{ "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": 0.15931496916649243, "corridor_availability": 0.0015432098880410194, "reocclusion_rate": 0.0015625000000000003, "disturbance_cost": 0.6779018906719011, "premature_retrieve_rate": 0.8270833333333334, "reocclusion_after_reveal_rate": 0.0, "planner_regret": 0.0006857388885691762, "task_specific_metrics": { "gap_width": 0.017008181086917925, "damage_proxy": 0.6779018906719011, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.054931383087294026, "hold_persistence": 0.7039536084013983, "rim_slip_rate": 0.9995488485317736, "insertable_corridor": 0.125, "fold_preservation": 0.14940963024414744, "layer_separation_quality": 0.050609049363652785, "top_layer_stability": 0.7039536084013983, "lift_too_high_rate": 0.0 }, "checkpoint": "/workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_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": 0.2932679355144501, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.8259846541700684, "premature_retrieve_rate": 0.85, "reocclusion_after_reveal": 0.0, "planner_regret": 0.00042253732681274414, "gap_width": 0.061429664396571916, "damage_proxy": 0.8259846541700684, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.6770984768772046, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6770984768772046, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.06563729796722866, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.09450387031616728, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.12456440695335466, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.15464562202287693, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.18496757361254187, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.2182908826036277, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.24869243903709368, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.28377659967589985, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.31561436794503284, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.35595038784771227, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.3860110827245078, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.4160920894634108, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.44641454865686414, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.4798184079560156, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5102168615892824, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5454232372417345, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5773066560017744, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6175199147053674, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.647580957200351, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6776609104093326, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7079824235813509, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7415013567080679, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7719083890657182, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8071406603782267, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.839120407730209, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8792713868552107, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9093332490849654, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9394137733319244, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9697537208381823, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "medium" } ], "chosen_candidate_families": [ "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "sweep_left", "base_action" ], "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": 0.8650866647324551, "premature_retrieve_rate": 0.85, "reocclusion_after_reveal": 0.0, "planner_regret": 0.00029420256614685056, "gap_width": 0.0544106061691212, "damage_proxy": 0.8650866647324551, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.6598384162749049, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6598384162749049, "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": 0.13182366170063534, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.16908348134831905, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.20636369819655204, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.24388023132049805, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.28433803823269466, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.3219328588068109, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.36428370561662504, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.4032900675304718, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.45075497536236786, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.4880157647794584, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5252969660311533, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5628130128128366, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6033658728620899, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6409630222455339, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6833682913626548, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7224276054460154, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.769755830681223, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8070175804322234, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8442998821090951, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8818310507862925, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9225758737735957, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9601926056611328, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "medium" } ], "chosen_candidate_families": [ "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "sweep_left", "base_action" ], "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": 0.8578293499207816, "premature_retrieve_rate": 0.85, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0004261106252670288, "gap_width": 0.051322399211894396, "damage_proxy": 0.8578293499207816, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.6633595085850309, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6633595085850309, "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": 0.18632318491906633, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.2163869127938553, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.24647113320161843, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.27680498315796265, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.3102679118080528, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.34068165487957214, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.37604241422285045, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.40796438592301665, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.4483825326331895, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.4784433815598793, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5085247565538429, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5388415103087676, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5722131184451986, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.602605132444648, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6378302757565643, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6696834680371342, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7098871198945077, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7399480756326375, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7700295346747977, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.800355709549355, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8338806144073627, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8642874909969653, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.899544281095414, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9314972548808902, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9716380448768762, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "task_name": "foliage", "stress_slice": "nominal", "difficulty_bin": "hard" } ], "chosen_candidate_families": [ "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "sweep_left", "base_action" ], "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": 0.8732162865979115, "premature_retrieve_rate": 0.85, "reocclusion_after_reveal": 0.0, "planner_regret": 0.00029448866844177245, "gap_width": 0.04408267168979278, "damage_proxy": 0.8732162865979115, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.6563387433824199, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6563387433824199, "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": 0.16038191215531278, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.19764233756836788, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.23492370505947055, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.27244679017402895, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.31297202945393654, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.3505715622132253, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.3929592689412039, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.4320038635155251, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.47949696320840307, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5167575869301921, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5540364712400596, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5915459004188728, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6320318104875817, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6696155204201881, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7119359354439238, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7509581220453585, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7984022596000738, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8356644160716167, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8729451583873187, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.910472481612895, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.951172018737973, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9887751396329167, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "task_name": "foliage", "stress_slice": "high_reocclusion", "difficulty_bin": "hard" } ], "chosen_candidate_families": [ "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "sweep_left", "base_action" ], "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": 0.8465199854644417, "premature_retrieve_rate": 0.85, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0006147056818008422, "gap_width": 0.05792853847536897, "damage_proxy": 0.8465199854644417, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.6683047681974639, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6683047681974639, "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": 0.15186598705217008, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.18192449384275286, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.21200300915230974, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.24231188202515455, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.27554467564543217, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.30593358345985544, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.34105359320255535, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.3728326017131637, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.4144037947546332, "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": 0.44446841480306276, "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": 0.4745549937649126, "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": 0.5048692658636506, "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": 