File size: 32,506 Bytes
1606d8a
b17c80f
 
 
 
 
 
 
 
 
 
 
 
 
50d6f48
 
 
b17c80f
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
50d6f48
 
 
b17c80f
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1606d8a
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
<!doctype html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width,initial-scale=1">
<meta name="embrace-data" content="https://huggingface.co/datasets/mxlin043/EmbRACE/resolve/main/">
<title>EmbRACE Viewer</title>
<!--
  Read-only viewer for the released EmbRACE data, the project page's EmbRACE Viewer
  extended from its examples to every task. It reads the dataset repo's own files over
  HTTP, so the same page runs beside a local export (tools/release/export_hf_dataset.py)
  and as a static Space in front of the Hugging Face dataset repo.

  index/web/tasks.json                    every task, loaded once
  <split>/trajectory/<Env>/task_<Task>/infos.json   the record of a task, loaded when it is opened
  <split>/trajectory/<Env>/task_<Task>/NNN.jpg      its frames (split: dataset or benchmark)
  benchmark/success_region/<Env>/task_<Task>/...   the two region images of a benchmark task

  The data location comes from ?data=<url>, else from the embrace-data meta tag above.
  ?split=dataset|benchmark &env=<Env> &type=0-5 &q=<text> &task=<Env>/<Task> &step=<n>
  restore a view, and the address bar follows the view, so a copied link reopens it.
  ?theme=dark switches to the dark palette; light, matching the page, is the default.
-->
<style>
:root, [data-theme="light"] {
  --bg:#f5f5f7; --panel:#ffffff; --panel2:#fafafa; --head:#ffffff; --line:#e6e6e6; --line2:#eeeeee;
  --text:#222222; --text2:#333333; --muted:#6b6b6b; --faint:#a8a8a8;
  --accent:#FF3B30; --accent-soft:rgba(255,59,48,.07); --accent-line:rgba(255,59,48,.45);
  --hover:#f7f7f8; --img-bg:#f4f4f4; --card:#fcfcfc; --card-line:#ececec;
  --t0:#FF3B30; --t1:#FF9F0A; --t2:#e0b000; --t3:#32D74B; --t4:#40C8E0; --t5:#5E5CE6;
  --move:#388E3C; --turn:#7C4DFF; --look:#c05ad8; --interact:#E64A19; --finish:#e0a800; --midway:#d49b00; --idle:#999999;
}
[data-theme="dark"] {
  --bg:#0b0d12; --panel:#12151c; --panel2:#171b24; --head:#0e1117; --line:#252a35; --line2:#20242e;
  --text:#eceef2; --text2:#d6d9df; --muted:#8a90a0; --faint:#5a6070;
  --accent:#FF453A; --accent-soft:rgba(255,69,58,.12); --accent-line:rgba(255,69,58,.5);
  --hover:#1a1f29; --img-bg:#07090d; --card:#161a22; --card-line:#262b36;
  --t0:#FF453A; --t1:#FF9F0A; --t2:#FFD60A; --t3:#32D74B; --t4:#40C8E0; --t5:#7d7bff;
  --move:#4caf50; --turn:#8f6bff; --look:#ea80fc; --interact:#ff6a3d; --finish:#fbc02d; --midway:#ffe57f; --idle:#969696;
}
* { box-sizing:border-box; }
html,body { margin:0; height:100%; overflow:hidden; background:var(--bg); color:var(--text);
  font-family:"Google Sans","Noto Sans","Segoe UI",Helvetica,Arial,sans-serif; }
button,input,select { font:inherit; }
.app { height:100vh; display:grid; grid-template-rows:58px 1fr; }
header { display:flex; align-items:center; gap:14px; padding:0 20px; border-bottom:1px solid var(--line); background:var(--head); }
.brand { font-weight:700; font-size:20px; letter-spacing:.2px; color:var(--text); display:flex; align-items:baseline; gap:6px; }
/* Letter colours match the page title. */
.wordmark span { font-weight:800; }
.header-stats { margin-left:auto; display:flex; gap:8px; }
.pill { padding:5px 11px; border:1px solid var(--line); border-radius:999px; color:var(--muted); font-size:12px; background:var(--panel); }
.workspace { min-height:0; display:grid; grid-template-columns:430px 340px minmax(520px,1fr); }
.column { min-height:0; border-right:1px solid var(--line); background:var(--panel); display:flex; flex-direction:column; }
.column:last-child { border-right:0; background:var(--bg); }
