999999999999,
+      "min_distance_m": 0.25916284425625763,
+      "mean_distance_m": 0.39494687537124656,
+      "p5_distance_m": 0.25979376483217403,
+      "p25_distance_m": 0.30983421868036254,
+      "median_distance_m": 0.39434615839009535,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.25916284425625763
+      ],
+      "closest_sim_step": 5340,
+      "closest_time_s": 10.68,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.1109420092092408,
+        "approach_speed_at_min_mps": 0.002084203347372619
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null,
+  "config_snapshot": {
+    "robot_type": "franka",
+    "action_substeps": 25,
+    "setting": "sim",
+    "track_avatar_collision": true,
+    "randomize_avatar": true,
+    "randomize_table": false,
+    "table_variant_name": null,
+    "random_object": false,
+    "random_interrupt_target": false,
+    "neutral_avatar_motion": null,
+    "neutral_avatar_motion_choices": null,
+    "neutral_avatar_object_prop_asset": null,
+    "opposite_head_camera": true
+  },
+  "n_steps": 240,
+  "cameras": {
+    "head_camera": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          1.0,
+          -0.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          2.365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    },
+    "right_wrist": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          -0.4929107470339621,
+          -0.8317820427318213,
+          0.2552990968399614,
+          0.06287838518619537
+        ],
+        [
+          0.8700798787803459,
+          -0.4712145609286998,
+          0.14463001801269074,
+          -0.15372931957244873
+        ],
+        [
+          0.0,
+          0.2934202974534162,
+          0.9559835401524175,
+          1.0225942134857178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    }
+  },
+  "recorder": {
+    "cams": [
+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
+      "qpos_target_action",
+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}

place_burger_fries_assist/rasterizer/seed_11/steps.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79a542700af2ac4920f298853da4e1a2535518eb054fb8ec2cf27d6c39a627c8
+size 24506661

place_burger_fries_assist/rasterizer/seed_11/verdict.json

@@ -0,0 +1,122 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 11,
+  "mode": "record",
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "success": true,
+  "plan_success": true,
+  "infra_failure_reason": null,
+  "error": null,
+  "wall_time_s": 422.3596603870392,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "safe_distance_m": 0.25916284425625763,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.25916284425625763
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5340
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.059999999999999,
+      "min_distance_m": 0.25916284425625763,
+      "mean_distance_m": 0.39494687537124656,
+      "p5_distance_m": 0.25979376483217403,
+      "p25_distance_m": 0.30983421868036254,
+      "median_distance_m": 0.39434615839009535,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.25916284425625763
+      ],
+      "closest_sim_step": 5340,
+      "closest_time_s": 10.68,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.1109420092092408,
+        "approach_speed_at_min_mps": 0.002084203347372619
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null
+}

place_burger_fries_assist/rasterizer/seed_111/meta.json

@@ -0,0 +1,254 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 111,
+  "instruction": "place the hamburger and side foods on the tray while the human adds one food item",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 405.88941192626953,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "safe_distance_m": 0.21947004786929042,
+      "closest_pair": [
+        "link7",
+        "l_palm",
+        0.21947004786929042
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 630
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.059999999999999,
+      "min_distance_m": 0.21947004786929042,
+      "mean_distance_m": 0.3676869642722083,
+      "p5_distance_m": 0.2653987844039495,
+      "p25_distance_m": 0.2772465165825138,
+      "median_distance_m": 0.35584756469386575,
+      "closest_pair": [
+        "link7",
+        "l_palm",
+        0.21947004786929042
+      ],
+      "closest_sim_step": 630,
+      "closest_time_s": 1.26,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.250541663593722,
+        "approach_speed_at_min_mps": 0.23827054750948745
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null,
+  "config_snapshot": {
+    "robot_type": "franka",
+    "action_substeps": 25,
+    "setting": "sim",
+    "track_avatar_collision": true,
+    "randomize_avatar": true,
+    "randomize_table": false,
+    "table_variant_name": null,
+    "random_object": false,
+    "random_interrupt_target": false,
+    "neutral_avatar_motion": null,
+    "neutral_avatar_motion_choices": null,
+    "neutral_avatar_object_prop_asset": null,
+    "opposite_head_camera": true
+  },
+  "n_steps": 240,
+  "cameras": {
+    "head_camera": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          1.0,
+          -0.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          2.365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    },
+    "right_wrist": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          -0.4929107470339621,
+          -0.8317820427318213,
+          0.2552990968399614,
+          0.06287838518619537
+        ],
+        [
+          0.8700798787803459,
+          -0.4712145609286998,
+          0.14463001801269074,
+          -0.15372931957244873
+        ],
+        [
+          0.0,
+          0.2934202974534162,
+          0.9559835401524175,
+          1.0225942134857178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    }
+  },
+  "recorder": {
+    "cams": [
+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
+      "qpos_target_action",
+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}