0.5383765547959473, "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": 0.5688476156052822, "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": 0.6043778250111342, "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": 0.6361853663589805, "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": 0.6764488840351109, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7065102115730373, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7365904484026343, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7669135502451023, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8004199715662068, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8308289061072283, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8660677231292427, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8980387295021371, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9382774356073363, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9683388435945413, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9984190564394715, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "medium" } ], "chosen_candidate_families": [ "base_action", "sweep_left", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "sweep_left", "base_action" ], "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": 0.8821495702569679, "premature_retrieve_rate": 0.85, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0005682855844497681, "gap_width": 0.04386264932206221, "damage_proxy": 0.8821495702569679, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.5724154094337471, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.5724154094337471, "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": 0.1190034700096386, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.16407270941693694, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.20916662482154458, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.2545370074606773, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.3033889476222569, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.34884737132157906, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.3997852293970331, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.44688839263060687, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5052943516027256, "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": 0.5503698639760423, "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": 0.5954719445111387, "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": 0.6408405779302209, "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": 0.6899397408407293, "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": 0.7354900969092858, "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": 0.7869470814361004, "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": 0.834065936299593, "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": 0.8909242490074318, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9359966528199536, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9810923373062779, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "medium" } ], "chosen_candidate_families": [ "base_action", "sweep_left", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "sweep_left", "base_action" ], "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": 0.868129908890081, "premature_retrieve_rate": 0.85, "reocclusion_after_reveal": 0.0, "planner_regret": 0.00042380690574645997, "gap_width": 0.05207361587899652, "damage_proxy": 0.868129908890081, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.6587242570488462, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6587242570488462, "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": 0.21894709274799, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.24901060596252625, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.27909498509476927, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.30942629185837867, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.34285664216093437, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.3732640783375559, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.4086136771972042, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.44050613298089814, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.4807227339460519, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5107812209785889, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5408602220629561, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5711696411871738, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6044630335781341, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6348484428597415, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6699393712003254, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7017668569835045, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7418097651500138, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7718687435911665, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8019480180334454, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8322664809865773, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8656863248517271, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8960854809762265, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9312083830539216, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9631294471812794, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "task_name": "foliage", "stress_slice": "camera_perturbation", "difficulty_bin": "hard" } ], "chosen_candidate_families": [ "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "sweep_left", "base_action" ], "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": 0.9058285851553936, "premature_retrieve_rate": 0.85, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0005762100219726563, "gap_width": 0.04308620094222213, "damage_proxy": 0.9058285851553936, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.5617598527294555, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.5617598527294555, "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": 0.2202930454540232, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.26536849837712695, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.3104683455366617, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.35586564016819877, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.4049601762114401, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.45045362882511497, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5017631548189473, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.549051087774879, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6076217725662867, "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": 0.6527004743737881, "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": 0.6978032121250927, "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": 0.7431752957709103, "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": 0.7923132449163677, "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": 0.8378686870588175, "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": 0.8894542540061456, "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": 0.9366390120133687, "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": 0.9935662477945812, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "task_name": "foliage", "stress_slice": "tight_corridor_high_collateral", "difficulty_bin": "hard" } ], "chosen_candidate_families": [ "base_action", "sweep_left", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "sweep_left", "base_action" ], "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": 0.8332371213853599, "premature_retrieve_rate": 0.85, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0007811963558197021, "gap_width": 0.0, "damage_proxy": 0.8332371213853599, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.13511216951047575, "hold_persistence": 0.6250432953765879, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6250432953765879, "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": 0.11372855803857408, "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": 0.14379446547841518, "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": 0.17388181719498932, "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": 0.20422404786011877, "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": 0.2377839125215286, "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": 0.268235991023166, "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": 0.30446053678685625, "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": 0.33640497486738163, "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": 0.3767485527970372, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.40680729988705716, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.43688601096650886, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.46718866827990696, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5004346101174452, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5308127955523251, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5659681787334071, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5977657634303899, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6380963856888954, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6681567653883952, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6982362419071252, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7285474845663643, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7620378427088571, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7924355278804317, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8277086376988061, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8596464593449258, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8998458002836942, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9299054850596675, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9599851867437255, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9903106145967357, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "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": 0.2884884476661682, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.8494958534998046, "premature_retrieve_rate": 0.85, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0007761269807815552, "gap_width": 0.0, "damage_proxy": 0.8494958534998046, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.18897485987128262, "hold_persistence": 0.6177268659250877, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6177268659250877, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.042075479628671586, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.09169733865927347, "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": 0.12776124977996633, "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": 0.16384619204667353, "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": 0.2001770448661828, "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": 0.23961994124417993, "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": 0.2760610832046528, "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": 0.3181232359146955, "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": 0.3560128644275082, "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": 