.column-head { padding:12px 14px; border-bottom:1px solid var(--line); }
/* Scrolling panes keep the scrollbar's width reserved whether or not they overflow, so content
   stays put when a longer task or a success-region card brings the scrollbar in. */
.scroll { min-height:0; overflow:auto; scrollbar-gutter:stable; }
.controls { display:grid; gap:9px; }
/* Dataset / Benchmark: the one choice everything else depends on, so it gets the full width. */
.set-switch { display:grid; grid-template-columns:1fr 1fr; border:1px solid var(--line); border-radius:9px; overflow:hidden; background:var(--panel2); }
.set-btn { border:0; background:transparent; color:var(--muted); padding:8px 0; cursor:pointer; font-size:13px; font-weight:700; }
.set-btn + .set-btn { border-left:1px solid var(--line); }
.set-btn:hover { color:var(--text); }
.set-btn .cnt { font-weight:600; opacity:.75; margin-left:4px; }
.set-btn.active { background:var(--accent); color:#fff; }
.search-row { display:grid; grid-template-columns:1fr 168px; gap:6px; }
#search, #envSelect { width:100%; padding:7px 10px; border:1px solid var(--line); border-radius:7px; background:var(--panel2); color:var(--text); font-size:12px; outline:none; }
#envSelect { padding:6px 8px; cursor:pointer; }
#search:focus, #envSelect:focus { border-color:var(--accent-line); }
#search::placeholder { color:var(--faint); }
.filter-row { display:flex; align-items:center; gap:4px; flex-wrap:wrap; }
.filter { border:1px solid var(--line); background:var(--panel2); color:var(--muted); border-radius:5px; padding:2px 9px; cursor:pointer; font-size:11px; transition:all .15s; }
.filter:hover { border-color:var(--accent-line); color:var(--text); }
.filter.active { color:var(--accent); border-color:var(--accent-line); background:var(--accent-soft); font-weight:700; }
.task-table-head,.task { display:grid; grid-template-columns:36px minmax(0,1fr) 28px 118px; align-items:center; gap:6px; }
.task-table-head { padding:6px 12px; background:var(--panel2); border-bottom:1px solid var(--line); color:var(--muted); font-size:10px; font-weight:700; text-transform:uppercase; letter-spacing:.5px; }
/* The list holds every task of a split, so only the rows in view are drawn. */
.rows { position:relative; }
.task { position:absolute; left:0; right:0; height:32px; text-align:left; border:0; border-bottom:1px solid var(--line2); background:transparent; color:var(--text); padding:0 12px; cursor:pointer; font-size:12px; }
.task:hover { background:var(--hover); }
.task.active { background:var(--accent-soft); box-shadow:inset 3px 0 0 var(--accent); }
.task-index { color:var(--faint); font-size:11px; }
.task-instr { overflow:hidden; text-overflow:ellipsis; white-space:nowrap; font-size:12px; }
.task-map { overflow:hidden; text-overflow:ellipsis; white-space:nowrap; color:var(--muted); font-size:11px; }
.type-badge { display:inline-block; text-align:center; border-radius:4px; padding:1px 0; font-size:10px; font-weight:800; color:#fff; }
.type-0 { background:var(--t0); } .type-1 { background:var(--t1); } .type-2 { background:var(--t2); }
.type-3 { background:var(--t3); } .type-4 { background:var(--t4); } .type-5 { background:var(--t5); }
.foot { flex:0 0 auto; padding:8px 12px; border-top:1px solid var(--line); background:var(--panel2); color:var(--muted); font-size:11px; }
.summary { display:grid; gap:10px; }
.task-id-card { border:1px solid var(--card-line); border-radius:9px; padding:8px 10px; background:var(--card); }
.task-id-head { display:flex; align-items:center; justify-content:space-between; }
.label { color:var(--muted); font-size:10px; text-transform:uppercase; letter-spacing:.6px; font-weight:700; }
.copy-btn { border:1px solid var(--line); background:var(--panel); color:var(--muted); border-radius:5px; padding:1px 8px; font-size:11px; cursor:pointer; }