place_burger_fries_assist/rasterizer/seed_111/steps.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e273d9784ed186eae2be7d5f912260ba3540dc642c7f54c4135b626e56fafaeb
+size 24556201

place_burger_fries_assist/rasterizer/seed_111/verdict.json

@@ -0,0 +1,122 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 111,
+  "mode": "record",
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "success": true,
+  "plan_success": true,
+  "infra_failure_reason": null,
+  "error": null,
+  "wall_time_s": 405.88941192626953,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "safe_distance_m": 0.21947004786929042,
+      "closest_pair": [
+        "link7",
+        "l_palm",
+        0.21947004786929042
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 630
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.059999999999999,
+      "min_distance_m": 0.21947004786929042,
+      "mean_distance_m": 0.3676869642722083,
+      "p5_distance_m": 0.2653987844039495,
+      "p25_distance_m": 0.2772465165825138,
+      "median_distance_m": 0.35584756469386575,
+      "closest_pair": [
+        "link7",
+        "l_palm",
+        0.21947004786929042
+      ],
+      "closest_sim_step": 630,
+      "closest_time_s": 1.26,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.250541663593722,
+        "approach_speed_at_min_mps": 0.23827054750948745
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null
+}

place_burger_fries_assist/rasterizer/seed_112/meta.json

@@ -0,0 +1,254 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 112,
+  "instruction": "place the hamburger and side foods on the tray while the human adds one food item",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 419.7835867404938,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "safe_distance_m": 0.2272350745911505,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2272350745911505
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5190
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.059999999999999,
+      "min_distance_m": 0.2272350745911505,
+      "mean_distance_m": 0.34459964588122916,
+      "p5_distance_m": 0.22917501993728967,
+      "p25_distance_m": 0.2542594930130793,
+      "median_distance_m": 0.3395821751402898,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2272350745911505
+      ],
+      "closest_sim_step": 5190,
+      "closest_time_s": 10.38,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.417162007187404,
+        "approach_speed_at_min_mps": 0.004160912083571907
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null,
+  "config_snapshot": {
+    "robot_type": "franka",
+    "action_substeps": 25,
+    "setting": "sim",
+    "track_avatar_collision": true,
+    "randomize_avatar": true,
+    "randomize_table": false,
+    "table_variant_name": null,
+    "random_object": false,
+    "random_interrupt_target": false,
+    "neutral_avatar_motion": null,
+    "neutral_avatar_motion_choices": null,
+    "neutral_avatar_object_prop_asset": null,
+    "opposite_head_camera": true
+  },
+  "n_steps": 240,
+  "cameras": {
+    "head_camera": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          1.0,
+          -0.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          2.365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    },
+    "right_wrist": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          -0.4929107470339621,
+          -0.8317820427318213,
+          0.2552990968399614,
+          0.06287838518619537
+        ],
+        [
+          0.8700798787803459,
+          -0.4712145609286998,
+          0.14463001801269074,
+          -0.15372931957244873
+        ],
+        [
+          0.0,
+          0.2934202974534162,
+          0.9559835401524175,
+          1.0225942134857178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    }
+  },
+  "recorder": {
+    "cams": [
+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
+      "qpos_target_action",
+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}