0.4024769600915592, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.43853636930696926, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.4746168295481041, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5109270403280469, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5502653233785246, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5866457279787928, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6278973765339511, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6657359414335001, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7120319520460173, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7480915643528152, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7841717561169705, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8204900185387376, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8599897953358814, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8963853973045239, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9376533573463196, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9756044745705658, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "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": 0.8429042133992128, "premature_retrieve_rate": 0.85, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0007899105548858643, "gap_width": 0.0, "damage_proxy": 0.8429042133992128, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.1561666765465019, "hold_persistence": 0.620693103970354, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.620693103970354, "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": 0.14081955622020115, "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": 0.17088722121676925, "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": 0.20097610038827554, "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": 0.231318789915503, "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": 0.26490299451368565, "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": 0.2953570049432633, "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": 0.33168646288121656, "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": 0.36364862993335423, "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": 0.4042138265797658, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.43427354333364476, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.4643553888996562, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.49466698189573466, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.52808586234698, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5584771232287632, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5937643644963737, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6256079401736772, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6660108959452499, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6960712013584907, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7261525408166538, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7564697204603138, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7900491793838215, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.820454798427939, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.855777447026566, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8877399732147923, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.928069582740046, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9581308136212995, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9882123214603511, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "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": 0.8679557023851636, "premature_retrieve_rate": 0.85, "reocclusion_after_reveal": 0.0, "planner_regret": 0.00060519278049469, "gap_width": 0.0, "damage_proxy": 0.8679557023851636, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.10609719457112157, "hold_persistence": 0.6094199339266764, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6094199339266764, "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": 0.15317231174413445, "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": 0.18923554379618235, "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": 0.2253203823450345, "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": 0.26164624222796884, "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": 0.30103720185429633, "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": 0.3374693213611847, "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": 0.37958848689988883, "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": 0.41740754156821436, "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": 0.4637777540969858, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.4998361735016982, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5359155912235175, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5722217981424478, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6115510515278693, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6479369460405789, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6891334868849359, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.726967418570751, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7731451353832636, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8092043347342545, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8452835215408564, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8815994100409454, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9210513944498385, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9574493413396717, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9986394254302775, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "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": 0.22172662615776062, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.8240228581881399, "premature_retrieve_rate": 0.85, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0007904738187789917, "gap_width": 0.0, "damage_proxy": 0.8240228581881399, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.1829157942195174, "hold_persistence": 0.629189713815337, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.629189713815337, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.016245031933011835, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.08732404251664176, "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": 0.1173895134312641, "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": 0.1474779438148331, "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": 0.1778241271624692, "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": 0.21141925755740404, "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": 0.24187291272731645, "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": 0.2781467020710475, "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": 0.3101063736468505, "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": 0.3506973112712849, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.3807578525160423, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.4108405384139989, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.4411586059692601, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.47454439075695704, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5049381711559838, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5402621333431931, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5721319543521842, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6127063221545885, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6427685523452513, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6728530802963564, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7031798083979135, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7367961171660158, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7672109493373485, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8026652627673543, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8346767244401034, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8750862272888253, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9051486468498642, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9352330295109196, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.965578077304262, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.999376130168625, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "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": 0.2925676107406616, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.8572173142567817, "premature_retrieve_rate": 0.85, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0007796138525009155, "gap_width": 0.0, "damage_proxy": 0.8572173142567817, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.21649252285238602, "hold_persistence": 0.6142522085844481, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6142522085844481, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.049111580146561876, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.12758393271378923, "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": 0.16264744082329033, "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": 0.19773248224618492, "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": 0.23306339640727972, "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": 0.2714903166378469, "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": 0.30692524468679033, "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": 0.34805201381921036, "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": 0.38490614229967296, "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": 0.43041131381011993, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.46547172577273843, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5005533862705364, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5358676736108361, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5742789961398213, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6096730494136627, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6499770635984783, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6868578988735311, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7321524776364468, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7672133759043531, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8022947157104523, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8376188996837663, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8761706772399978, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9115774711970807, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9519048773070513, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9889013526120334, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "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": 0.8625149332122836, "premature_retrieve_rate": 0.85, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0007889777421951294, "gap_width": 0.0, "damage_proxy": 0.8625149332122836, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.1612316625307179, "hold_persistence": 0.6118682800544722, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6118682800544722, "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": 0.1998766208972437, "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": 0.22994573098695276, "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": 0.2600347014646658, "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": 0.290378798729697, "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": 0.3239714705796901, "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": 0.35442308596938554, "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": 0.39081718525703996, "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": 0.42279300190735886, "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": 