.copy-btn:hover { color:var(--accent); border-color:var(--accent-line); }
.task-id-value { display:block; margin-top:4px; font-size:12px; word-break:break-all; color:var(--text); }
.facts { display:grid; grid-template-columns:auto 1fr; gap:4px 12px; font-size:12.5px; }
.facts .k { color:var(--muted); }
.facts code { color:var(--faint); font-size:11px; margin-left:4px; }
/* The instruction reads like the page's Data Example: a small red label and the sentence. */
.instruction { font-size:14.5px; line-height:1.45; font-weight:600; color:var(--text); padding:10px 12px;
  border:1px solid var(--card-line); border-radius:9px; background:var(--card); }
.instruction .lab { display:block; color:var(--accent); font-size:10.5px; font-weight:800; text-transform:uppercase; letter-spacing:.6px; margin-bottom:3px; }
.action { width:100%; display:grid; grid-template-columns:34px 1fr; align-items:center; gap:8px; text-align:left; border:0; border-bottom:1px solid var(--line2); background:transparent; color:var(--text); padding:8px 14px; cursor:pointer; }
.action:hover { background:var(--hover); }
.action.active { background:var(--accent-soft); box-shadow:inset 3px 0 0 var(--accent); }
.action-index { color:var(--faint); font-size:11px; font-family:ui-monospace,monospace; }
.action-name { font-weight:700; font-size:13px; }
.detail { height:100%; overflow:auto; scrollbar-gutter:stable; padding:16px 20px 24px; }
.detail-head { display:flex; align-items:center; gap:12px; margin-bottom:14px; flex-wrap:wrap; }
.step { display:inline-flex; align-items:baseline; gap:4px; }
.step-now { font-size:22px; font-weight:800; color:var(--accent); line-height:1; }
.step-sep { font-size:15px; color:var(--faint); }
.step-all { font-size:15px; font-weight:700; color:var(--muted); }
.step-word { font-size:11px; font-weight:700; letter-spacing:.06em; text-transform:uppercase; color:var(--faint); margin-left:3px; }
/* The same pill the page draws for the current action. */
.act-pill { display:inline-block; padding:4px 13px; border-radius:999px; color:#fff; font-size:13px; font-weight:800; letter-spacing:.02em; white-space:nowrap; }
.ref-tag { color:var(--muted); font-size:11px; font-weight:700; text-transform:uppercase; letter-spacing:.5px; }
.step-nav { margin-left:auto; display:inline-flex; border-radius:9px; overflow:hidden; box-shadow:0 1px 2px rgba(0,0,0,.08); }
.nav-btn { border:0; background:var(--accent); color:#fff; padding:6px 14px; cursor:pointer; font-size:12.5px; font-weight:700; }
.nav-btn + .nav-btn { border-left:1px solid rgba(255,255,255,.35); }
.nav-btn:hover:not(:disabled) { filter:brightness(.92); }
.nav-btn:disabled { background:#dcdcdc; color:#fff; cursor:default; }
[data-theme="dark"] .nav-btn:disabled { background:#343a46; color:#8a90a0; }
.images { display:grid; grid-template-columns:1fr 1fr; gap:14px; }
.image-card { position:relative; border-radius:10px; overflow:hidden; background:var(--img-bg); aspect-ratio:4/3; }
.image-card img { width:100%; height:100%; object-fit:contain; display:block; }
.image-label { position:absolute; top:8px; left:8px; background:rgba(0,0,0,.6); color:#fff; font-size:11px; font-weight:700; padding:3px 8px; border-radius:5px; }
/* The rationale card follows the page's Data Example side panel: a light card, dark text,
   and the label in the page's accent, rather than a black block of its own. */
.rationale { margin-top:16px; border:1px solid var(--card-line); border-radius:10px; background:var(--card); padding:14px 18px; }
.rationale .rl { display:block; color:var(--accent); font-size:11px; font-weight:800; text-transform:uppercase; letter-spacing:.6px; margin-bottom:6px; }
.rationale .rt { font-size:15.5px; line-height:1.62; color:var(--text2); }
/* Success region: the two canonical images a benchmark task is judged against, in the