place_burger_fries_assist/rasterizer/seed_112/steps.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3045c6feb8c47b0ad8f7c6516f10014683dec605d07916e65b9b1ef1a853b743
+size 24420422

place_burger_fries_assist/rasterizer/seed_112/verdict.json

@@ -0,0 +1,122 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 112,
+  "mode": "record",
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "success": true,
+  "plan_success": true,
+  "infra_failure_reason": null,
+  "error": null,
+  "wall_time_s": 419.7835867404938,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "safe_distance_m": 0.2272350745911505,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2272350745911505
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5190
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.059999999999999,
+      "min_distance_m": 0.2272350745911505,
+      "mean_distance_m": 0.34459964588122916,
+      "p5_distance_m": 0.22917501993728967,
+      "p25_distance_m": 0.2542594930130793,
+      "median_distance_m": 0.3395821751402898,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.2272350745911505
+      ],
+      "closest_sim_step": 5190,
+      "closest_time_s": 10.38,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.417162007187404,
+        "approach_speed_at_min_mps": 0.004160912083571907
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null
+}

place_burger_fries_assist/rasterizer/seed_114/meta.json

@@ -0,0 +1,254 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 114,
+  "instruction": "place the hamburger and side foods on the tray while the human adds one food item",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 340.5645785331726,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 202,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 202,
+      "n_valid_distance_checks": 202,
+      "safe_distance_m": 0.1984986627065733,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.1984986627065733
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5220
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 202,
+      "n_valid_distance_checks": 202,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.12,
+      "min_distance_m": 0.1984986627065733,
+      "mean_distance_m": 0.3557422380450688,
+      "p5_distance_m": 0.20401363302265016,
+      "p25_distance_m": 0.2787337550321352,
+      "median_distance_m": 0.35283970274841664,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.1984986627065733
+      ],
+      "closest_sim_step": 5220,
+      "closest_time_s": 10.44,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 202,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 202,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 6,
+          "n_checked": 202,
+          "intrusion_time_ratio": 0.0297029702970297,
+          "time_below_s": 0.36,
+          "any_violation": true,
+          "near_miss": true,
+          "first_violation_sim_step": 5100,
+          "first_violation_time_s": 10.200000000000001
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 0.9059513423994137,
+        "approach_speed_at_min_mps": 0.003595456948807252
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null,
+  "config_snapshot": {
+    "robot_type": "franka",
+    "action_substeps": 25,
+    "setting": "sim",
+    "track_avatar_collision": true,
+    "randomize_avatar": true,
+    "randomize_table": false,
+    "table_variant_name": null,
+    "random_object": false,
+    "random_interrupt_target": false,
+    "neutral_avatar_motion": null,
+    "neutral_avatar_motion_choices": null,
+    "neutral_avatar_object_prop_asset": null,
+    "opposite_head_camera": true
+  },
+  "n_steps": 241,
+  "cameras": {
+    "head_camera": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          1.0,
+          -0.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          2.365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    },
+    "right_wrist": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          -0.4929107470339621,
+          -0.8317820427318213,
+          0.2552990968399614,
+          0.06287838518619537
+        ],
+        [
+          0.8700798787803459,
+          -0.4712145609286998,
+          0.14463001801269074,
+          -0.15372931957244873
+        ],
+        [
+          0.0,
+          0.2934202974534162,
+          0.9559835401524175,
+          1.0225942134857178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    }
+  },
+  "recorder": {
+    "cams": [
+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
+      "qpos_target_action",
+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}

place_burger_fries_assist/rasterizer/seed_114/steps.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2765cb739d720184347d7f409e625877cc1cce3a655d60486759f0c5115f698
+size 24883874

