{ "benchmark_config": { "benchmark_mode": "sprint", "controller": "model", "ablation": null, "proxies": [ "foliage_proxy", "bag_proxy", "cloth_proxy" ], "chunk_commit_steps": 0, "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", "episodes": 24, "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" }, "adapter": { "per_task_success": { "foliage": 0.0, "bag": 0.0, "cloth": 0.0 }, "mean_success": 0.0, "per_stress_success": { "nominal": 0.0, "high_reocclusion": 0.0, "camera_perturbation": 0.0, "tight_corridor_high_collateral": 0.0, "one_sided_slip": 0.0, "fold_sensitive_long_persistence": 0.0 }, "per_difficulty_success": { "medium": 0.0, "hard": 0.0 }, "task_stress_success": { "foliage": { "nominal": 0.0, "high_reocclusion": 0.0, "camera_perturbation": 0.0, "tight_corridor_high_collateral": 0.0 }, "bag": { "nominal": 0.0, "high_reocclusion": 0.0, "camera_perturbation": 0.0, "one_sided_slip": 0.0 }, "cloth": { "nominal": 0.0, "high_reocclusion": 0.0, "camera_perturbation": 0.0, "fold_sensitive_long_persistence": 0.0 } }, "visibility_integral": 0.15862687141634524, "corridor_availability": 0.0015432098880410194, "reocclusion_rate": 0.0015625000000000003, "disturbance_cost": 0.6857880518323441, "premature_retrieve_rate": 0.7984375, "reocclusion_after_reveal_rate": 0.0, "planner_regret": 0.0015697095737171672, "task_specific_metrics": { "gap_width": 0.017008181086917925, "damage_proxy": 0.6857880518323441, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.054931383087294026, "hold_persistence": 0.7005235039407625, "rim_slip_rate": 0.9995488485317736, "insertable_corridor": 0.125, "fold_preservation": 0.13700020880260375, "layer_separation_quality": 0.050609049363652785, "top_layer_stability": 0.7005235039407625, "lift_too_high_rate": 0.0 }, "checkpoint": "/workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_fast_seed17/checkpoint_best.pt", "shape_mismatch_keys": [], "episode_records": [ { "proxy_name": "foliage_proxy", "task_name": "foliage", "task_id": 0, "stress_slice": "nominal", "difficulty_bin": "medium", "seed": 0, "episode_index": 0, "controller": "model", "resolved_task_name": "foliage", "success": 0.0, "visibility_integral": 0.2919131815433502, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.8295077347770856, "premature_retrieve_rate": 0.825, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0016083836555480957, "gap_width": 0.061429664396571916, "damage_proxy": 0.8295077347770856, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.6755392747688858, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6755392747688858, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.06428255019165229, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.09683964234302309, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.12692498723989315, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.15702299966701203, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.18744533107502415, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.22196225951629148, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.25254534717570687, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.28915887071313184, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.32170708902193546, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3642110516130932, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3942887779694698, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.42438469128387235, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4547691062746694, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.48908938827885895, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5196533234560202, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5560610237679252, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5884382480725772, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6306607441816231, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6607375560592343, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6908309084302583, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7212064490638697, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7555271920377681, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7860957295133308, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8224435124812762, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8549036506515062, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8970304522121897, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9271080829699249, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9572019207817988, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9875973768538959, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" } ], "chosen_candidate_families": [ "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left" ], "episode_metadata": { "proxy_name": "foliage_proxy", "task_name": "foliage", "task_id": 0, "stress_slice": "nominal", "difficulty_bin": "medium", "camera_pose_jitter": 0.0, "focal_jitter": 0.0, "lateral_skew": 0.0, "reocclusion_bias": 0.0, "closure_scale": 1.0, "disturbance_gain_scale": 1.0, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "foliage_proxy", "task_name": "foliage", "task_id": 0, "stress_slice": "high_reocclusion", "difficulty_bin": "medium", "seed": 1000, "episode_index": 1, "controller": "model", "resolved_task_name": "foliage", "success": 0.0, "visibility_integral": 0.13883282244205475, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.867333386766178, "premature_retrieve_rate": 0.8375, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0011228322982788086, "gap_width": 0.0544106061691212, "damage_proxy": 0.867333386766178, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.6588403766406759, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6588403766406759, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.13416101227096386, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1714453429370238, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2087421572352558, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2463574162158875, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.28798959745821395, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.32576300548492443, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.36965700579899097, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4093629358782671, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4589617411369039, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4962393428948457, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5335353571765942, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5711106691116397, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6125631597671183, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6503246676147452, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6939215952211552, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7334622546531927, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.782804990099084, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8200828325202293, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.85737901144813, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8949657080886693, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9365230631897551, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9743056956282587, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" } ], "chosen_candidate_families": [ "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left" ], "episode_metadata": { "proxy_name": "foliage_proxy", "task_name": "foliage", "task_id": 0, "stress_slice": "high_reocclusion", "difficulty_bin": "medium", "camera_pose_jitter": 0.0, "focal_jitter": 0.0, "lateral_skew": 0.0, "reocclusion_bias": 0.18, "closure_scale": 1.22, "disturbance_gain_scale": 1.12, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "foliage_proxy", "task_name": "foliage", "task_id": 0, "stress_slice": "nominal", "difficulty_bin": "hard", "seed": 2000, "episode_index": 2, "controller": "model", "resolved_task_name": "foliage", "success": 0.0, "visibility_integral": 0.02504168264567852, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.8607189828971198, "premature_retrieve_rate": 0.75, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0016206085681915283, "gap_width": 0.051322399211894396, "damage_proxy": 0.8607189828971198, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.6620591737456788, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6620591737456788, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1886716925171764, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.21876151777118677, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2488631795877145, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.279300994200707, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3139958264249939, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.344596418657379, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3815411192701347, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.41420235146380313, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.456762334510186, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4868400539946147, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5169362471316735, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.547312551556701, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.581588055386355, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6121421686868489, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6485625100013199, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6808952806622294, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7231136458154032, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7531904686480599, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7832856240255556, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.813666813612099, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8479999474471837, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8785687943160626, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9149470401754941, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9473760442485862, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9894744736259447, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" } ], "chosen_candidate_families": [ "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left" ], "episode_metadata": { "proxy_name": "foliage_proxy", "task_name": "foliage", "task_id": 0, "stress_slice": "nominal", "difficulty_bin": "hard", "camera_pose_jitter": 0.0, "focal_jitter": 0.0, "lateral_skew": 0.0, "reocclusion_bias": 0.0, "closure_scale": 1.0, "disturbance_gain_scale": 1.0, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "foliage_proxy", "task_name": "foliage", "task_id": 0, "stress_slice": "high_reocclusion", "difficulty_bin": "hard", "seed": 3000, "episode_index": 3, "controller": "model", "resolved_task_name": "foliage", "success": 0.0, "visibility_integral": 0.0017395410686731339, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.8754342244055441, "premature_retrieve_rate": 0.75, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0011245280504226685, "gap_width": 0.04408267168979278, "damage_proxy": 0.8754342244055441, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.6553536779431128, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6553536779431128, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.16272309549827113, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2000082733835243, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.23730647728189277, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.27493031777304633, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.31664888187136764, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.35442913745060445, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.39836816590458035, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.43812611370287724, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.48775733175460223, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5250348649300878, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5623282256388428, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5998959838720408, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6412709847725818, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6790134808533447, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7225139597569079, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7620098083527959, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8114668952486734, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.848745212853882, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8860395632243504, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9236215914090613, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9651258502033351, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" } ], "chosen_candidate_families": [ "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left" ], "episode_metadata": { "proxy_name": "foliage_proxy", "task_name": "foliage", "task_id": 0, "stress_slice": "high_reocclusion", "difficulty_bin": "hard", "camera_pose_jitter": 0.0, "focal_jitter": 0.0, "lateral_skew": 0.0, "reocclusion_bias": 0.18, "closure_scale": 1.22, "disturbance_gain_scale": 1.12, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "foliage_proxy", "task_name": "foliage", "task_id": 0, "stress_slice": "camera_perturbation", "difficulty_bin": "medium", "seed": 4000, "episode_index": 4, "controller": "model", "resolved_task_name": "foliage", "success": 