   place the rationale card takes in the dataset view. */
.region { margin-top:16px; border:1px solid var(--card-line); border-radius:10px; background:var(--card); padding:14px 18px 16px; }
.region .rl { display:block; color:var(--accent); font-size:11px; font-weight:800; text-transform:uppercase; letter-spacing:.6px; margin-bottom:2px; }
.region .rn { color:var(--muted); font-size:12.5px; line-height:1.5; margin-bottom:10px; }
.region-stage { margin-top:10px; }
.region-stage + .region-stage { margin-top:14px; }
.stage-tag { display:inline-block; font-size:11px; font-weight:800; text-transform:uppercase; letter-spacing:.5px; color:var(--text2); margin-bottom:6px; }
.region-pair { display:grid; grid-template-columns:1fr 1fr; gap:14px; }
.region-img { position:relative; border-radius:9px; overflow:hidden; aspect-ratio:4/3; background:#ffffff; border:1px solid var(--card-line); cursor:zoom-in; padding:0; width:100%; }
.region-img img { width:100%; height:100%; object-fit:contain; display:block; }
.region-fig { margin:0; }
.region-fig figcaption { margin-top:5px; color:var(--muted); font-size:11.5px; font-weight:600; text-align:center; }
.zoom { position:fixed; inset:0; background:rgba(10,12,16,.82); display:none; align-items:center; justify-content:center; z-index:50; cursor:zoom-out; padding:24px; }
.zoom.open { display:flex; }
.zoom img { max-width:100%; max-height:100%; border-radius:8px; background:#fff; box-shadow:0 10px 40px rgba(0,0,0,.4); }
.empty { padding:24px; color:var(--muted); font-size:13px; text-align:center; }
.keys { color:var(--faint); font-size:11px; margin-top:12px; }
@media (max-width:1200px) {
  html,body { overflow:auto; height:auto; }
  .app { height:auto; }
  .workspace { grid-template-columns:1fr; }
  .column { border-right:0; border-bottom:1px solid var(--line); }
  .scroll { max-height:340px; }
  #taskList { height:340px; }
}
</style>
</head>
<body>
<div class="app">
  <header>
    <div class="brand">
      <span class="wordmark"><span style="color:#FF3B30">E</span><span style="color:#FF9F0A">m</span><span style="color:#FFD60A">b</span><span style="color:#32D74B">R</span><span style="color:#40C8E0">A</span><span style="color:#5E5CE6">C</span><span style="color:#FF2D9B">E</span></span>
      <span>Viewer</span>
    </div>
    <div class="header-stats"><span class="pill" id="taskCount">Loading…</span></div>
  </header>
  <main class="workspace">
    <section class="column">
      <div class="column-head">
        <div class="controls">
          <div class="set-switch" role="tablist">
            <button class="set-btn" data-split="dataset" type="button" role="tab">Dataset</button>
            <button class="set-btn" data-split="benchmark" type="button" role="tab">Benchmark</button>
          </div>
          <div class="search-row">
            <input id="search" placeholder="Search instruction, task or environment…" aria-label="Search tasks">
            <select id="envSelect" aria-label="Environment"></select>
          </div>
          <div class="filter-row" id="typeFilter"></div>
        </div>
      </div>
      <div class="task-table-head"><span>#</span><span>Instruction</span><span>Type</span><span>Environment</span></div>
      <div class="scroll" id="taskList" style="flex:1"><div class="rows" id="rows"><div class="empty">Loading…</div></div></div>
      <div class="foot" id="foot"></div>
    </section>
    <section class="column">
      <div class="column-head"><div id="taskSummary"><div class="empty">Select a task.</div></div></div>
      <div class="scroll" id="actionList" style="flex:1"></div>
    </section>
    <section class="column">
      <div class="detail" id="detail"><div class="empty">Select a task to walk through its steps.</div></div>
    </section>
  </main>
</div>