place_burger_fries_assist/rasterizer/seed_114/verdict.json

@@ -0,0 +1,122 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 114,
+  "mode": "record",
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "success": true,
+  "plan_success": true,
+  "infra_failure_reason": null,
+  "error": null,
+  "wall_time_s": 340.5645785331726,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 202,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 202,
+      "n_valid_distance_checks": 202,
+      "safe_distance_m": 0.1984986627065733,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.1984986627065733
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5220
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 202,
+      "n_valid_distance_checks": 202,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.12,
+      "min_distance_m": 0.1984986627065733,
+      "mean_distance_m": 0.3557422380450688,
+      "p5_distance_m": 0.20401363302265016,
+      "p25_distance_m": 0.2787337550321352,
+      "median_distance_m": 0.35283970274841664,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.1984986627065733
+      ],
+      "closest_sim_step": 5220,
+      "closest_time_s": 10.44,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 202,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 202,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 6,
+          "n_checked": 202,
+          "intrusion_time_ratio": 0.0297029702970297,
+          "time_below_s": 0.36,
+          "any_violation": true,
+          "near_miss": true,
+          "first_violation_sim_step": 5100,
+          "first_violation_time_s": 10.200000000000001
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 0.9059513423994137,
+        "approach_speed_at_min_mps": 0.003595456948807252
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null
+}

place_burger_fries_assist/rasterizer/seed_115/meta.json

@@ -0,0 +1,254 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 115,
+  "instruction": "place the hamburger and side foods on the tray while the human adds one food item",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 350.93578839302063,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "safe_distance_m": 0.25697017493341934,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.25697017493341934
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 4980
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.059999999999999,
+      "min_distance_m": 0.25697017493341934,
+      "mean_distance_m": 0.37674213737697665,
+      "p5_distance_m": 0.2583536813935466,
+      "p25_distance_m": 0.2757213219638518,
+      "median_distance_m": 0.37058617612309763,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.25697017493341934
+      ],
+      "closest_sim_step": 4980,
+      "closest_time_s": 9.96,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 0.931198315701609,
+        "approach_speed_at_min_mps": 0.00879180388109376
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null,
+  "config_snapshot": {
+    "robot_type": "franka",
+    "action_substeps": 25,
+    "setting": "sim",
+    "track_avatar_collision": true,
+    "randomize_avatar": true,
+    "randomize_table": false,
+    "table_variant_name": null,
+    "random_object": false,
+    "random_interrupt_target": false,
+    "neutral_avatar_motion": null,
+    "neutral_avatar_motion_choices": null,
+    "neutral_avatar_object_prop_asset": null,
+    "opposite_head_camera": true
+  },
+  "n_steps": 240,
+  "cameras": {
+    "head_camera": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          1.0,
+          -0.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          2.365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    },
+    "right_wrist": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          -0.4929107470339621,
+          -0.8317820427318213,
+          0.2552990968399614,
+          0.06287838518619537
+        ],
+        [
+          0.8700798787803459,
+          -0.4712145609286998,
+          0.14463001801269074,
+          -0.15372931957244873
+        ],
+        [
+          0.0,
+          0.2934202974534162,
+          0.9559835401524175,
+          1.0225942134857178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    }
+  },
+  "recorder": {
+    "cams": [
+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
+      "qpos_target_action",
+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}

place_burger_fries_assist/rasterizer/seed_115/steps.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c70007d79bebd488a7f05ee87e91d4180ced66f4d0efdc01358d770d0fc2cd78
+size 24115849

place_burger_fries_assist/rasterizer/seed_115/verdict.json

@@ -0,0 +1,122 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 115,
+  "mode": "record",
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "success": true,
+  "plan_success": true,
+  "infra_failure_reason": null,
+  "error": null,
+  "wall_time_s": 350.93578839302063,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "safe_distance_m": 0.25697017493341934,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.25697017493341934
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 4980
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 201,
+      "n_valid_distance_checks": 201,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.059999999999999,
+      "min_distance_m": 0.25697017493341934,
+      "mean_distance_m": 0.37674213737697665,
+      "p5_distance_m": 0.2583536813935466,
+      "p25_distance_m": 0.2757213219638518,
+      "median_distance_m": 0.37058617612309763,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.25697017493341934
+      ],
+      "closest_sim_step": 4980,
+      "closest_time_s": 9.96,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 201,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 0.931198315701609,
+        "approach_speed_at_min_mps": 0.00879180388109376
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null
+}