0.4633532647577407, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.493412972422022, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5234939477109911, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5538000655132532, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5871819731953588, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6175733782668528, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6528314309403762, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6846819610317504, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7249862173996778, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7550458112201918, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7851266858511926, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8154429955174572, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8489668667281797, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8793698170692631, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9146289959039093, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9465859762119664, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9868570601988089, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "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": 0.8647833529655585, "premature_retrieve_rate": 0.85, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0006126046180725097, "gap_width": 0.0, "damage_proxy": 0.8647833529655585, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.17136231399305343, "hold_persistence": 0.6108474911654985, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.0, "layer_separation_quality": 0.0, "top_layer_stability": 0.6108474911654985, "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": 0.15247167352794816, "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": 0.1875366928941655, "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": 0.22262226142823188, "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": 0.25795357879224234, "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": 0.2964095631862116, "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": 0.3318441836314351, "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": 0.37301706174544, "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": 0.40990064327530185, "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": 0.45550625251497895, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.4905677135698324, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5256504679912735, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.5609683047350618, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.599438184716327, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6348413063677655, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.6751964723183299, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7120960065822899, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.757363442083646, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.7924240500045157, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8275054619427198, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.8628305311460445, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9013876478453263, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9368001341699734, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": 0.9771123658554495, "chosen_candidate_family": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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": "base_action", "chosen_candidate_index": 0, "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", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "base_action", "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": 0.555855929851532, "corridor_availability": 0.012345679104328156, "reocclusion_rate": 0.0125, "disturbance_cost": 0.15473558367032664, "premature_retrieve_rate": 0.7625, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0008245192468166352, "gap_width": 0.0, "damage_proxy": 0.15473558367032664, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.95376358038431, "rim_slip_rate": 0.9952519213998288, "insertable_corridor": 1.0, "fold_preservation": 0.7374244209141119, "layer_separation_quality": 0.23168671178404102, "top_layer_stability": 0.95376358038431, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.1737433428697165, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.05421659777607673, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 2, "visibility": 0.009625263686371427, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.0542755723735775, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 3, "visibility": 0.009581605134985113, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.054350845738036675, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 4, "visibility": 0.00940171575452467, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.05466099984227881, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 5, "visibility": 0.007586189138561336, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.05779121814566388, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 6, "visibility": 0.007322983263756147, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.05824502137808662, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 7, "visibility": 0.004263420308463786, "support_mode": 2, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.06352012992169412, "chosen_candidate_family": "lift_edge", "chosen_candidate_index": 1, "task_name": "cloth", "stress_slice": "nominal", "difficulty_bin": "medium" }, { "step_index": 8, "visibility": 0.0032007135854585644, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.06535238289239279, "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": 0.07571754046007817, "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": 0.07577802433674397, "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": 0.07586368135753127, "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": 0.07616522209755172, "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": 0.0795635546119019, "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": 0.08002243682562862, "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": 0.08533073778452749, "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": 0.08707031992376643, "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": 0.09732892635439785, "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": 0.09739010579219926, "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": 0.09747568851868618, "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": 0.0977796456931625, "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": 0.1012653310834829, "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": 0.10173076426956298, "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": 0.1069885422361207, "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": 0.10878683627077249, "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": 0.11908554940486524, "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": 0.11914761842594557, "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": 0.11923279853749558, "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": 0.11954405365495305, "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": 0.12319027602457402, "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": 0.12366405924619675, "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": 0.12893020539853434, "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": 0.13080134711222632, "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": 0.14101553802866404, "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": 0.14107708090772064, "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": 0.1411610157865149, "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": 0.1414747055537623, "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": 0.14520893312738772, "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": 0.14568594368339027, "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": 0.15091856615815283, "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": 0.15279739614836513, "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": 0.1630222978747569, "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": 0.16308419554259404, "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": 0.16316770842060013, "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": 0.16348150868821537, "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": 0.16724234576750166, "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": 0.1677216201817134, "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": 0.1729748801116986, "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": 0.17487649523417698, "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": 0.1851525407950806, "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": 0.18521488582013984, "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": 0.18529924775152826, "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": 0.185612555643164, "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": 0.18934222717362387, "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": 0.18981917057622705, "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": 0.19513503922735737, "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": 0.1970346199423963, "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": 0.20727454977653664, "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": 0.20733616488676357, "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": 0.20742097630667267, "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": 0.2077292003637445, "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": 0.21135745749849918, "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": 0.21182750537727915, "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": 0.21716003815866305, "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": 0.21901646724859222, "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": 0.22922054223779667, "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": 0.2292813037571714, "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": 0.2293655055957786, "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": 0.22966569657197786, "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": 0.23318002935451718, "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": 0.2336397261378921, "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": 0.23895956305354768, "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": 0.24076283407409368, "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": 0.2510532502731282, "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": 0.2511143560127069, "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": 0.2511969613117731, "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": 0.2514914484515746, "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": 0.2549528794534411, "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": 0.2554062921327411, "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": 0.26079130315329974, "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": 0.2625755790858882, "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": 0.1871626079082489, "corridor_availability": 0.0, "reocclusion_rate": 0.0, "disturbance_cost": 0.34844439277287265, "premature_retrieve_rate": 0.8, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0008315683342516422, "gap_width": 0.0, "damage_proxy": 0.34844439277287265, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.8708722266565475, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.350170720290083, "layer_separation_quality": 0.14208610297074134, "top_layer_stability": 