<div class="zoom" id="zoom" role="dialog" aria-label="Enlarged image"><img id="zoomImg" alt=""></div>

<script>
(function () {
  "use strict";

  const params = new URLSearchParams(window.location.search);
  document.documentElement.dataset.theme = params.get("theme") === "dark" ? "dark" : "light";
  let DATA = params.get("data") || document.querySelector('meta[name="embrace-data"]').content;
  if (!DATA.endsWith("/")) DATA += "/";

  const TYPE_NAMES = ["Basic", "Exploration", "Dynamic Spatial-Semantic", "Multi-stage",
                      "Open Door", "Pick & Drop"];
  const SPLITS = {
    dataset: "Training demonstrations, each step with the rationale for its action.",
    benchmark: "Held-out test tasks, each with its reference human demonstration and the success region it is judged against."
  };
  // The action families of the qualitative videos, so the two agree.
  const ACTION_FAMILY = {
    MoveForward: "move", MoveBackward: "move",
    TurnLeft: "turn", TurnRight: "turn",
    LookUp: "look", LookDown: "look",
    OpenDoor: "interact", Pick: "interact", Drop: "interact",
    Finish: "finish", MidwayTarget: "midway", Idle: "idle"
  };
  const actionColor = name => `var(--${ACTION_FAMILY[name] || "idle"})`;
  const esc = value => { const d = document.createElement("div"); d.textContent = value ?? ""; return d.innerHTML; };
  const fmt = n => n.toLocaleString("en-US");
  const frame = i => String(i).padStart(3, "0") + ".jpg";
  const $ = id => document.getElementById(id);
  const ROW_H = 32;

  const state = { envs: [], pd: {}, all: [], split: "dataset", env: "all", type: "all",
                  filtered: [], task: null, record: null, step: 0 };
  const records = new Map();

  // On the Hub every task folder carries the prefix task_ (the Hub refuses paths with "/x00").
  const trajUrl = (t, file) => `${DATA}${t.split}/trajectory/${t.env.id}/task_${t.stem}/${file}`;
  const areaUrl = (t, file) => `${DATA}${t.split}/success_region/${t.env.id}/task_${t.stem}/${file}`;

  async function loadIndex() {
    const url = DATA + "index/web/tasks.json";
    const res = await fetch(url);
    if (!res.ok) throw new Error(`Could not read ${url} (${res.status})`);
    const idx = await res.json();
    const c = Object.fromEntries(idx.columns.map((name, i) => [name, i]));
    state.envs = idx.environments;
    state.pd = idx.pd_objects;
    state.all = idx.tasks.map(r => {
      const env = state.envs[r[c.env]];
      return {
        env, split: env.split, stem: r[c.task], type: r[c.type], steps: r[c.steps],
        instruction: r[c.instruction], pd: r[c.pd_id], regions: r[c.regions],
        haystack: `${r[c.instruction]} ${r[c.task]} ${env.id} ${env.name}`.toLowerCase()
      };
    });
  }

  function inSplit() { return state.all.filter(t => t.split === state.split); }

  function switchSplit(split, keep) {
    state.split = split;
    const tasks = inSplit();
    const env = keep && keep.env, type = keep && keep.type;
    state.env = env && tasks.some(t => t.env.id === env) ? env : "all";
    state.type = type !== undefined && tasks.some(t => t.type === type) ? type : "all";
    document.querySelectorAll(".set-btn").forEach(b =>
      b.classList.toggle("active", b.dataset.split === split));
    const envCount = new Set(tasks.map(t => t.env.id)).size;
    const steps = tasks.reduce((s, t) => s + t.steps, 0);
    $("foot").textContent = `${fmt(tasks.length)} tasks · ${envCount} environments · ${fmt(steps)} steps`;
    applyFilters();
    const wanted = keep && keep.task;
    const first = (wanted && tasks.find(t => `${t.env.id}/${t.stem}` === wanted || t.stem === wanted))
      || state.filtered[0];
    if (first) selectTask(first, keep && keep.step ? keep.step : 0);
  }

  const searchWords = () => {
    const q = $("search").value.trim().toLowerCase();
    return q ? q.split(/\s+/) : [];
  };
  const hit = (t, words) => words.every(w => t.haystack.includes(w));

