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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"fps": 15,
|
| 4 |
+
"features": {
|
| 5 |
+
"observation.state": {
|
| 6 |
+
"dtype": "float32",
|
| 7 |
+
"shape": [
|
| 8 |
+
7
|
| 9 |
+
],
|
| 10 |
+
"names": [
|
| 11 |
+
"cart_pos_x",
|
| 12 |
+
"cart_pos_y",
|
| 13 |
+
"cart_pos_z",
|
| 14 |
+
"cart_rot_x",
|
| 15 |
+
"cart_rot_y",
|
| 16 |
+
"cart_rot_z",
|
| 17 |
+
"gripper_position"
|
| 18 |
+
]
|
| 19 |
+
},
|
| 20 |
+
"action": {
|
| 21 |
+
"dtype": "float32",
|
| 22 |
+
"shape": [
|
| 23 |
+
7
|
| 24 |
+
],
|
| 25 |
+
"names": [
|
| 26 |
+
"vel_x",
|
| 27 |
+
"vel_y",
|
| 28 |
+
"vel_z",
|
| 29 |
+
"vel_roll",
|
| 30 |
+
"vel_pitch",
|
| 31 |
+
"vel_yaw",
|
| 32 |
+
"gripper_action"
|
| 33 |
+
]
|
| 34 |
+
},
|
| 35 |
+
"steps_to_go": {
|
| 36 |
+
"dtype": "int64",
|
| 37 |
+
"shape": [
|
| 38 |
+
1
|
| 39 |
+
],
|
| 40 |
+
"names": [
|
| 41 |
+
"steps_to_go"
|
| 42 |
+
]
|
| 43 |
+
},
|
| 44 |
+
"source": {
|
| 45 |
+
"dtype": "int64",
|
| 46 |
+
"shape": [
|
| 47 |
+
1
|
| 48 |
+
],
|
| 49 |
+
"names": [
|
| 50 |
+
"source_id"
|
| 51 |
+
]
|
| 52 |
+
},
|
| 53 |
+
"intervention": {
|
| 54 |
+
"dtype": "int64",
|
| 55 |
+
"shape": [
|
| 56 |
+
1
|
| 57 |
+
],
|
| 58 |
+
"names": [
|
| 59 |
+
"intervention_flag"
|
| 60 |
+
]
|
| 61 |
+
},
|
| 62 |
+
"success": {
|
| 63 |
+
"dtype": "int64",
|
| 64 |
+
"shape": [
|
| 65 |
+
1
|
| 66 |
+
],
|
| 67 |
+
"names": [
|
| 68 |
+
"success_flag"
|
| 69 |
+
]
|
| 70 |
+
},
|
| 71 |
+
"is_valid": {
|
| 72 |
+
"dtype": "int64",
|
| 73 |
+
"shape": [
|
| 74 |
+
1
|
| 75 |
+
],
|
| 76 |
+
"names": [
|
| 77 |
+
"is_valid_flag"
|
| 78 |
+
]
|
| 79 |
+
},
|
| 80 |
+
"reward": {
|
| 81 |
+
"dtype": "float32",
|
| 82 |
+
"shape": [
|
| 83 |
+
1
|
| 84 |
+
],
|
| 85 |
+
"names": [
|
| 86 |
+
"reward"
|
| 87 |
+
]
|
| 88 |
+
},
|
| 89 |
+
"done": {
|
| 90 |
+
"dtype": "int64",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": [
|
| 95 |
+
"done_flag"
|
| 96 |
+
]
|
| 97 |
+
},
|
| 98 |
+
"policy_id": {
|
| 99 |
+
"dtype": "int64",
|
| 100 |
+
"shape": [
|
| 101 |
+
1
|
| 102 |
+
],
|
| 103 |
+
"names": [
|
| 104 |
+
"policy_id"
|
| 105 |
+
]
|
| 106 |
+
},
|
| 107 |
+
"round_id": {
|
| 108 |
+
"dtype": "int64",
|
| 109 |
+
"shape": [
|
| 110 |
+
1
|
| 111 |
+
],
|
| 112 |
+
"names": [
|
| 113 |
+
"round_id"
|
| 114 |
+
]
|
| 115 |
+
},
|
| 116 |
+
"action.cartesian_velocity": {
|
| 117 |
+
"dtype": "float32",
|
| 118 |
+
"shape": [
|
| 119 |
+
6
|
| 120 |
+
],
|
| 121 |
+
"names": [
|
| 122 |
+
"x",
|
| 123 |
+
"y",
|
| 124 |
+
"z",
|
| 125 |
+
"roll",
|
| 126 |
+
"pitch",
|
| 127 |
+
"yaw"
|
| 128 |
+
]
|
| 129 |
+
},
|
| 130 |
+
"action.cartesian_position": {
|
| 131 |
+
"dtype": "float32",
|
| 132 |
+
"shape": [
|
| 133 |
+
6
|
| 134 |
+
],
|
| 135 |
+
"names": [
|
| 136 |
+
"x",
|
| 137 |
+
"y",
|
| 138 |
+
"z",
|
| 139 |
+
"roll",
|
| 140 |
+
"pitch",
|
| 141 |
+
"yaw"
|
| 142 |
+
]
|
| 143 |
+
},
|
| 144 |
+
"action.joint_velocity": {
|
| 145 |
+
"dtype": "float32",
|
| 146 |
+
"shape": [
|
| 147 |
+
7
|
| 148 |
+
],
|
| 149 |
+
"names": [
|
| 150 |
+
"joint_0",
|
| 151 |
+
"joint_1",
|
| 152 |
+
"joint_2",
|
| 153 |
+
"joint_3",
|
| 154 |
+
"joint_4",
|