0.0, "visibility_integral": 0.11690876632928848, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.8492049368119992, "premature_retrieve_rate": 0.75, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0015987753868103027, "gap_width": 0.05792853847536897, "damage_proxy": 0.8492049368119992, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.6671094984230489, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6671094984230489, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1541984868096394, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1842809736309101, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.21437570663839467, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2447808029449902, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2791803725784827, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3097452392207902, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.34640204458829904, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3788712144625319, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.42130839635238615, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.45138505884925106, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.48147848189273534, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.51184875857404, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5460631143459465, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5766150061916868, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6129106953565803, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6452281765567616, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.687511846336464, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.717589118788036, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7476828979988612, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7780605644679488, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.812371709249168, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8429434087980181, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8793031998806218, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9117547590819446, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9539607242008564, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9840377186098497, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" } ], "chosen_candidate_families": [ "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left" ], "episode_metadata": { "proxy_name": "foliage_proxy", "task_name": "foliage", "task_id": 0, "stress_slice": "camera_perturbation", "difficulty_bin": "medium", "camera_pose_jitter": 0.65, "focal_jitter": 0.55, "lateral_skew": 0.02, "reocclusion_bias": 0.0, "closure_scale": 1.0, "disturbance_gain_scale": 1.0, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "foliage_proxy", "task_name": "foliage", "task_id": 0, "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium", "seed": 5000, "episode_index": 5, "controller": "model", "resolved_task_name": "foliage", "success": 0.0, "visibility_integral": 0.07469804584980011, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.883920200793803, "premature_retrieve_rate": 0.8125, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0013084262609481812, "gap_width": 0.04386264932206221, "damage_proxy": 0.883920200793803, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.5716186256921714, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.5716186256921714, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.12173348556608854, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1668311094872109, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.21194443576805658, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2574303437739236, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3076671155911983, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.35333281389110704, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4060568987526133, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.45397492681694374, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5133927497287281, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5584823588044147, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6035927078143166, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6490270384149244, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6989455588061255, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7445908990153846, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7969480645484457, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8446679400266595, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9038769867431289, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9489681993633906, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9940800258907385, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" } ], "chosen_candidate_families": [ "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left" ], "episode_metadata": { "proxy_name": "foliage_proxy", "task_name": "foliage", "task_id": 0, "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium", "camera_pose_jitter": 0.0, "focal_jitter": 0.0, "lateral_skew": 0.0, "reocclusion_bias": 0.0, "closure_scale": 1.0, "disturbance_gain_scale": 1.25, "corridor_scale": 0.76, "support_stability_penalty": 0.08, "collateral_bias": 0.14 } }, { "proxy_name": "foliage_proxy", "task_name": "foliage", "task_id": 0, "stress_slice": "camera_perturbation", "difficulty_bin": "hard", "seed": 6000, "episode_index": 6, "controller": "model", "resolved_task_name": "foliage", "success": 0.0, "visibility_integral": 0.02669532597064972, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.8707805614643614, "premature_retrieve_rate": 0.825, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0016076654195785523, "gap_width": 0.05207361587899652, "damage_proxy": 0.8707805614643614, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.65753146339042, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.65753146339042, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.22129441049348572, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2513839294985115, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.281485755885847, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3119201831186318, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3465725804659636, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3771640431336365, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.41409411785232475, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.44671570880997113, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.48906092830166004, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5191356046038227, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5492290653344385, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5795966981495744, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6137751964003768, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6443200271317975, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6805828757875303, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7128833984638393, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.754934037192753, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7850083660987333, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8151010423132462, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8454734083112879, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8796817380177469, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9102400331941655, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9464665708655021, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9788568120529619, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" } ], "chosen_candidate_families": [ "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left" ], "episode_metadata": { "proxy_name": "foliage_proxy", "task_name": "foliage", "task_id": 0, "stress_slice": "camera_perturbation", "difficulty_bin": "hard", "camera_pose_jitter": 1.0, "focal_jitter": 0.9, "lateral_skew": 0.02, "reocclusion_bias": 0.0, "closure_scale": 1.0, "disturbance_gain_scale": 1.0, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "foliage_proxy", "task_name": "foliage", "task_id": 0, "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard", "seed": 7000, "episode_index": 7, "controller": "model", "resolved_task_name": "foliage", "success": 0.0, "visibility_integral": 0.0, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.9072328285667927, "premature_retrieve_rate": 0.8125, "reocclusion_after_reveal": 0.0, "planner_regret": 0.001338040828704834, "gap_width": 0.04308620094222213, "damage_proxy": 0.9072328285667927, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.5611279431943259, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.5611279431943259, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.22303733841657394, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2681437052257706, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.313264247596968, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3587851462343491, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.40933247285302055, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.45504873506072196, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5082177275959281, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5563836323305321, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6159692107023366, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6610627210837345, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7061738758696999, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7516131082653325, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8015800301269654, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8472313345878386, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8997308367091468, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9475353714561715, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "sweep_left", "chosen_candidate_index": 1, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" } ], "chosen_candidate_families": [ "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left", "sweep_left" ], "episode_metadata": { "proxy_name": "foliage_proxy", "task_name": "foliage", "task_id": 0, "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard", "camera_pose_jitter": 0.0, "focal_jitter": 0.0, "lateral_skew": 0.0, "reocclusion_bias": 0.0, "closure_scale": 1.0, "disturbance_gain_scale": 1.25, "corridor_scale": 0.76, "support_stability_penalty": 0.08, "collateral_bias": 0.14 } }, { "proxy_name": "bag_proxy", "task_name": "bag", "task_id": 1, "stress_slice": "nominal", "difficulty_bin": "medium", "seed": 100000, "episode_index": 0, "controller": "model", "resolved_task_name": "bag", "success": 0.0, "visibility_integral": 0.1122303456068039, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.8356982880544406, "premature_retrieve_rate": 0.8375, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0015719711780548095, "gap_width": 0.0, "damage_proxy": 0.8356982880544406, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.13511216951047575, "hold_persistence": 0.6239357703755016, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6239357703755016, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.11475995043815719, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.144843101935407, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.17494006013791036, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20534873505526338, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.23984982680570363, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.27042369838862024, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3072683871851519, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.33983564422547435, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3819195112080965, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.41199903197582627, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4420942668043589, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4724543648288318, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5065591327810892, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5370950315491493, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5735590756694934, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6058505127886458, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6477455683241352, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6778261958984207, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7079218125767668, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7382844044544985, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7725553331315193, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8031121653800448, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8396220327640884, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8720540888673377, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9137389159019841, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9438183457421606, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9739139207801306, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "medium" } ], "chosen_candidate_families": [ "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim" ], "episode_metadata": { "proxy_name": "bag_proxy", "task_name": "bag", "task_id": 1, "stress_slice": "nominal", "difficulty_bin": "medium", "camera_pose_jitter": 0.0, "focal_jitter": 0.0, "lateral_skew": 0.0, "reocclusion_bias": 0.0, "closure_scale": 1.0, "disturbance_gain_scale": 