  // Every number beside a filter option counts tasks: the tasks the list would show with that
  // option chosen and the other filters kept, so a number always matches what the list shows.
  // Options that would show nothing are left out, except the one already chosen, which stays
  // with its 0 so an empty list explains itself.
  function refreshFacets(words) {
    const tasks = inSplit(), envCounts = {}, typeCounts = {};
    let envAll = 0, typeAll = 0;
    tasks.forEach(t => {
      if (!hit(t, words)) return;
      if (state.type === "all" || t.type === state.type) {
        envCounts[t.env.id] = (envCounts[t.env.id] || 0) + 1; envAll++;
      }
      if (state.env === "all" || t.env.id === state.env) {
        typeCounts[t.type] = (typeCounts[t.type] || 0) + 1; typeAll++;
      }
    });
    const envs = [...new Set(tasks.map(t => t.env))].sort((a, b) => a.name.localeCompare(b.name));
    const select = $("envSelect");
    select.innerHTML = `<option value="all">All environments (${fmt(envAll)})</option>` +
      envs.map(e => {
        const n = envCounts[e.id] || 0;
        return n || e.id === state.env
          ? `<option value="${esc(e.id)}">${esc(e.name)} (${fmt(n)})</option>` : "";
      }).join("");
    select.value = state.env;
    $("typeFilter").innerHTML =
      `<button class="filter" data-value="all" type="button" title="${fmt(typeAll)} tasks">All</button>` +
      TYPE_NAMES.map((name, i) => {
        const n = typeCounts[i] || 0;
        return n || state.type === i
          ? `<button class="filter" data-value="${i}" type="button" title="${esc(name)} · ${fmt(n)} tasks">T${i}</button>` : "";
      }).join("");
    $("typeFilter").querySelectorAll(".filter").forEach(b =>
      b.classList.toggle("active", b.dataset.value === String(state.type)));
  }

  function applyFilters() {
    const words = searchWords();
    refreshFacets(words);
    const tasks = inSplit();
    state.filtered = tasks.filter(t =>
      (state.env === "all" || t.env.id === state.env) &&
      (state.type === "all" || t.type === state.type) && hit(t, words));
    $("taskCount").textContent = `${fmt(state.filtered.length)}/${fmt(tasks.length)} tasks`;
    $("taskList").scrollTop = 0;
    renderTasks();
    syncUrl();
  }

  function renderTasks() {
    const rows = $("rows");
    if (!state.filtered.length) {
      rows.style.height = "";
      rows.innerHTML = '<div class="empty">No matching tasks.</div>';
      return;
    }
    rows.style.height = `${state.filtered.length * ROW_H}px`;
    drawRows();
  }

  function drawRows() {
    if (!state.filtered.length) return;
    const list = $("taskList");
    const start = Math.max(0, Math.floor(list.scrollTop / ROW_H) - 10);
    const end = Math.min(state.filtered.length, Math.ceil((list.scrollTop + list.clientHeight) / ROW_H) + 10);
    let html = "";
    for (let i = start; i < end; i++) {
      const t = state.filtered[i];
      html += `<button class="task${state.task === t ? " active" : ""}" data-i="${i}" type="button" style="top:${i * ROW_H}px" title="${esc(t.instruction)}">
        <span class="task-index">${i + 1}</span>
        <span class="task-instr">${esc(t.instruction)}</span>
        <span class="type-badge type-${t.type}" title="${esc(TYPE_NAMES[t.type])}">T${t.type}</span>
        <span class="task-map" title="${esc(t.env.name)}">${esc(t.env.name)}</span>
      </button>`;
    }
    $("rows").innerHTML = html;
  }

  function revealTask() {
    const i = state.filtered.indexOf(state.task);
    if (i < 0) return;
    const list = $("taskList");
    const top = i * ROW_H;
    if (top < list.scrollTop || top + ROW_H > list.scrollTop + list.clientHeight)
      list.scrollTop = Math.max(0, top - list.clientHeight / 2);
    drawRows();
  }

  async function selectTask(task, step) {
    state.task = task; state.record = null; state.step = step || 0;
    drawRows(); renderSummary();
    $("actionList").innerHTML = '<div class="empty">Loading…</div>';
    $("detail").innerHTML = '<div class="empty">Loading…</div>';
    const key = `${task.env.id}/${task.stem}`;
    let record = records.get(key);
    if (!record) {
      try {
        const res = await fetch(trajUrl(task, "infos.json"));
        if (!res.ok) throw new Error(`${res.status}`);
        record = await res.json();
        records.set(key, record);
      } catch (err) {
        if (state.task === task)
          $("detail").innerHTML = `<div class="empty">Could not load this task (${esc(err.message)}).</div>`;
        return;
      }
    }
    if (state.task !== task) return;  // another task was opened meanwhile
    state.record = record;
    state.step = Math.min(state.step, record.Action.length - 1);
    for (let i = 0; i <= record.Action.length; i++) new Image().src = trajUrl(task, frame(i));
    renderActions(); renderDetail(); syncUrl();
  }