| 155 |
+
"joint_5",
|
| 156 |
+
"joint_6"
|
| 157 |
+
]
|
| 158 |
+
},
|
| 159 |
+
"action.joint_position": {
|
| 160 |
+
"dtype": "float32",
|
| 161 |
+
"shape": [
|
| 162 |
+
7
|
| 163 |
+
],
|
| 164 |
+
"names": [
|
| 165 |
+
"joint_0",
|
| 166 |
+
"joint_1",
|
| 167 |
+
"joint_2",
|
| 168 |
+
"joint_3",
|
| 169 |
+
"joint_4",
|
| 170 |
+
"joint_5",
|
| 171 |
+
"joint_6"
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
+
"action.gripper_position": {
|
| 175 |
+
"dtype": "float32",
|
| 176 |
+
"shape": [
|
| 177 |
+
1
|
| 178 |
+
],
|
| 179 |
+
"names": [
|
| 180 |
+
"gripper"
|
| 181 |
+
]
|
| 182 |
+
},
|
| 183 |
+
"action.gripper_velocity": {
|
| 184 |
+
"dtype": "float32",
|
| 185 |
+
"shape": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"names": [
|
| 189 |
+
"gripper"
|
| 190 |
+
]
|
| 191 |
+
},
|
| 192 |
+
"observation.state.cartesian_position": {
|
| 193 |
+
"dtype": "float32",
|
| 194 |
+
"shape": [
|
| 195 |
+
6
|
| 196 |
+
],
|
| 197 |
+
"names": [
|
| 198 |
+
"x",
|
| 199 |
+
"y",
|
| 200 |
+
"z",
|
| 201 |
+
"roll",
|
| 202 |
+
"pitch",
|
| 203 |
+
"yaw"
|
| 204 |
+
]
|
| 205 |
+
},
|
| 206 |
+
"observation.state.joint_position": {
|
| 207 |
+
"dtype": "float32",
|
| 208 |
+
"shape": [
|
| 209 |
+
7
|
| 210 |
+
],
|
| 211 |
+
"names": [
|
| 212 |
+
"joint_0",
|
| 213 |
+
"joint_1",
|
| 214 |
+
"joint_2",
|
| 215 |
+
"joint_3",
|
| 216 |
+
"joint_4",
|
| 217 |
+
"joint_5",
|
| 218 |
+
"joint_6"
|
| 219 |
+
]
|
| 220 |
+
},
|
| 221 |
+
"observation.state.joint_velocity": {
|
| 222 |
+
"dtype": "float32",
|
| 223 |
+
"shape": [
|
| 224 |
+
7
|
| 225 |
+
],
|
| 226 |
+
"names": [
|
| 227 |
+
"joint_0",
|
| 228 |
+
"joint_1",
|
| 229 |
+
"joint_2",
|
| 230 |
+
"joint_3",
|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
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|
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|
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|
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|
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|
| 244 |
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|
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|
| 246 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 270 |
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|
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|
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|
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|
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|
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|
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| 285 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 571 |
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|
| 572 |
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}
|
meta/initial_states_manifest.json
ADDED
|
@@ -0,0 +1,1201 @@
|
|
|
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|
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|
|
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|
|
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|
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|
|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"task": "routing_d1",