0.8708722266565475, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.008943056486771295, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.05933503345609243, "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": 0.06419556698336779, "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": 0.06907447480689599, "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": 0.07419942026489926, "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": 0.08222904699100608, "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": 0.08749600157616583, "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": 0.09782696574657787, "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": 0.10451187898609085, "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": 0.11981105678878484, "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": 0.12467258166714848, "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": 0.1295600738728806, "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": 0.13466899868011528, "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": 0.1429503709081655, "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": 0.14822216881562675, "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": 0.15845967514690343, "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": 0.1650399569826127, "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": 0.1802243059373269, "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": 0.18508690564678054, "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": 0.18997402601856214, "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": 0.19508550502814268, "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": 0.2034559472504989, "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": 0.20873219055711933, "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": 0.21892007304308322, "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": 0.22556347651201777, "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": 0.24065887965495827, "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": 0.24552161164562822, "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": 0.2504068352423083, "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": 0.25551983702070546, "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": 0.26398178018212665, "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": 0.2692602678870753, "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": 0.27938183432632147, "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": 0.2860659698686586, "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": 0.30111247566988053, "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": 0.3059750867842428, "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": 0.3108586996588131, "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": 0.3159736918665231, "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": 0.3245278961105966, "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": 0.32980787094884567, "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": 0.33989801869449876, "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": 0.34661450486127204, "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": 0.36164469241134756, "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": 0.3665074501573839, "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": 0.3713911823258305, "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": 0.3765073463815625, "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": 0.3851103644450328, "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": 0.39039302179531693, "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": 0.4005326643704694, "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": 0.4072777074967494, "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": 0.42226383198898054, "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": 0.4271265794077287, "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": 0.43201025620273753, "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": 0.4371223061445808, "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": 0.4456855129325219, "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": 0.45096827998796535, "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": 0.46113778267055144, "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": 0.4678907933719399, "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": 0.4828702936626406, "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": 0.4877334550775156, "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": 0.49261807788232154, "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": 0.49772646833785245, "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": 0.5062204718308054, "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": 0.5115040439118698, "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": 0.5217360849322384, "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": 0.5284813371921468, "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": 0.5434703048436941, "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": 0.5483340930949128, "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": 0.5532194593678266, "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": 0.5583253647201323, "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": 0.5667632711290242, "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": 0.5720459966471289, "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": 0.5823399567793389, "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": 0.5890667982630812, "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": 0.6041482410563137, "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": 0.6090131850757943, "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": 0.6138981076461645, "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": 0.6190032277391241, "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": 0.6274163591434184, "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": 0.632697893874334, "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": 0.6431075698336622, "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": 0.649829279709917, "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": 0.22429481833013618, "premature_retrieve_rate": 0.7625, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0008374735713005066, "gap_width": 0.0, "damage_proxy": 0.22429481833013618, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.9278320220701524, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.6656080023055515, "layer_separation_quality": 0.07593989159672453, "top_layer_stability": 0.9278320220701524, "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": 0.12137799725726184, "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": 0.12143868763029994, "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": 0.12151684966604218, "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": 0.12183961817610836, "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": 0.1250695265353239, "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": 0.12553322222148486, "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": 0.13105924941243272, "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": 0.13297290150279445, "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": 0.14358168052475645, "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": 0.1436452323877136, "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": 0.14373414741988375, "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": 0.1440479716244592, "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": 0.14756493611009236, "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": 0.14803901220161708, "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": 0.1535111448460088, "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": 0.15531163895081437, "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": 0.1657636180160399, "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": 0.1658274063582756, "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": 0.1659156205302607, "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": 0.16622996973215562, "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": 0.16979320363329833, "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": 0.17026568693868344, "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": 0.1756542794019052, "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": 0.1774903146166045, "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": 0.18793151454888118, "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": 0.18799566607563875, "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": 0.18808321787645452, "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": 0.18840410058079982, "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": 0.19211673398436552, "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": 0.1925967091593283, "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": 0.19797433554426916, "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": 0.19986712415421273, "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": 0.21037413324364754, "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": 0.21043880027003262, "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": 0.21052585563058265, "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": 0.2108502409165073, "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": 0.21467268821362198, "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": 0.21516039332386153, "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": 0.22056169369137726, "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": 0.2224970150178496, "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": 0.23292976529489992, "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": 0.23299391300785352, "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": 0.23307987994025178, "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": 0.23340181804300555, "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": 0.23723077590950456, "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": 0.2377173942148675, "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": 0.24310227780839958, "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": 0.24503782519206638, "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": 0.2554349507093269, "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": 0.2554989898391118, "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": 0.2555849921968319, "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": 0.2559023760315152, "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": 0.2596666004184784, "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": 0.2601488954189156, "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": 0.2655409687093065, "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": 0.2674650294034398, "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": 0.2778551166095527, "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": 0.2779188731340503, "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": 0.27800508781681704, "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": 0.2783168999527611, "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": 0.28199090626480694, "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": 0.2824689754310762, "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": 0.2878888614071881, "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": 0.2897981922244107, "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": 