  function renderSummary() {
    const t = state.task;
    const object = t.pd !== null && t.pd !== undefined
      ? `<span class="k">Object</span><span>${esc(state.pd[String(t.pd)] || t.pd)}</span>` : "";
    $("taskSummary").innerHTML = `
      <div class="summary">
        <div class="task-id-card">
          <div class="task-id-head"><span class="label">Task ID</span><button class="copy-btn" id="copyId" type="button">Copy</button></div>
          <code class="task-id-value">${esc(t.stem)}</code>
        </div>
        <div class="facts">
          <span class="k">Type</span><span>T${t.type} · ${esc(TYPE_NAMES[t.type])}</span>
          <span class="k">Environment</span><span>${esc(t.env.name)}<code>${esc(t.env.id)}</code></span>
          <span class="k">Setting</span><span>${esc(t.env.setting)}</span>
          <span class="k">Steps</span><span>${t.steps}</span>
          ${object}
        </div>
        <div class="instruction"><span class="lab">Instruction</span>${esc(t.instruction)}</div>
      </div>`;
    $("copyId").addEventListener("click", async (e) => {
      const text = t.stem, btn = e.currentTarget;
      try {
        if (navigator.clipboard && window.isSecureContext) await navigator.clipboard.writeText(text);
        else {
          const a = document.createElement("textarea");
          a.value = text; a.style.position = "fixed"; a.style.opacity = "0";
          document.body.appendChild(a); a.select(); document.execCommand("copy"); a.remove();
        }
        btn.textContent = "Copied"; setTimeout(() => { btn.textContent = "Copy"; }, 1000);
      } catch (err) { btn.textContent = "Select ID"; }
    });
  }

  function renderActions() {
    const list = $("actionList");
    list.innerHTML = state.record.Action.map((a, i) => `
      <button class="action${i === state.step ? " active" : ""}" data-i="${i}" type="button">
        <span class="action-index">${String(i + 1).padStart(2, "0")}</span>
        <span class="action-name" style="color:${actionColor(a)}">${esc(a)}</span>
      </button>`).join("");
    const active = list.querySelector(".action.active");
    if (active) active.scrollIntoView({ block: "nearest" });
  }

  function selectStep(i) {
    if (!state.record || i < 0 || i >= state.record.Action.length) return;
    state.step = i; renderActions(); renderDetail(); syncUrl();
  }

  function renderDetail() {
    const t = state.task, r = state.record, i = state.step, n = r.Action.length;
    const action = r.Action[i];
    const rationale = r.Rationale
      ? `<div class="rationale"><span class="rl">Rationale</span><div class="rt">${esc(r.Rationale[i])}</div></div>`
      : "";
    const tag = t.split === "benchmark" ? `<span class="ref-tag">Reference demonstration</span>` : "";
    const region = t.regions && t.regions.length ? regionHtml(t) : "";
    $("detail").innerHTML = `
      <div class="detail-head">
        <span class="step"><span class="step-now">${i + 1}</span><span class="step-sep">/</span><span class="step-all">${n}</span><span class="step-word">steps</span></span>
        <span class="act-pill" style="background:${actionColor(action)}">${esc(action)}</span>
        ${tag}
        <div class="step-nav">
          <button class="nav-btn" id="prev" type="button" ${i === 0 ? "disabled" : ""}>← Previous</button>
          <button class="nav-btn" id="next" type="button" ${i === n - 1 ? "disabled" : ""}>Next →</button>
        </div>
      </div>
      <div class="images">
        <div class="image-card"><span class="image-label">Before Action</span><img src="${esc(trajUrl(t, frame(i)))}" alt="Ego view before the action"></div>
        <div class="image-card"><span class="image-label">After Action</span><img src="${esc(trajUrl(t, frame(i + 1)))}" alt="Ego view after the action"></div>
      </div>
      ${rationale}
      ${region}
      <div class="keys">← → or ↑ ↓ to move between steps · click a success-region image to enlarge it</div>`;
    $("prev").addEventListener("click", () => selectStep(i - 1));
    $("next").addEventListener("click", () => selectStep(i + 1));
    document.querySelectorAll(".region-img").forEach(b => b.addEventListener("click", () => {
      $("zoomImg").src = b.dataset.src;
      $("zoom").classList.add("open");
    }));
  }

