Add 19th task: put_object_cabinet_neutral

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 18
-tasks**: 5,400 episodes and 1,398,862 policy steps in total.
+release contains exactly **300 validated successful episodes for each of 19
+tasks**: 5,700 episodes and 1,517,474 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.
@@ -50,6 +50,7 @@ giving a 20 Hz policy rate.
 - `place_food_in_skillet_assist`
 - `pour_water`
 - `put_object_cabinet_interrupt`
+- `put_object_cabinet_neutral`
 - `stack_bowls_three_assist`
 - `stack_bowls_three_interrupt`
 - `stack_bowls_three_neutral`

dataset_summary.json

@@ -1,5 +1,5 @@
 {
-  "completed_task_count": 18,
+  "completed_task_count": 19,
   "contains_symlinks": false,
   "created_at": "2026-08-11T04:01:55.730840+00:00",
   "episode_files": [
@@ -10,15 +10,13 @@
   "materialization": [
     "hardlink"
   ],
-  "pending_tasks_excluded": [
-    "put_object_cabinet_neutral"
-  ],
+  "pending_tasks_excluded": [],
   "permanently_excluded_tasks": [
     "oil_bottle_recovery"
   ],
   "schema_version": "genesis_hr_bench.vla_hf_ready.v1",
   "selected_per_task": 300,
-  "selected_total": 5400,
+  "selected_total": 5700,
   "selection_policy": "ascending numeric seed among validated successes",
   "tasks": {
     "categorize_cooperative": {
@@ -126,6 +124,13 @@
       "rejected_or_incomplete_candidates": 24,
       "selected": 300
     },
+    "put_object_cabinet_neutral": {
+      "available_validated_successes": 311,
+      "first_selected_seed": 4,
+      "last_selected_seed": 2013,
+      "rejected_or_incomplete_candidates": 68,
+      "selected": 300
+    },
     "stack_bowls_three_assist": {
       "available_validated_successes": 305,
       "first_selected_seed": 1,
@@ -148,5 +153,5 @@
       "selected": 300
     }
   },
-  "updated_at": "2026-08-11T06:02:51.621351+00:00"
+  "updated_at": "2026-08-11T06:19:36.405854+00:00"
 }

put_object_cabinet_neutral/rasterizer/seed_100/meta.json

@@ -0,0 +1,311 @@
+{
+  "task": "put_object_cabinet_neutral",
+  "seed": 100,
+  "instruction": "put the table object in the cabinet drawer while the human works nearby on the same table",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 459.98459458351135,
+  "evaluate": {
+    "plan_success": true,
+    "success": true,
+    "avatar_collision": {
+      "enabled": true,
+      "n_checks": 330,
+      "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": 330,
+      "n_valid_distance_checks": 330,
+      "safe_distance_m": 0.19639170079620893,
+      "closest_pair": [
+        "link2",
+        "r_middle_prox",
+        0.19639170079620893
+      ],
+      "closest_frame": 0,
+      "closest_sim_step": 4580
+    },
+    "avatar_safety": {
+      "enabled": false
+    },
+    "avatar_safety_intervention": {
+      "enabled": false
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+    "safety": {
+      "enabled": true,
+      "n_checks": 330,
+      "n_valid_distance_checks": 330,
+      "check_interval_s": 0.06,
+      "checked_duration_s": 19.8,
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+      "mean_distance_m": 0.4628754022958436,
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+      "median_distance_m": 0.5310378575663635,
+      "closest_pair": [
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+        "r_middle_prox",
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+      "closest_time_s": 9.16,
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+          "first_violation_time_s": null
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+          "intrusion_time_ratio": 0.03636363636363636,
+          "time_below_s": 0.72,
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+          "first_violation_sim_step": 4490,
+          "first_violation_time_s": 8.98
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+        "approach_speed_at_min_mps": 0.008795154141856092
+      }
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+    "object_in_drawer": true,
+    "object_in_drawer_xy": true,
+    "object_in_drawer_aabb_xy": true,
+    "object_in_drawer_exposed": true,
+    "object_in_drawer_z": true,
+    "object_name": "048_stapler",
+    "object_model_id": 0,
+    "object_center": [
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+      -0.5306012826452258,
+      1.003746961537717
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+      0.927
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+      -0.036876845853344664
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+    "ee_to_drawer_center": 0.13139838787537014,
+    "gripper_open_value": 1.0,
+    "avatar_collided": false,
+    "neutral_eval_trigger_step": null,
+    "neutral_eval_policy_step_count": 0,
+    "neutral_avatar_started": true,
+    "neutral_eval_avatar_failed": false,
+    "neutral_avatar_prop_pos": [
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+      -0.6025190353393555,
+      0.7657849788665771
+    ],
+    "neutral_avatar_prop_dist_xy": 0.007699590158006936
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": "open_bottle",
+  "neutral_avatar_motion_resolved": "open_bottle",
+  "neutral_avatar_motion_kind": "bottle",
+  "neutral_avatar_motion_objects": [
+    "bottle"
+  ],
+  "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
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+  "n_steps": 396,
+  "cameras": {
+    "head_camera": {
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+  "recorder": {
+    "cams": [
+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
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+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}

put_object_cabinet_neutral/rasterizer/seed_100/steps.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:156a95b5f9ce63d6a06da33cce1c65e4e6ceaa588228207fcb4483d06cd54bcd
+size 49593250

put_object_cabinet_neutral/rasterizer/seed_100/verdict.json

@@ -0,0 +1,179 @@
+{
+  "task": "put_object_cabinet_neutral",
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+  "mode": "record",
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+  "neutral_avatar_motion_objects": [
+    "bottle"
+  ],
+  "neutral_avatar_object_prop_asset": null
+}

put_object_cabinet_neutral/rasterizer/seed_102/meta.json

@@ -0,0 +1,311 @@
+{
+  "task": "put_object_cabinet_neutral",
+  "seed": 102,
+  "instruction": "put the table object in the cabinet drawer while the human works nearby on the same table",
+  "success": true,
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+  "renderer": "rasterizer",
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put_object_cabinet_neutral/rasterizer/seed_107/meta.json