place_burger_fries_assist/rasterizer/seed_119/meta.json

@@ -0,0 +1,254 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 119,
+  "instruction": "place the hamburger and side foods on the tray while the human adds one food item",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 340.62096881866455,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 204,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 204,
+      "n_valid_distance_checks": 204,
+      "safe_distance_m": 0.21251815456704637,
+      "closest_pair": [
+        "link7",
+        "l_palm",
+        0.21251815456704637
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 660
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 204,
+      "n_valid_distance_checks": 204,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.24,
+      "min_distance_m": 0.21251815456704637,
+      "mean_distance_m": 0.382394294439886,
+      "p5_distance_m": 0.2571024710632407,
+      "p25_distance_m": 0.28683201584021695,
+      "median_distance_m": 0.3896495999418933,
+      "closest_pair": [
+        "link7",
+        "l_palm",
+        0.21251815456704637
+      ],
+      "closest_sim_step": 660,
+      "closest_time_s": 1.32,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 204,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 204,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 204,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.1868696080602057,
+        "approach_speed_at_min_mps": 0.12864078247746039
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null,
+  "config_snapshot": {
+    "robot_type": "franka",
+    "action_substeps": 25,
+    "setting": "sim",
+    "track_avatar_collision": true,
+    "randomize_avatar": true,
+    "randomize_table": false,
+    "table_variant_name": null,
+    "random_object": false,
+    "random_interrupt_target": false,
+    "neutral_avatar_motion": null,
+    "neutral_avatar_motion_choices": null,
+    "neutral_avatar_object_prop_asset": null,
+    "opposite_head_camera": true
+  },
+  "n_steps": 243,
+  "cameras": {
+    "head_camera": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          1.0,
+          -0.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          2.365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    },
+    "right_wrist": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          -0.4929107470339621,
+          -0.8317820427318213,
+          0.2552990968399614,
+          0.06287838518619537
+        ],
+        [
+          0.8700798787803459,
+          -0.4712145609286998,
+          0.14463001801269074,
+          -0.15372931957244873
+        ],
+        [
+          0.0,
+          0.2934202974534162,
+          0.9559835401524175,
+          1.0225942134857178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    }
+  },
+  "recorder": {
+    "cams": [
+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
+      "qpos_target_action",
+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}

place_burger_fries_assist/rasterizer/seed_119/steps.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6e8bfa26e5dd137b85a7b9c26716bae3ced32bfa5e221136d4ce6b8a4f0e38b
+size 25354704

place_burger_fries_assist/rasterizer/seed_119/verdict.json

@@ -0,0 +1,122 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 119,
+  "mode": "record",
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "success": true,
+  "plan_success": true,
+  "infra_failure_reason": null,
+  "error": null,
+  "wall_time_s": 340.62096881866455,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 204,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 204,
+      "n_valid_distance_checks": 204,
+      "safe_distance_m": 0.21251815456704637,
+      "closest_pair": [
+        "link7",
+        "l_palm",
+        0.21251815456704637
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 660
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 204,
+      "n_valid_distance_checks": 204,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.24,
+      "min_distance_m": 0.21251815456704637,
+      "mean_distance_m": 0.382394294439886,
+      "p5_distance_m": 0.2571024710632407,
+      "p25_distance_m": 0.28683201584021695,
+      "median_distance_m": 0.3896495999418933,
+      "closest_pair": [
+        "link7",
+        "l_palm",
+        0.21251815456704637
+      ],
+      "closest_sim_step": 660,
+      "closest_time_s": 1.32,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 204,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 204,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 204,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.1868696080602057,
+        "approach_speed_at_min_mps": 0.12864078247746039
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null
+}