  function regionHtml(t) {
    const figure = (file, alt, caption) => `
      <figure class="region-fig">
        <button class="region-img" type="button" data-src="${esc(areaUrl(t, file))}">
          <img src="${esc(areaUrl(t, file))}" alt="${alt}">
        </button>
        <figcaption>${caption}</figcaption>
      </figure>`;
    const multi = t.regions.length > 1;
    const stages = t.regions.map(([stage, xy, ue]) => `
      <div class="region-stage">
        ${multi ? `<span class="stage-tag">${stage === "midway" ? "Midway target" : "Final target"}</span>` : ""}
        <div class="region-pair">
          ${figure(xy, "Top-down plot of the success region", "Top-down plot")}
          ${figure(ue, "Success region drawn over the scene", "Scene overlay")}
        </div>
      </div>`).join("");
    return `<div class="region"><span class="rl">Success region</span>
      <div class="rn">The orange box is the target's footprint, and the outlined area around it is the success region.</div>
      ${stages}</div>`;
  }

  // The address bar follows the view, so a copied link reopens it.
  function syncUrl() {
    const p = new URLSearchParams();
    ["data", "theme"].forEach(k => { if (params.get(k)) p.set(k, params.get(k)); });
    p.set("split", state.split);
    if (state.env !== "all") p.set("env", state.env);
    if (state.type !== "all") p.set("type", state.type);
    const q = $("search").value.trim();
    if (q) p.set("q", q);
    if (state.task) p.set("task", `${state.task.env.id}/${state.task.stem}`);
    if (state.task && state.step > 0) p.set("step", state.step + 1);
    history.replaceState(null, "", `${location.pathname}?${p.toString()}`);
  }

  const zoom = $("zoom");
  zoom.addEventListener("click", () => zoom.classList.remove("open"));

  document.addEventListener("keydown", e => {
    if (e.key === "Escape" && zoom.classList.contains("open")) { zoom.classList.remove("open"); return; }
    if (zoom.classList.contains("open")) return;
    if (!state.record || e.target.matches("input,textarea,select")) return;
    if (["ArrowDown", "ArrowRight", "j"].includes(e.key)) { e.preventDefault(); selectStep(state.step + 1); }
    if (["ArrowUp", "ArrowLeft", "k"].includes(e.key)) { e.preventDefault(); selectStep(state.step - 1); }
  });

  $("rows").addEventListener("click", e => {
    const b = e.target.closest(".task");
    if (b) selectTask(state.filtered[Number(b.dataset.i)], 0);
  });
  $("actionList").addEventListener("click", e => {
    const b = e.target.closest(".action");
    if (b) selectStep(Number(b.dataset.i));
  });
  $("taskList").addEventListener("scroll", () => requestAnimationFrame(drawRows));
  window.addEventListener("resize", () => requestAnimationFrame(drawRows));
  $("search").addEventListener("input", applyFilters);
  $("envSelect").addEventListener("change", e => {
    state.env = e.target.value;
    applyFilters();
  });
  $("typeFilter").addEventListener("click", e => {
    const b = e.target.closest(".filter");
    if (!b) return;
    state.type = b.dataset.value === "all" ? "all" : Number(b.dataset.value);
    applyFilters();
  });

  loadIndex().then(() => {
    const counts = { dataset: 0, benchmark: 0 };
    state.all.forEach(t => { counts[t.split]++; });
    // What each split holds is told on hover, so switching never moves the controls below.
    document.querySelectorAll(".set-btn").forEach(b => {
      b.innerHTML += `<span class="cnt">${fmt(counts[b.dataset.split])}</span>`;
      b.title = SPLITS[b.dataset.split];
      b.addEventListener("click", () => { if (b.dataset.split !== state.split) switchSplit(b.dataset.split); });
    });
    if (params.get("q")) $("search").value = params.get("q");
    const wanted = params.get("task");
    const fromTask = wanted && state.all.find(t => `${t.env.id}/${t.stem}` === wanted || t.stem === wanted);
    const split = fromTask ? fromTask.split : (params.get("split") === "benchmark" ? "benchmark" : "dataset");
    const type = params.get("type");
    switchSplit(split, {
      env: params.get("env"),
      type: type !== null && /^[0-5]$/.test(type) ? Number(type) : undefined,
      task: wanted,
      step: Math.max(0, parseInt(params.get("step") || "1", 10) - 1)
    });
    revealTask();
  }).catch(err => {
    $("rows").innerHTML = `<div class="empty">${esc(err.message)}</div>`;
    $("taskCount").textContent = "No data";
  });
})();
</script>
</body>
</html>