0.30025362671258865, "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": 0.3003179087465147, "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": 0.300404743859401, "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": 0.3007124141848384, "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": 0.3043054509496864, "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": 0.3047799852139983, "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": 0.31023784672788457, "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": 0.3121140009576388, "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": 0.32263348351886034, "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": 0.3226977384094603, "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": 0.32278272476725095, "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": 0.3230818467700142, "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": 0.32659471224840325, "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": 0.32706179992011875, "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": 0.3325492434359691, "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": 0.33439199769444855, "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": 0.42774084754826497, "premature_retrieve_rate": 0.8, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0008252262137830258, "gap_width": 0.0, "damage_proxy": 0.42774084754826497, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.8375667379968488, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.2719247544939932, "layer_separation_quality": 0.08008299018695969, "top_layer_stability": 0.8375667379968488, "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": 0.1396375801312624, "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": 0.14449888144959197, "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": 0.14937775927286864, "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": 0.1544975263148629, "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": 0.16254035455470794, "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": 0.1678030597785218, "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": 0.17811088169247605, "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": 0.1847954621312518, "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": 0.20011072407905361, "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": 0.2049731717328072, "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": 0.20985962008767386, "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": 0.2149619532234416, "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": 0.22316647261331587, "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": 0.22842791487069222, "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": 0.23859803579559888, "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": 0.24513562664457209, "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": 0.2603499790089358, "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": 0.2652125961690378, "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": 0.27009898978254904, "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": 0.27520340746850125, "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": 0.2834589211158533, "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": 0.28872209670735133, "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": 0.2988244622319585, "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": 0.3054152269445557, "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": 0.32039634498514113, "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": 0.32525794860771495, "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": 0.3301411216449711, "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": 0.33524282507734054, "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": 0.34359626374243807, "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": 0.34885828580851463, "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": 0.35885467649700964, "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": 0.3654779275234158, "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": 0.38048949830100826, "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": 0.38535104879169385, "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": 0.39023353984699727, "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": 0.3953391083743597, "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": 0.40383221688565707, "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": 0.4091029370976349, "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": 0.41912875248272596, "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": 0.425799787716107, "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": 0.4408255189665428, "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": 0.4456874575428404, "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": 0.4505701078843587, "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": 0.4556769614490453, "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": 0.4642147578048718, "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": 0.4694903025793487, "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": 0.479558808364375, "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": 0.4862702025271037, "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": 0.5012205284977211, "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": 0.5060824401226505, "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": 0.510965276232836, "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": 0.5160689582032281, "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": 0.524556910087503, "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": 0.5298326997234942, "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": 0.5399326616648313, "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": 0.5466432024778127, "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": 0.561556799756481, "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": 0.5664191049685174, "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": 0.5713028679024946, "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": 0.5764051212933097, "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": 0.5848262451262369, "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": 0.5901017896782697, "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": 0.6002579233542725, "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": 0.6069581821226229, "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": 0.6219327213963196, "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": 0.6267961158813695, "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": 0.6316811495453265, "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": 0.6367857188319084, "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": 0.6451720080154489, "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": 0.6504494065023364, "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": 0.6606988433976988, "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": 0.6673965468134728, "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": 0.682489467131036, "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": 0.6873541682131202, "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": 0.6922389502967449, "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": 0.6973452700181504, "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": 0.7057149184169881, "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": 0.7109929815460436, "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": 0.7213728473223997, "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": 0.7280752455060068, "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": 0.4926825165748596, "corridor_availability": 0.012345679104328156, "reocclusion_rate": 0.0125, "disturbance_cost": 0.14371959772286075, "premature_retrieve_rate": 0.7625, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0008341461420059204, "gap_width": 0.0, "damage_proxy": 0.14371959772286075, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.9574581879691506, "rim_slip_rate": 0.9951981630381611, "insertable_corridor": 1.0, "fold_preservation": 0.7462577276970248, "layer_separation_quality": 0.23499869114778943, "top_layer_stability": 0.9574581879691506, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.1680564448085642, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.04181335670196202, "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": 0.04187113628370786, "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": 0.04194661569293067, "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": 0.0422519323093584, "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": 0.04535041911291566, "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": 0.045803535964718055, "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": 0.051128010165883815, "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": 0.05295307711192771, "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": 0.06348833150634045, "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": 0.06354868079715048, "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": 0.06363424123974051, "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": 0.06393279725002851, "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": 0.0673489305174848, "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": 0.06781098696662338, "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": 0.07313639337515837, "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": 0.07486832351458639, "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": 0.08532370452482788, "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": 0.08538473709021685, "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": 0.08547024168582962, "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": 0.08577207121108474, "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": 0.08926729730525274, "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": 0.08973375985900264, "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": 0.09499944270044797, "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": 0.09679895948626446, "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": 0.10729732530142336, "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": 0.1073599414488978, "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": 0.10744635164953825, "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": 0.10776050051080843, "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": 0.11145576779040242, "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": 0.11193698499212823, "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": 0.11725608708430413, "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": 0.11914119604083695, "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": 0.1296105740286887, "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": 0.12967344811846682, "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": 0.12975853821245234, "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": 0.13007625841590728, "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": 0.13387762735375888, "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": 0.13436392120628243, "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": 0.13966427597221734, "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": 0.14158644734037756, "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": 