1.0, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "bag_proxy", "task_name": "bag", "task_id": 1, "stress_slice": "high_reocclusion", "difficulty_bin": "medium", "seed": 101000, "episode_index": 1, "controller": "model", "resolved_task_name": "bag", "success": 0.0, "visibility_integral": 0.2878909707069397, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.8513207951987082, "premature_retrieve_rate": 0.8375, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0015673637390136719, "gap_width": 0.0, "damage_proxy": 0.8513207951987082, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.18897485987128262, "hold_persistence": 0.6169056421605812, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6169056421605812, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.04147798075945932, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.09272750912343256, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.128808178748131, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1649024611063163, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20129766820004746, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.241657460003556, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.27821754878251176, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3208893952072236, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.35938585361540115, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4076106465465644, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4436910282366738, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4797886421899621, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5161587065424375, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5563788063048927, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5929192793806699, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6355030576612124, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6738475169556668, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7217046668970006, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7577843329405715, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7938808249076319, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8302514740190481, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8705323595636943, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9070862777026814, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9495844224715956, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9880309948586785, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" } ], "chosen_candidate_families": [ "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim" ], "episode_metadata": { "proxy_name": "bag_proxy", "task_name": "bag", "task_id": 1, "stress_slice": "high_reocclusion", "difficulty_bin": "medium", "camera_pose_jitter": 0.0, "focal_jitter": 0.0, "lateral_skew": 0.0, "reocclusion_bias": 0.18, "closure_scale": 1.22, "disturbance_gain_scale": 1.12, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "bag_proxy", "task_name": "bag", "task_id": 1, "stress_slice": "nominal", "difficulty_bin": "hard", "seed": 102000, "episode_index": 2, "controller": "model", "resolved_task_name": "bag", "success": 0.0, "visibility_integral": 0.13468702137470245, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.845240609511611, "premature_retrieve_rate": 0.8375, "reocclusion_after_reveal": 0.0, "planner_regret": 0.001587250828742981, "gap_width": 0.0, "damage_proxy": 0.845240609511611, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.1561666765465019, "hold_persistence": 0.6196417257197748, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6196417257197748, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.14185340744716768, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.17193878564755546, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20203738742119248, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.23244701188311387, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.26697908080137256, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2975555170176521, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3345110310365966, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.36710050435554586, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4094088531891521, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.43948954758667147, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.46958858651175217, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.49995962079712786, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5342732141766806, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5648281922392541, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6014446222989533, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6337925851704709, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6757645031031608, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7058452027553335, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7359430269637606, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7663127255435933, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8006893534365834, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8312570838191558, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.867822013054659, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.900283921235651, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9421105055875384, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9721920674469411, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "nominal", "difficulty_bin": "hard" } ], "chosen_candidate_families": [ "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim" ], "episode_metadata": { "proxy_name": "bag_proxy", "task_name": "bag", "task_id": 1, "stress_slice": "nominal", "difficulty_bin": "hard", "camera_pose_jitter": 0.0, "focal_jitter": 0.0, "lateral_skew": 0.0, "reocclusion_bias": 0.0, "closure_scale": 1.0, "disturbance_gain_scale": 1.0, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "bag_proxy", "task_name": "bag", "task_id": 1, "stress_slice": "high_reocclusion", "difficulty_bin": "hard", "seed": 103000, "episode_index": 3, "controller": "model", "resolved_task_name": "bag", "success": 0.0, "visibility_integral": 0.048806458711624146, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.8694852302581988, "premature_retrieve_rate": 0.8375, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0010966420173645019, "gap_width": 0.0, "damage_proxy": 0.8694852302581988, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.10609719457112157, "hold_persistence": 0.6087316463838104, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6087316463838104, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.15420406182336716, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1902838386658318, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.22637798975257017, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.26276757105955556, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3030660802960905, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.33961489399967837, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3823470801937076, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.42075197066521125, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4688609686746445, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5049399404741666, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5410362124163245, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5774011460508068, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6176106858454518, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.654158537618544, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6966732492512444, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7350114187679216, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7827484229314127, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.818827570263874, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8549228248636819, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8912906603380549, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9315147076903216, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9680717407781908, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" } ], "chosen_candidate_families": [ "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim" ], "episode_metadata": { "proxy_name": "bag_proxy", "task_name": "bag", "task_id": 1, "stress_slice": "high_reocclusion", "difficulty_bin": "hard", "camera_pose_jitter": 0.0, "focal_jitter": 0.0, "lateral_skew": 0.0, "reocclusion_bias": 0.18, "closure_scale": 1.22, "disturbance_gain_scale": 1.12, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "bag_proxy", "task_name": "bag", "task_id": 1, "stress_slice": "camera_perturbation", "difficulty_bin": "medium", "seed": 104000, "episode_index": 4, "controller": "model", "resolved_task_name": "bag", "success": 0.0, "visibility_integral": 0.22112850844860077, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.8265720197459733, "premature_retrieve_rate": 0.825, "reocclusion_after_reveal": 0.0, "planner_regret": 0.001592889428138733, "gap_width": 0.0, "damage_proxy": 0.8265720197459733, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.1829157942195174, "hold_persistence": 0.6280425911143119, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6280425911143119, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.015646925372716114, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.08835526072404817, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.11843786394240687, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1485360028414186, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1789495063627307, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.21349335077751308, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2440692146344127, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2809657275576009, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3135528032883216, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.35588141910314425, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.38596306570757843, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.41606319579796386, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4464410164281371, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4807099275812473, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5112688207823175, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5479300289013929, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5803083545886106, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6224567641152621, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6525400365456483, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6826418140559053, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7130227806803004, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7474455093321307, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.778026709427943, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8147492758463343, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8472722731178223, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8891802150891943, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9192633680486173, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9493646658162609, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9797638738243983, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" } ], "chosen_candidate_families": [ "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim" ], "episode_metadata": { "proxy_name": "bag_proxy", "task_name": "bag", "task_id": 1, "stress_slice": "camera_perturbation", "difficulty_bin": "medium", "camera_pose_jitter": 0.65, "focal_jitter": 0.55, "lateral_skew": 0.06, "reocclusion_bias": 0.0, "closure_scale": 1.0, "disturbance_gain_scale": 1.0, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "bag_proxy", "task_name": "bag", "task_id": 1, "stress_slice": "one_sided_slip", "difficulty_bin": "medium", "seed": 105000, "episode_index": 5, "controller": "model", "resolved_task_name": "bag", "success": 0.0, "visibility_integral": 0.2919692099094391, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.859028122840892, "premature_retrieve_rate": 0.8375, "reocclusion_after_reveal": 0.0, "planner_regret": 0.001436355710029602, "gap_width": 0.0, "damage_proxy": 0.859028122840892, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.21649252285238602, "hold_persistence": 0.6134373447215985, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6134373447215985, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.048513170328856964, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1286156737787977, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.16369581094161093, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.19879018394886924, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.23418562220516922, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.27352621086931916, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3090784170305837, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3508181543643684, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3882688227756401, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.43552278748974704, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.47060443754789794, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5057034560134002, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5410781423301364, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5803892173619957, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6159490097524064, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.657592606363804, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6949906407929612, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7418526735674759, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7769340506499874, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8120319105954944, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8474095022238897, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8867528474545886, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9223221311989545, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9638891104707943, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "medium" } ], "chosen_candidate_families": [ "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim" ], "episode_metadata": { "proxy_name": "bag_proxy", "task_name": "bag", "task_id": 1, "stress_slice": "one_sided_slip", "difficulty_bin": "medium", "camera_pose_jitter": 0.45, "focal_jitter": 0.35, "lateral_skew": 0.06, "reocclusion_bias": 0.1, "closure_scale": 1.0, "disturbance_gain_scale": 1.1, "corridor_scale": 0.84, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "bag_proxy", "task_name": "bag", "task_id": 1, "stress_slice": "camera_perturbation", "difficulty_bin": "hard", "seed": 106000, "episode_index": 6, "controller": "model", "resolved_task_name": "bag", "success": 0.0, "visibility_integral": 0.06627124547958374, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.8645236874761143, "premature_retrieve_rate": 0.8375, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0015860527753829956, "gap_width": 0.0, "damage_proxy": 0.8645236874761143, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.1612316625307179, "hold_persistence": 0.6109643406357484, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6109643406357484, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2009109580742991, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2309981805504052, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.26109691536813895, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.29150823434060463, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3260517428056711, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3566251544389305, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.39365090279525317, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.42625780605320696, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4685629316050304, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.49864364318691545, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5287417826452797, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5591068790441244, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5933830661226642, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6239392267814451, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6605270737823293, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6928870834054711, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7347544966533494, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7648341634921243, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7949314526933425, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.825300030808257, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8596118391036615, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8901761447404174, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9266669620995717, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9591224405108036, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" } ], "chosen_candidate_families": [ "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim" ], "episode_metadata": { "proxy_name": "bag_proxy", "task_name": "bag", "task_id": 1, "stress_slice": "camera_perturbation", "difficulty_bin": "hard", "camera_pose_jitter": 1.0, "focal_jitter": 0.9, "lateral_skew": 0.06, "reocclusion_bias": 0.0, "closure_scale": 1.0, "disturbance_gain_scale": 1.0, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "bag_proxy", "task_name": "bag", "task_id": 1, "stress_slice": "one_sided_slip", "difficulty_bin": "hard", "seed": 107000, "episode_index": 7, "controller": "model", "resolved_task_name": "bag", "success": 0.0, "visibility_integral": 0.11570800840854645, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.8664653241466432, "premature_retrieve_rate": 0.8375, "reocclusion_after_reveal": 0.0, "planner_regret": 0.001111862063407898, "gap_width": 0.0, "damage_proxy": 0.8664653241466432, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.17136231399305343, "hold_persistence": 0.6100906041340105, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6100906041340105, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.15350334640772217, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.188585393758213, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.22368035352589483, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2590763769612592, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2984544322345408, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.33400632485234083, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.37579629930128167, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4132852167674721, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4606397142455938, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4957227720196772, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5308230564953325, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5662020232974349, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6055838472207281, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.641156394984285, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6828570223751053, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.720277730473335, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7671124656051913, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8021935259178333, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8372914594696891, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.872670173464886, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9120204309382403, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9475977569221736, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9891475487541275, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "pin_left_rim", "chosen_candidate_index": 1, "task_name": "bag", "stress_slice": "one_sided_slip", "difficulty_bin": "hard" } ], "chosen_candidate_families": [ "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim", "pin_left_rim" ], "episode_metadata": { "proxy_name": "bag_proxy", "task_name": "bag", "task_id": 1, "stress_slice": "one_sided_slip", "difficulty_bin": "hard", "camera_pose_jitter": 0.45, "focal_jitter": 0.35, "lateral_skew": 0.1, "reocclusion_bias": 0.1, "closure_scale": 1.0, "disturbance_gain_scale": 1.1, "corridor_scale": 0.84, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "cloth_proxy", "task_name": "cloth", "task_id": 2, "stress_slice": "nominal", "difficulty_bin": "medium", "seed": 200000, "episode_index": 0, "controller": "model", "resolved_task_name": "cloth", "success": 0.0, "visibility_integral": 0.5450490713119507, "corridor_availability": 0.012345679104328156, "reocclusion_rate": 0.0125, "disturbance_cost": 0.17311255533328407, "premature_retrieve_rate": 0.75, "reocclusion_after_reveal": 0.0, "planner_regret": 0.001787901669740677, "gap_width": 0.0, "damage_proxy": 0.17311255533328407, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.9464835316357371, "rim_slip_rate": 0.9952519213998288, "insertable_corridor": 1.0, "fold_preservation": 0.7011436412535405, "layer_separation_quality": 0.23168671178404102, "top_layer_stability": 0.9464835316357371, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.17293459879883452, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.055610984105183565, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 2, "visibility": 0.008805931566954542, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.055688213958779036, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 3, "visibility": 0.00875466292302697, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.05577660817244725, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 4, "visibility": 0.008529776222768945, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.05616434386254731, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 5, "visibility": 0.006141032430011073, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.060282867643164324, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 6, "visibility": 0.005817005515341547, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.060841534737422105, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 7, "visibility": 0.0021649449605250087, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.06713819086641615, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 8, "visibility": 0.0007703816763680038, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.06954261032185927, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.08107963501395332, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.08115329653916933, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.0812482423242872, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.08161808369550516, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.08579996581558555, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.0863608225761121, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.09264617778712744, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.09489807659889263, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.10633188350355963, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1064057795861523, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.10650074837593168, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.10687161972871292, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.11113427883814717, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.11170336737337508, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.11794623755316944, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.12024264396237844, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.13167050368525526, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.13174425558501382, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1318385550984752, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.13221603307498794, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.13662973135579898, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.13720674640028457, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.14344056088242957, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.14578562607374226, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1571518492441747, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.15722537997658273, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1573182952596802, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.15769844468059738, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.16221722237058336, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.16280122110563874, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1690177556149452, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.17138968458618806, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.18280245408476167, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.18287672322381893, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.18296959384712977, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1833530140118254, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.18791599859960786, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.188500805758886, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.19475367606879898, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.19715151666961114, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20849723360422637, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20857072498323692, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20866359745959173, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20904144133461194, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.21352238409227767, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.21409998377905518, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2203510521602091, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.22271888789903535, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.23398078705471512, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.23405336213459402, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.23414564662576146, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.23451386837279023, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2388551442314729, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.239418089353955, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.24563414614671472, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.247953070524401, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.259265289729871, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.25933896095655734, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.25943179293906027, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.25979835210009866, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2640984841643085, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.26465451207781365, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.27092659461974583, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.27325288381158946, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2847109437442403, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.28478665415931476, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.28487974696886587, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2852491695004737, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.28956525599911626, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.29012013845809703, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2964844686761216, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.29885635874645955, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" } ], "chosen_candidate_families": [ "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge" ], "episode_metadata": { "proxy_name": "cloth_proxy", "task_name": "cloth", "task_id": 2, "stress_slice": "nominal", "difficulty_bin": "medium", "camera_pose_jitter": 0.0, "focal_jitter": 0.0, "lateral_skew": 0.0, "reocclusion_bias": 0.0, "closure_scale": 1.0, "disturbance_gain_scale": 1.0, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "cloth_proxy", "task_name": "cloth", "task_id": 2, "stress_slice": "high_reocclusion", "difficulty_bin": "medium", "seed": 201000, "episode_index": 1, "controller": "model", "resolved_task_name": "cloth", "success": 0.0, "visibility_integral": 0.18634799122810364, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.3669076319097987, "premature_retrieve_rate": 0.7625, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0018136069644242524, "gap_width": 0.0, "damage_proxy": 0.3669076319097987, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.8627136862642089, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.3132940468589088, "layer_separation_quality": 0.14208610297074134, "top_layer_stability": 0.8627136862642089, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.008128434128855264, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.06073955476284421, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.06561877564059809, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.07051138825691763, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.07571778912465696, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.08476059673863276, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.09013526613562914, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.10152092012926311, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.10879194702767273, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1252791356183453, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.13015427297905838, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.13505139121233917, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1402312060664337, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.14932490993077432, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.15470217177762105, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.16593983149487906, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1730484702088628, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1893829130843662, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1942582068132734, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.19915475746481365, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2043337835342227, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2134847474034923, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.21886728908362632, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2300430240315566, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.23718300222930586, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.25336733596947175, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.258241477998495, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.26313508415946235, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2683119272987494, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.27751223210503684, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2828921795264451, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.29394708021538607, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.30110211975869017, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.31723185783391217, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3221061696032199, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3269985220747875, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.33217828021510964, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.341491129688906, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3468762106070417, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3579241175071685, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3651200572652553, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3812167501255666, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.38609101626341275, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3909829986055008, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3961637926387743, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4055429885920014, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4109307105349023, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4220213777888598, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.42925824277044056, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.44536851798010374, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.450243475024941, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4551361031736903, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4603141936017024, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.46966814058960865, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.47505797477322803, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4862134582523137, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.49348256286937436, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5095734655439846, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5144493693390484, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5193430832181896, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5245178702125985, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5338057183976513, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.539195705288781, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5504106523715306, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5576826446278292, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5738137347764691, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5786915028208618, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5835865050900846, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5887622793246896, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5980210932691281, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6034098046182933, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6147044999191719, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6219883400157648, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6382674184837654, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6431483326784231, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6480444540144074, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6532293728825025, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6625298456346106, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6679194482213944, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.679357915971272, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6867059531410912, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" } ], "chosen_candidate_families": [ "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge" ], "episode_metadata": { "proxy_name": "cloth_proxy", "task_name": "cloth", "task_id": 2, "stress_slice": "high_reocclusion", "difficulty_bin": "medium", "camera_pose_jitter": 0.0, "focal_jitter": 0.0, "lateral_skew": 0.0, "reocclusion_bias": 0.18, "closure_scale": 1.22, "disturbance_gain_scale": 1.12, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "cloth_proxy", "task_name": "cloth", "task_id": 2, "stress_slice": "nominal", "difficulty_bin": "hard", "seed": 202000, "episode_index": 2, "controller": "model", "resolved_task_name": "cloth", "success": 0.0, "visibility_integral": 0.03200053796172142, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.24284616646984028, "premature_retrieve_rate": 0.75, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0018150556832551956, "gap_width": 0.0, "damage_proxy": 0.24284616646984028, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.9197412681240352, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.6288144872547021, "layer_separation_quality": 0.07593989159672453, "top_layer_stability": 0.9197412681240352, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.12278636456842065, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.12286576319152481, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.12295751535134011, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.12336122332732907, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.12760436522771398, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.12817511180241759, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.13475390064678117, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.13726179085881005, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.14906109163616132, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.14913878943728534, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.14923742835530934, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.14962234469336566, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.15394997958055015, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.15452829822234274, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.16100381218821655, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1633329168089899, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.17493851824140927, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1750149895026773, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.17511252661423324, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1754940698751156, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.17982617469188816, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.18040090740920597, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.18676846856481663, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1891013062956496, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2007043193439804, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2007810260594339, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20087774921043405, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20126575292407312, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20574751998298962, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20632990378459407, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2126885101127685, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.21506692507968192, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2266559626958339, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.22673217932941644, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.22682770557533363, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2272181680244336, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.23181831930391264, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.23240982093612736, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.23877665797825529, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.24120169753818851, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2527142077810493, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2527901104575216, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.25288478394725544, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2532734970172606, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.25788288688880334, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2584739951355034, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2648130142291874, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.26723602518055284, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.27874585472854124, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2788219885441431, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.278916812857555, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.27930066532190534, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.28384945016121, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2844375155076405, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2908028343503278, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2932398734255531, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.30475881844904296, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.30483546684359386, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3049307538916292, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.30530874915875755, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.30975589163229006, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3103362419471141, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3167153758983679, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.31912962653564386, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3307091842383152, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.33078680363097657, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3308821350925436, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.33125425454327906, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3356160853364826, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.33618692380066406, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.34257854267335763, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.344974339883825, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3567127684965892, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.35679290672592634, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.35688874366723866, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.35726497705138777, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3616501268791705, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3622218622563665, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3687327444544099, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3711855127452979, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "hard" } ], "chosen_candidate_families": [ "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge" ], "episode_metadata": { "proxy_name": "cloth_proxy", "task_name": "cloth", "task_id": 2, "stress_slice": "nominal", "difficulty_bin": "hard", "camera_pose_jitter": 0.0, "focal_jitter": 0.0, "lateral_skew": 0.0, "reocclusion_bias": 0.0, "closure_scale": 1.0, "disturbance_gain_scale": 1.0, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "cloth_proxy", "task_name": "cloth", "task_id": 2, "stress_slice": "high_reocclusion", "difficulty_bin": "hard", "seed": 203000, "episode_index": 3, "controller": "model", "resolved_task_name": "cloth", "success": 0.0, "visibility_integral": 0.04163689166307449, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.44631548505538615, "premature_retrieve_rate": 0.7625, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0017998247407376767, "gap_width": 0.0, "damage_proxy": 0.44631548505538615, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.8292301819397682, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.2348997874599752, "layer_separation_quality": 0.08008299018695969, "top_layer_stability": 0.8292301819397682, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1410464095368117, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.14592656380380367, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.15081914531906518, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1560190582526673, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1650782200027738, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1704478065036399, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.18180885841943475, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1890795885563533, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20565730419947495, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.210534308125243, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.21543122502610387, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.22060548727556858, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.22962923585177872, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.23499858432665102, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.24619970627684032, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.25327486317129166, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.26957852631253193, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2744526666848788, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2793467758282571, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2845134038861563, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2935075728670799, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.29886711205876404, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.30988898998037034, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.316960033055679, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3330710240595548, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3379438306281643, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.342835566966071, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.347999421376614, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.35709730351010716, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.36245965895369875, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.37340703871608133, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.38050673979943933, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.39670066745992244, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.40157421028915713, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.40646607480599267, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4116385524151796, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.42091409586351397, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.42629037192427455, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.437303938084922, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4444784173342718, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.460612063628796, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.46548564174594603, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4703770447139726, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4755484729424589, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4848573383973907, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4902374968241409, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5012758352678074, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5084821807615, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5245295145902031, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5294033166132477, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5342949788466809, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5394634449434508, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5487230826238997, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5541031131146521, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5651697440273756, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5723815948154399, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5884254604764892, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5933006079110859, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5981937361956706, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6033637341439392, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6125758828586583, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6179569384209398, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6290989271946125, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6363233387520917, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.652457615420176, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6573350721569641, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6622299495472997, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6674061062504004, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6766109802820386, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6819942117460978, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.693247570840348, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7005032989742954, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7167884150425924, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7216688358266455, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7265646922994917, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7317508595656642, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7409946806319443, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7463800047691481, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7577754592143512, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7651002125400248, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" } ], "chosen_candidate_families": [ "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge" ], "episode_metadata": { "proxy_name": "cloth_proxy", "task_name": "cloth", "task_id": 2, "stress_slice": "high_reocclusion", "difficulty_bin": "hard", "camera_pose_jitter": 0.0, "focal_jitter": 0.0, "lateral_skew": 0.0, "reocclusion_bias": 0.18, "closure_scale": 1.22, "disturbance_gain_scale": 1.12, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "cloth_proxy", "task_name": "cloth", "task_id": 2, "stress_slice": "camera_perturbation", "difficulty_bin": "medium", "seed": 204000, "episode_index": 4, "controller": "model", "resolved_task_name": "cloth", "success": 0.0, "visibility_integral": 0.4918706715106964, "corridor_availability": 0.012345679104328156, "reocclusion_rate": 0.0125, "disturbance_cost": 0.16223166405288217, "premature_retrieve_rate": 0.75, "reocclusion_after_reveal": 0.0, "planner_regret": 0.001803889125585556, "gap_width": 0.0, "damage_proxy": 0.16223166405288217, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.9502804577447035, "rim_slip_rate": 0.9951981630381611, "insertable_corridor": 1.0, "fold_preservation": 0.7093414192720195, "layer_separation_quality": 0.23499869114778943, "top_layer_stability": 0.9502804577447035, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.16724461913132, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.04321305614548646, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.043288660349911, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.04337728687863896, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.04375919328239484, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.047839845825034234, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.048397580133076455, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.05474814347612766, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.05714266377756067, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.06886265932606694, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.06893628513843697, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.06903097032183922, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.0693969467816759, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.0736019881198055, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.07416624510210862, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.08046703074805636, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.08271117491672361, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.09434922091165268, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.09442286251257312, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.094517983362809, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.0948877785206515, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.09916516751618731, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.09973581703086834, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.10598844475328584, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.10828428738391424, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.11989688273044982, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.11997132260772417, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.12006620865177223, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.12044556575353754, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.12490640299963718, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1254913517896768, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1317626726162542, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.13412947211451345, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.14577385254060451, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.14584920725252362, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.14594399211534653, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.14633142013102915, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.15092142553077068, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.15151455599710298, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.15781101558070143, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.16023684831208002, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.17182639376921377, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.17190143488868187, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1719950680899446, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.17238049564735133, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.17697928675742985, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.17756792026467946, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.18384002633115354, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.18627559434976296, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.19789028195640268, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1979663207886315, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1980611106944536, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.19844564897580633, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20298600940562317, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2035728057237142, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20989386162954846, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.212328767249964, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.223938667538178, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.22401526278989067, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2241103598308221, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.22448878901693384, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.22893824799689286, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.22951615677712292, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.23584781881522374, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.23826366221139697, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.24998768283639958, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.250066031570176, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.25016244020220746, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.25053932351901026, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.254945852852264, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.25552070232173185, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2619285242023634, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.26434452422019167, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.27619401911679686, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.27627382747629803, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2763694930835943, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.27674648722016026, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2811527945779007, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2817214952760443, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2882046539970639, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2906585807279805, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" } ], "chosen_candidate_families": [ "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge" ], "episode_metadata": { "proxy_name": "cloth_proxy", "task_name": "cloth", "task_id": 2, "stress_slice": "camera_perturbation", "difficulty_bin": "medium", "camera_pose_jitter": 0.65, "focal_jitter": 0.55, "lateral_skew": 0.02, "reocclusion_bias": 0.0, "closure_scale": 1.0, "disturbance_gain_scale": 1.0, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "cloth_proxy", "task_name": "cloth", "task_id": 2, "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium", "seed": 205000, "episode_index": 5, "controller": "model", "resolved_task_name": "cloth", "success": 0.0, "visibility_integral": 0.4391516447067261, "corridor_availability": 0.012345679104328156, "reocclusion_rate": 0.0125, "disturbance_cost": 0.48636708642916565, "premature_retrieve_rate": 0.7875, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0020916650537401438, "gap_width": 0.0, "damage_proxy": 0.48636708642916565, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.6917520950574927, "rim_slip_rate": 0.998722280324576, "insertable_corridor": 1.0, "fold_preservation": 0.07695148873640656, "layer_separation_quality": 0.23573112276509758, "top_layer_stability": 0.6917520950574927, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.13768417122643684, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.06801879967337243, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.07530963204360047, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.08261345144737559, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.09026865825742716, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.10226122021806758, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.11011375237343429, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.12471805428471325, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1347533041067798, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1554296333448027, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.16271689711816792, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.17002777937456162, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.17766137684943278, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.189736863202476, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1975865601731319, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.21215590076628457, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.22200075743259898, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.24259005821997634, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.24987669782631425, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2571878843382484, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2648185448506645, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.27696085291569233, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.28481388831518756, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2993408471554924, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3092083422824165, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3297048380698273, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.33699277817863804, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3443022385059446, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3519355546667326, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3642263128772214, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3720869085711544, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3865629027583736, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3965079984642526, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4170180140079063, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4243067090514409, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4316160380140059, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4392584850181392, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4517603523220928, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4596382676306973, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4741855355908477, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.48423596087018433, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5046042612389433, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5118924568479343, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5192003531728244, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5268404727940031, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5393795214525291, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5472617149590276, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5617969680503647, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5718805891631448, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5921252763061361, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5994140317460473, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6067221372388037, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6143612265230385, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6268537301794777, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6347374024245741, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6492964870216852, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6593869834925338, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6796648009986678, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6869556699020063, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.694265956557435, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7019107975555654, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7143624066477082, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7222499548357858, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7369115766766098, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7470294597468409, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7673970712889235, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7746902086710081, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7820020762529113, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.789652372900351, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8020736564027662, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.809961649485304, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8247142547004037, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8348640423381075, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8553772757054275, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8626732497602428, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8699853718762038, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8776425064149659, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8900802970999527, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.897967246404377, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9128350198109273, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9230485112635934, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium" } ], "chosen_candidate_families": [ "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge" ], "episode_metadata": { "proxy_name": "cloth_proxy", "task_name": "cloth", "task_id": 2, "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "medium", "camera_pose_jitter": 0.0, "focal_jitter": 0.0, "lateral_skew": 0.0, "reocclusion_bias": 0.08, "closure_scale": 1.0, "disturbance_gain_scale": 1.18, "corridor_scale": 1.0, "support_stability_penalty": 0.12, "collateral_bias": 0.12 } }, { "proxy_name": "cloth_proxy", "task_name": "cloth", "task_id": 2, "stress_slice": "camera_perturbation", "difficulty_bin": "hard", "seed": 206000, "episode_index": 6, "controller": "model", "resolved_task_name": "cloth", "success": 0.0, "visibility_integral": 0.025720061734318733, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.24726349696877134, "premature_retrieve_rate": 0.75, "reocclusion_after_reveal": 0.0, "planner_regret": 0.001815664768218994, "gap_width": 0.0, "damage_proxy": 0.24726349696877134, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.9179468916368297, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.6235601404269372, "layer_separation_quality": 0.07845195495087928, "top_layer_stability": 0.9179468916368297, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.12765645632178194, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.12773350349043222, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1278219582896658, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.12820457942416835, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1323309011299843, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.13288548885866175, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.13932595472468975, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.14173820352088634, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.15349048461485942, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1535657535421009, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.15366144937332, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1540314179475562, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1582736305331782, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1588439190729323, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.16522320369068516, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.16752675010646761, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.17917695229926145, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.17925235330947314, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.17934844031675024, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.17972164735732948, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.18402513780475385, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.18460122664740086, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.19092515994053952, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1932677952997433, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20484088851487228, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20491639229238462, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2050111644138201, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20539091595591144, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20985353729117967, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.21043836787169654, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.21674216978314922, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.21914668146626923, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2307128153069418, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2307887743303331, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2308832832271012, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.23127089916670887, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.23587923234478095, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2364743234941549, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.24279702126283145, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.24525303504817877, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.25681556439819553, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2568918396053199, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2569855223710009, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.257372245698707, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.26199007522423173, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2625823794216979, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.26891129134420244, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.271393035601341, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2829607379411055, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2830375121817487, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.28313267402319425, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.28351835282356114, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.288087135192304, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.28868013010054056, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.29506366492999914, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2975473882238403, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.30915947494531215, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3092366070957124, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.30933214790856445, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3097126018141257, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3141991780499809, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.31478349983326476, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.32119481376729303, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3236693367685692, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.33537124278101355, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.33545021367963507, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3355476618357949, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.33592764884405774, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3403717587079733, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.34095653114558805, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.347442742539132, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3499122901923741, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3617656163587515, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3618456765406909, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.36194215970814436, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3623231007520005, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3667935519319547, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3673750330753882, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.37392495283208965, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3764398595730628, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" } ], "chosen_candidate_families": [ "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge" ], "episode_metadata": { "proxy_name": "cloth_proxy", "task_name": "cloth", "task_id": 2, "stress_slice": "camera_perturbation", "difficulty_bin": "hard", "camera_pose_jitter": 1.0, "focal_jitter": 0.9, "lateral_skew": 0.02, "reocclusion_bias": 0.0, "closure_scale": 1.0, "disturbance_gain_scale": 1.0, "corridor_scale": 1.0, "support_stability_penalty": 0.0, "collateral_bias": 0.0 } }, { "proxy_name": "cloth_proxy", "task_name": "cloth", "task_id": 2, "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard", "seed": 207000, "episode_index": 7, "controller": "model", "resolved_task_name": "cloth", "success": 0.0, "visibility_integral": 0.0907469093799591, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.5714022240416644, "premature_retrieve_rate": 0.8, "reocclusion_after_reveal": 0.0, "planner_regret": 0.001865773554891348, "gap_width": 0.0, "damage_proxy": 0.5714022240416644, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.6534862831318683, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.13563971932543387, "top_layer_stability": 0.6534862831318683, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1525061966198111, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 2, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.15979692784473923, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 3, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.16710107018703255, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 4, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1747554647312997, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 5, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.18678344781792974, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 6, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.1946340186792331, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 7, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.20932496484063076, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 8, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2193690141342917, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 9, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2401666939812658, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 10, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2474549754109294, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 11, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2547669437800414, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 12, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2624015444137881, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 13, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.274475240417144, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 14, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2823288860269965, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 15, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.2969757448986428, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 16, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.30682393175829115, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 17, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.32742120262760094, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 18, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3347097040636908, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 19, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3420208281168106, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 20, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.34965383264016847, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 21, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.36179399280961383, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 22, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3696527793739659, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 23, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3842053569677767, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 24, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.3941238116137713, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 25, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4146636447492835, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 26, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.42195331563087085, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 27, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4292645118605893, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 28, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4369068980094169, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 29, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4492361130980653, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 30, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.45711627146729084, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 31, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.4717125275903756, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 32, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.48173408030509407, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 33, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5021257941614965, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 34, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5094149099609886, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 35, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5167245095670708, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 36, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5243695441804618, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 37, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5368485227915963, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 38, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5447387077872806, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 39, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.559315132766392, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 40, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5694019477823343, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 41, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5896565345179619, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 42, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.5969456916716614, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 43, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6042552572351881, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 44, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.611904099870763, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 45, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6244498511819279, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 46, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6323469714218369, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 47, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6469459995077161, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 48, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.657074503984296, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 49, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6772812109591537, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 50, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6845720394869153, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 51, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6918833682586458, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 52, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.6995381299171088, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 53, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7120730101669914, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 54, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7199762386251584, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 55, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7346467786504172, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 56, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7448147826596215, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 57, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7650567121898867, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 58, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7723497283155889, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 59, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7796630343886395, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 60, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7873224584878742, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 61, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.7998043426408118, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 62, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8077095072277377, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 63, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8224593445033159, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 64, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8326513479645162, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 65, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8529946132326172, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 66, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8602900810698688, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 67, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8676045635959004, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 68, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8752667113373304, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 69, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8877053033461734, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 70, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.8956079413390239, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 71, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9104334502951902, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 72, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9206413073865642, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 73, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9411725575131191, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 74, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9484713899283936, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 75, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9557861689406455, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 76, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9634554693040887, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 77, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9759168875928386, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 78, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9838189924247711, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 79, "visibility": 0.0, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.9987763020081073, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" }, { "step_index": 80, "visibility": 0.0, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 1.0, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard" } ], "chosen_candidate_families": [ "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge", "lift_edge" ], "episode_metadata": { "proxy_name": "cloth_proxy", "task_name": "cloth", "task_id": 2, "stress_slice": "fold_sensitive_long_persistence", "difficulty_bin": "hard", "camera_pose_jitter": 0.0, "focal_jitter": 0.0, "lateral_skew": 0.0, "reocclusion_bias": 0.08, "closure_scale": 1.0, "disturbance_gain_scale": 1.18, "corridor_scale": 1.0, "support_stability_penalty": 0.12, "collateral_bias": 0.12 } } ] } }