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put_object_cabinet_neutral/rasterizer/seed_11/meta.json

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put_object_cabinet_neutral/rasterizer/seed_11/steps.h5

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+}

put_object_cabinet_neutral/rasterizer/seed_110/meta.json

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put_object_cabinet_neutral/rasterizer/seed_110/steps.h5

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put_object_cabinet_neutral/rasterizer/seed_110/verdict.json

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+}

put_object_cabinet_neutral/rasterizer/seed_111/meta.json

@@ -0,0 +1,311 @@
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put_object_cabinet_neutral/rasterizer/seed_114/meta.json

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put_object_cabinet_neutral/rasterizer/seed_114/steps.h5

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put_object_cabinet_neutral/rasterizer/seed_114/verdict.json

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put_object_cabinet_neutral/rasterizer/seed_116/meta.json

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put_object_cabinet_neutral/rasterizer/seed_125/meta.json

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put_object_cabinet_neutral/rasterizer/seed_125/steps.h5

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put_object_cabinet_neutral/rasterizer/seed_125/verdict.json

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put_object_cabinet_neutral/rasterizer/seed_127/meta.json

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put_object_cabinet_neutral/rasterizer/seed_131/verdict.json

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+{
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+}

put_object_cabinet_neutral/rasterizer/seed_132/meta.json

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put_object_cabinet_neutral/rasterizer/seed_132/steps.h5

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put_object_cabinet_neutral/rasterizer/seed_132/verdict.json

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+    "neutral_avatar_prop_dist_xy": 0.059297260399394466
+  },
+  "neutral_avatar_motion": "wipe_table_2",
+  "neutral_avatar_motion_resolved": "wipe_table_2_sponge_pingpong_3",
+  "neutral_avatar_motion_kind": "sponge",
+  "neutral_avatar_motion_objects": [
+    "sponge"
+  ],
+  "neutral_avatar_object_prop_asset": null
+}

put_object_cabinet_neutral/rasterizer/seed_133/meta.json

@@ -0,0 +1,311 @@
+{
+  "task": "put_object_cabinet_neutral",
+  "seed": 133,
+  "instruction": "put the table object in the cabinet drawer while the human works nearby on the same table",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
+  "wall_time_s": 756.6724715232849,
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+      "deepest_pair": null,
+      "first_collision_frame": null,
+      "first_collision_sim_step": null,
+      "per_capsule_frames": {},
+      "ignored_capsule_frames": {}
+    },
+    "safe_distance": {
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+      "n_checks": 324,
+      "n_valid_distance_checks": 324,
+      "safe_distance_m": 0.12061158530917843,
+      "closest_pair": [
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+      "closest_sim_step": 8240
+    },
+    "avatar_safety": {
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+    "avatar_safety_intervention": {
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+    "safety": {
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+      "n_checks": 324,
+      "n_valid_distance_checks": 324,
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+      "checked_duration_s": 19.439999999999998,
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+      "closest_pair": [
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+      "closest_sim_step": 8240,
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+      "collision": {
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+        "n_collision_checks": 0,
+        "collision_step_ratio": 0.0,
+        "first_collision_sim_step": null,
+        "first_collision_time_s": null
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+      "intrusion": {
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+          "first_violation_time_s": null
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+          "first_violation_time_s": null
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+          "any_violation": true,
+          "near_miss": true,
+          "first_violation_sim_step": 470,
+          "first_violation_time_s": 0.9400000000000001
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+    },
+    "object_in_drawer": true,
+    "object_in_drawer_xy": true,
+    "object_in_drawer_aabb_xy": true,
+    "object_in_drawer_exposed": true,
+    "object_in_drawer_z": true,
+    "object_name": "023_tissue-box",
+    "object_model_id": 0,
+    "object_center": [
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+      -0.5158607426550313,
+      1.0551082548479433
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+    "drawer_center": [
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+    "ee_in_drawer_aabb": false,
+    "ee_to_drawer_center": 0.1876164043080812,
+    "gripper_open_value": 1.0,
+    "avatar_collided": false,
+    "neutral_eval_trigger_step": null,
+    "neutral_eval_policy_step_count": 0,
+    "neutral_avatar_started": true,
+    "neutral_eval_avatar_failed": false,
+    "neutral_avatar_prop_pos": [
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+    "neutral_avatar_prop_dist_xy": 0.2329438167742357
+  },
+  "embodiment": "franka",
+  "robot_type": "franka",
+  "neutral_avatar_motion": "wipe_table_2",
+  "neutral_avatar_motion_resolved": "wipe_table_2_sponge_pingpong_3",
+  "neutral_avatar_motion_kind": "sponge",
+  "neutral_avatar_motion_objects": [
+    "sponge"
+  ],
+  "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": 389,
+  "cameras": {
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+      "resolution": [
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+    "right_wrist": {
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+  "recorder": {
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+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
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+      "qpos_delta_action",
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+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}