0.15207278165954732, "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": 0.1521362749999798, "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": 0.15222152678878093, "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": 0.15254142059890527, "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": 0.15636002684809533, "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": 0.15684589853601175, "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": 0.16216641592831363, "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": 0.16410461479572858, "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": 0.17458268403476493, "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": 0.17464590700477398, "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": 0.17473112926498935, "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": 0.1750473049314026, "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": 0.17880679312092082, "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": 0.1792880003082287, "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": 0.18462475460413755, "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": 0.1865603437109852, "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": 0.19706213636193554, "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": 0.19712591426839207, "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": 0.19721231806372533, "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": 0.1975255384853565, "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": 0.20119358746787572, "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": 0.20167131050952533, "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": 0.20706032324675122, "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": 0.2089679880541429, "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": 0.21949367726891902, "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": 0.21955755584238437, "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": 0.21964385151697555, "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": 0.21995123883032328, "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": 0.22354197146464885, "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": 0.22401227650133834, "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": 0.22941933046474808, "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": 0.2312925529631735, "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": 0.24192877587456937, "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": 0.24199325927208717, "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": 0.2420782466395561, "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": 0.24238057593000115, "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": 0.2459321395366049, "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": 0.24639790324640973, "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": 0.25188969191796085, "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": 0.2537422723029752, "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": 0.44008392095565796, "corridor_availability": 0.012345679104328156, "reocclusion_rate": 0.0125, "disturbance_cost": 0.46513927365011654, "premature_retrieve_rate": 0.8, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0009595035575330257, "gap_width": 0.0, "damage_proxy": 0.46513927365011654, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.7013046108080648, "rim_slip_rate": 0.998722280324576, "insertable_corridor": 1.0, "fold_preservation": 0.11954728005900028, "layer_separation_quality": 0.23573112276509758, "top_layer_stability": 0.7013046108080648, "lift_too_high_rate": 0.0, "step_trace": [ { "step_index": 1, "visibility": 0.13861644719740768, "support_mode": 0, "corridor_available": 0.0, "reocclusion_risk": 1.0, "disturbance_cost": 0.06641142730962954, "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": 0.07368083632592223, "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": 0.08096922819477931, "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": 0.08853315315435292, "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": 0.09937932479629466, "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": 0.10710977875915162, "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": 0.12052354721835426, "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": 0.12988601607107783, "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": 0.14919445476202844, "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": 0.1564659293081485, "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": 0.16376582311588114, "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": 0.17131866300516269, "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": 0.1824836948947294, "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": 0.1902161230518435, "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": 0.20363735100369196, "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": 0.21287892831148944, "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": 0.23217012799517764, "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": 0.23944263404106605, "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": 0.24674317442800328, "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": 0.25429726878263237, "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": 0.265543516104603, "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": 0.2732774549949946, "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": 0.28668497835055534, "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": 0.2959811285455472, "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": 0.315264550014399, "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": 0.3225400049098524, "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": 0.32984128695993375, "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": 0.33740481671384953, "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": 0.34884089043221767, "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": 0.35658966920842, "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": 0.3700199953403038, "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": 0.37941326843849, "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": 0.3986338722617653, "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": 0.4059085179366214, "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": 0.41320736110726086, "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": 0.4207724726832809, "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": 0.4323644062163528, "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": 0.4401193530847473, "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": 0.4535302212809125, "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": 0.46299354663890707, "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": 0.48211346923270665, "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": 0.48938784204899827, "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": 0.49668568292277476, "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": 0.5042500239221974, "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": 0.5158852860793302, "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": 0.5236455331840776, "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": 0.5370653174576449, "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": 0.5465635138550642, "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": 0.5655322939085259, "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": 0.5728064637569114, "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": 0.5801039492665416, "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": 0.5876643989401404, "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": 0.599237541397027, "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": 0.6069971529294076, "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": 0.6204190354903424, "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": 0.6299054841845623, "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": 0.6488844845260687, "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": 0.656159819947893, "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": 0.663459036850293, "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": 0.6710224336515462, "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": 0.6825415888008636, "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": 0.6903041928648841, "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": 0.7038201717351495, "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": 0.7133091003208658, "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": 0.7323531052067183, "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": 0.7396295315506104, "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": 0.7469301364515243, "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": 0.7544963829447987, "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": 0.7659648939782628, "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": 0.7737291198409508, "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": 0.787335647672968, "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": 0.7968223040178573, "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": 0.8159606246274999, "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": 0.8232379377327438, "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": 0.8305372099058028, "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": 0.8381012229368403, "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": 0.8495168997191044, "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": 0.8572775898911636, "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": 0.8709769225277652, "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": 0.8804527199409997, "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": 0.22852828267480207, "premature_retrieve_rate": 0.75, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0008381180465221405, "gap_width": 0.0, "damage_proxy": 0.22852828267480207, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.926166427824465, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.6609989358980489, "layer_separation_quality": 0.07845195495087928, "top_layer_stability": 0.926166427824465, "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": 0.1262481409445257, "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": 0.12630703199739124, "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": 0.1263824196383891, "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": 0.12668808158749995, "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": 0.1298239436381159, "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": 0.13027456688636693, "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": 0.1356781572534448, "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": 0.1375170068569412, "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": 0.14809326606563597, "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": 0.14815482112374967, "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": 0.1482411418572093, "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": 0.14854228099782812, "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": 0.15197928983086392, "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": 0.15244599320458727, "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": 0.15783417347970657, "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": 0.15960896487214354, "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": 