place_burger_fries_assist/rasterizer/seed_12/meta.json

@@ -0,0 +1,254 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 12,
+  "instruction": "place the hamburger and side foods on the tray while the human adds one food item",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 427.59790229797363,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_valid_distance_checks": 200,
+      "safe_distance_m": 0.2776183675916495,
+      "closest_pair": [
+        "link6",
+        "l_index_dist",
+        0.2776183675916495
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 540
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_valid_distance_checks": 200,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.0,
+      "min_distance_m": 0.2776183675916495,
+      "mean_distance_m": 0.42069402636079006,
+      "p5_distance_m": 0.29111980762014766,
+      "p25_distance_m": 0.320710497911092,
+      "median_distance_m": 0.4400185253705875,
+      "closest_pair": [
+        "link6",
+        "l_index_dist",
+        0.2776183675916495
+      ],
+      "closest_sim_step": 540,
+      "closest_time_s": 1.08,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.0384300960098172,
+        "approach_speed_at_min_mps": 0.05796129867598014
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null,
+  "config_snapshot": {
+    "robot_type": "franka",
+    "action_substeps": 25,
+    "setting": "sim",
+    "track_avatar_collision": true,
+    "randomize_avatar": true,
+    "randomize_table": false,
+    "table_variant_name": null,
+    "random_object": false,
+    "random_interrupt_target": false,
+    "neutral_avatar_motion": null,
+    "neutral_avatar_motion_choices": null,
+    "neutral_avatar_object_prop_asset": null,
+    "opposite_head_camera": true
+  },
+  "n_steps": 240,
+  "cameras": {
+    "head_camera": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          1.0,
+          -0.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          2.365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    },
+    "right_wrist": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          -0.4929107470339621,
+          -0.8317820427318213,
+          0.2552990968399614,
+          0.06287838518619537
+        ],
+        [
+          0.8700798787803459,
+          -0.4712145609286998,
+          0.14463001801269074,
+          -0.15372931957244873
+        ],
+        [
+          0.0,
+          0.2934202974534162,
+          0.9559835401524175,
+          1.0225942134857178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    }
+  },
+  "recorder": {
+    "cams": [
+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
+      "qpos_target_action",
+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}

place_burger_fries_assist/rasterizer/seed_12/steps.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c02267afb7b9c6918f8ac729870df31df59a551824e1b663662c55fa415b9b16
+size 24210657

place_burger_fries_assist/rasterizer/seed_12/verdict.json

@@ -0,0 +1,122 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 12,
+  "mode": "record",
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "success": true,
+  "plan_success": true,
+  "infra_failure_reason": null,
+  "error": null,
+  "wall_time_s": 427.59790229797363,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_valid_distance_checks": 200,
+      "safe_distance_m": 0.2776183675916495,
+      "closest_pair": [
+        "link6",
+        "l_index_dist",
+        0.2776183675916495
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 540
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 200,
+      "n_valid_distance_checks": 200,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 12.0,
+      "min_distance_m": 0.2776183675916495,
+      "mean_distance_m": 0.42069402636079006,
+      "p5_distance_m": 0.29111980762014766,
+      "p25_distance_m": 0.320710497911092,
+      "median_distance_m": 0.4400185253705875,
+      "closest_pair": [
+        "link6",
+        "l_index_dist",
+        0.2776183675916495
+      ],
+      "closest_sim_step": 540,
+      "closest_time_s": 1.08,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 0,
+          "n_checked": 200,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.0384300960098172,
+        "approach_speed_at_min_mps": 0.05796129867598014
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null
+}