0.17007115034301723, "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": 0.17013393018200834, "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": 0.17022034588502122, "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": 0.17052597443513698, "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": 0.1740613111242133, "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": 0.1745339863302002, "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": 0.17986588651941898, "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": 0.18170774403339832, "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": 0.19218916189913202, "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": 0.19225271191827767, "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": 0.19233872465710541, "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": 0.1926524754311688, "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": 0.19634148358056164, "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": 0.19682264789946838, "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": 0.2021619160501769, "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": 0.20407322225291546, "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": 0.21447956691808526, "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": 0.21454319599695468, "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": 0.21462810024736093, "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": 0.21494560677851918, "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": 0.2187478584309536, "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": 0.21923234841468062, "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": 0.2245480259689018, "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": 0.22648748357950346, "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": 0.23685591018833332, "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": 0.23691950771019368, "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": 0.23700386086207362, "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": 0.23732195192687353, "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": 0.24113842160160323, "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": 0.24162432111972496, "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": 0.2469482543355108, "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": 0.24891125055253968, "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": 0.2593223402006703, "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": 0.25938634029514984, "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": 0.2594714527127364, "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": 0.25978770773007126, "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": 0.26355890856722447, "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": 0.2640416866848326, "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": 0.2694176940549299, "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": 0.27138132475849813, "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": 0.2818473020628591, "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": 0.2819117703117794, "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": 0.2819987091787662, "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": 0.2823134920449696, "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": 0.2860149900136977, "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": 0.2864983180532578, "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": 0.2919479403782722, "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": 0.293898060266704, "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": 0.3044277801552358, "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": 0.30449220880152666, "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": 0.3045788905534436, "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": 0.30488795476785263, "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": 0.30851460600410047, "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": 0.30899059164058096, "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": 0.314463722546812, "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": 0.3163837814442935, "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": 0.32702651196518034, "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": 0.32709170553663647, "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": 0.32717839194312165, "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": 0.32748380967332463, "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": 0.33106029867782116, "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": 0.3315362788594978, "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": 0.33710350994366234, "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": 0.3390010641019511, "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": 0.5501662252758429, "premature_retrieve_rate": 0.8125, "reocclusion_after_reveal": 0.0, "planner_regret": 0.0009627341292798519, "gap_width": 0.0, "damage_proxy": 0.5501662252758429, "actor_feasibility_floor": 0.0, "mouth_aperture": 0.0, "hold_persistence": 0.663042482576488, "rim_slip_rate": 1.0, "insertable_corridor": 0.0, "fold_preservation": 0.033899284201724944, "layer_separation_quality": 0.13563971932543387, "top_layer_stability": 0.663042482576488, "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": 0.1508957469335289, "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": 0.1581650907068569, "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": 0.16545381661827915, "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": 0.1730171345603964, "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": 0.18389186456941128, "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": 0.19162075311181395, "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": 0.2051122032193468, "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": 0.21448195798471134, "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": 0.23396613993236823, "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": 0.2412390767025848, "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": 0.24854115207700653, "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": 0.25609902957099867, "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": 0.2672969077243284, "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": 0.2750368122223589, "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": 0.2885930198124995, "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": 0.29785701768507505, "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": 0.3171231271732732, "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": 0.324396993710617, "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": 0.33169725377437326, "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": 0.33925326021744734, "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": 0.35050504277691263, "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": 0.35824414690553325, "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": 0.3716549530839717, "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": 0.3809921501647727, "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": 0.4002383643674326, "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": 0.4075136190758643, "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": 0.41481422153883396, "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": 0.42237947906653234, "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": 0.4338201578263718, "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": 0.44157740319233835, "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": 0.45503756898817516, "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": 0.4644747039156036, "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": 0.48360214795391004, "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": 0.49087722892414914, "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": 0.49817642753551133, "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": 0.5057445326957482, "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": 0.5173258462501228, "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": 0.5250921005109475, "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": 0.5385403950687453, "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": 0.5480387214764312, "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": 0.5670289973989503, "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": 0.574303864393704, "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": 0.5816027649303259, "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": 0.5891721928989816, "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": 0.600802731597636, "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": 0.6085738578529777, "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": 0.622033795729613, "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": 0.6315600676021825, "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": 0.6504894018223799, "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": 0.6577651936343635, "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": 0.6650654899587907, "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": 0.6726384273817186, "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": 0.6842488026862638, "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": 0.6920244397593501, "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": 0.7055510721516803, "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": 0.7150979371030612, "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": 0.7340337362505506, "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": 0.7413107703264736, "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": 0.7486127494743859, "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": 0.75618861925284, "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": 0.7677360298076132, "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": 0.775513192114367, "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": 0.7891155830741983, "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": 0.7986652086785434, "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": 0.8176736708648059, "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": 0.824951910937007, "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": 0.8322547823570187, "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": 0.8398311007730055, "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": 0.8513128165253836, "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": 0.8590887956813097, "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": 0.872759800856755, "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": 0.8822951403133541, "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": 0.9014410843428907, "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": 0.9087205558519946, "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": 0.9160221662038048, "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": 0.9235958664667312, "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": 0.9350283438132893, "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": 0.9428012539215284, "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": 0.9565792883676065, "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": 0.9661007157982751, "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 } } ] } }