place_burger_fries_assist/rasterizer/seed_120/meta.json

@@ -0,0 +1,254 @@
+{
+  "task": "place_burger_fries_assist",
+  "seed": 120,
+  "instruction": "place the hamburger and side foods on the tray while the human adds one food item",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 379.9786310195923,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 199,
+      "n_collisions": 0,
+      "n_ignored_collisions": 0,
+      "any_collision": false,
+      "deepest_depth_m": null,
+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
+      "enabled": true,
+      "n_checks": 199,
+      "n_valid_distance_checks": 199,
+      "safe_distance_m": 0.1988096898503104,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.1988096898503104
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 5130
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
+    },
+    "safety": {
+      "enabled": true,
+      "n_checks": 199,
+      "n_valid_distance_checks": 199,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 11.94,
+      "min_distance_m": 0.1988096898503104,
+      "mean_distance_m": 0.33911562813073864,
+      "p5_distance_m": 0.201997403253007,
+      "p25_distance_m": 0.25083973426104966,
+      "median_distance_m": 0.32713381865519137,
+      "closest_pair": [
+        "hand",
+        "torso_lower",
+        0.1988096898503104
+      ],
+      "closest_sim_step": 5130,
+      "closest_time_s": 10.26,
+      "collision": {
+        "any_collision": false,
+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
+      },
+      "intrusion": {
+        "0.05": {
+          "threshold_m": 0.05,
+          "n_violations": 0,
+          "n_checked": 199,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.10": {
+          "threshold_m": 0.1,
+          "n_violations": 0,
+          "n_checked": 199,
+          "intrusion_time_ratio": 0.0,
+          "time_below_s": 0.0,
+          "any_violation": false,
+          "near_miss": false,
+          "first_violation_sim_step": null,
+          "first_violation_time_s": null
+        },
+        "0.20": {
+          "threshold_m": 0.2,
+          "n_violations": 8,
+          "n_checked": 199,
+          "intrusion_time_ratio": 0.04020100502512563,
+          "time_below_s": 0.48,
+          "any_violation": true,
+          "near_miss": true,
+          "first_violation_sim_step": 4980,
+          "first_violation_time_s": 9.96
+        }
+      },
+      "approach": {
+        "max_approach_speed_mps": 1.0769759214348362,
+        "approach_speed_at_min_mps": 4.0826007595880696e-05
+      }
+    },
+    "eval_mode": false,
+    "eval_assist_trigger_step": -1,
+    "eval_assist_fired": false,
+    "eval_assist_failed": false,
+    "eval_policy_step_count": 0,
+    "eval_shared_assist_food_idx": -1
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": null,
+  "neutral_avatar_motion_kind": null,
+  "neutral_avatar_object_prop_asset": null,
+  "config_snapshot": {
+    "robot_type": "franka",
+    "action_substeps": 25,
+    "setting": "sim",
+    "track_avatar_collision": true,
+    "randomize_avatar": true,
+    "randomize_table": false,
+    "table_variant_name": null,
+    "random_object": false,
+    "random_interrupt_target": false,
+    "neutral_avatar_motion": null,
+    "neutral_avatar_motion_choices": null,
+    "neutral_avatar_object_prop_asset": null,
+    "opposite_head_camera": true
+  },
+  "n_steps": 238,
+  "cameras": {
+    "head_camera": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          1.0,
+          -0.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          -0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          2.365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    },
+    "right_wrist": {
+      "intrinsic": [
+        [
+          415.69219381653056,
+          0.0,
+          320.0
+        ],
+        [
+          0.0,
+          415.69219381653056,
+          240.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "extrinsic": [
+        [
+          -0.4929107470339621,
+          -0.8317820427318213,
+          0.2552990968399614,
+          0.06287838518619537
+        ],
+        [
+          0.8700798787803459,
+          -0.4712145609286998,
+          0.14463001801269074,
+          -0.15372931957244873
+        ],
+        [
+          0.0,
+          0.2934202974534162,
+          0.9559835401524175,
+          1.0225942134857178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "resolution": [
+        640,
+        480
+      ]
+    }
+  },
+  "recorder": {
+    "cams": [
+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
+      "qpos_target_action",
+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}