|
| 3 |
+
"schema": "real_manual_initial_states_v1",
|
| 4 |
+
"keys": [
|
| 5 |
+
"rope_x",
|
| 6 |
+
"clip_left_x",
|
| 7 |
+
"clip_left_y",
|
| 8 |
+
"clip_left_yaw",
|
| 9 |
+
"clip_left_oidx",
|
| 10 |
+
"clip_right_x",
|
| 11 |
+
"clip_right_y",
|
| 12 |
+
"clip_right_yaw",
|
| 13 |
+
"clip_right_oidx"
|
| 14 |
+
],
|
| 15 |
+
"units": {
|
| 16 |
+
"rope_x": "m",
|
| 17 |
+
"clip_left_x": "m",
|
| 18 |
+
"clip_left_y": "m",
|
| 19 |
+
"clip_left_yaw": "rad",
|
| 20 |
+
"clip_left_oidx": "index",
|
| 21 |
+
"clip_right_x": "m",
|
| 22 |
+
"clip_right_y": "m",
|
| 23 |
+
"clip_right_yaw": "rad",
|
| 24 |
+
"clip_right_oidx": "index"
|
| 25 |
+
},
|
| 26 |
+
"operator_frame": {
|
| 27 |
+
"description": "Manual routing_d1 placement targets in the operator frame. +x is forward, +y is left, yaw is the object heading. Sampled scene placements are recorded in the same frame.",
|
| 28 |
+
"display_units": {
|
| 29 |
+
"rope_x": "in",
|
| 30 |
+
"clip_left_x": "in",
|
| 31 |
+
"clip_left_y": "in",
|
| 32 |
+
"clip_left_yaw": "deg",
|
| 33 |
+
"clip_left_oidx": "index",
|
| 34 |
+
"clip_right_x": "in",
|
| 35 |
+
"clip_right_y": "in",
|
| 36 |
+
"clip_right_yaw": "deg",
|
| 37 |
+
"clip_right_oidx": "index"
|
| 38 |
+
}
|
| 39 |
+
},
|
| 40 |
+
"bounds": {
|
| 41 |
+
"rope_x": [
|
| 42 |
+
-0.1651,
|
| 43 |
+
0.2413
|
| 44 |
+
],
|
| 45 |
+
"clip_left_x": [
|
| 46 |
+
-0.1651,
|
| 47 |
+
0.2413
|
| 48 |
+
],
|
| 49 |
+
"clip_left_y": [
|
| 50 |
+
0.0127,
|
| 51 |
+
0.2413
|
| 52 |
+
],
|
| 53 |
+
"clip_left_oidx": [
|
| 54 |
+
0.0,
|
| 55 |
+
2.0
|
| 56 |
+
],
|
| 57 |
+
"clip_right_x": [
|
| 58 |
+
-0.1651,
|
| 59 |
+
0.2413
|
| 60 |
+
],
|
| 61 |
+
"clip_right_y": [
|
| 62 |
+
-0.2413,
|
| 63 |
+
-0.0127
|
| 64 |
+
],
|
| 65 |
+
"clip_right_oidx": [
|
| 66 |
+
0.0,
|
| 67 |
+
2.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"bounds_display": {
|
| 71 |
+
"rope_x_in": [
|
| 72 |
+
-6.5,
|
| 73 |
+
9.5
|
| 74 |
+
],
|
| 75 |
+
"clip_left_x_in": [
|
| 76 |
+
-6.5,
|
| 77 |
+
9.5
|
| 78 |
+
],
|
| 79 |
+
"clip_left_y_in": [
|
| 80 |
+
0.5,
|
| 81 |
+
9.5
|
| 82 |
+
],
|
| 83 |
+
"clip_left_oidx": [
|
| 84 |
+
0.0,
|
| 85 |
+
2.0
|
| 86 |
+
],
|
| 87 |
+
"clip_right_x_in": [
|
| 88 |
+
-6.5,
|
| 89 |
+
9.5
|
| 90 |
+
],
|
| 91 |
+
"clip_right_y_in": [
|
| 92 |
+
-9.5,
|
| 93 |
+
-0.5
|
| 94 |
+
],
|
| 95 |
+
"clip_right_oidx": [
|
| 96 |
+
0.0,
|
| 97 |
+
2.0
|
| 98 |
+
]
|
| 99 |
+
},
|
| 100 |
+
"sampled_placements": {
|
| 101 |
+
"clip_left": {
|
| 102 |
+
"keys": [
|
| 103 |
+
"clip_left_x",
|
| 104 |
+
"clip_left_y"
|
| 105 |
+
],
|
| 106 |
+
"bounds": [
|
| 107 |
+
[
|
| 108 |
+
-0.1651,
|
| 109 |
+
0.2413
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
0.0127,
|
| 113 |
+
0.2413
|
| 114 |
+
]
|
| 115 |
+
],
|
| 116 |
+
"snap_m": 0.0254,
|
| 117 |
+
"grid_dims": [
|
| 118 |
+
17,
|
| 119 |
+
10
|
| 120 |
+
]
|
| 121 |
+
},
|
| 122 |
+
"clip_right": {
|
| 123 |
+
"keys": [
|
| 124 |
+
"clip_right_x",
|
| 125 |
+
"clip_right_y"
|
| 126 |
+
],
|
| 127 |
+
"bounds": [
|
| 128 |
+
[
|
| 129 |
+
-0.1651,
|
| 130 |
+
0.2413
|
| 131 |
+
],
|
| 132 |
+
[
|
| 133 |
+
-0.2413,
|
| 134 |
+
-0.0127
|
| 135 |
+
]
|
| 136 |
+
],
|
| 137 |
+
"snap_m": 0.0254,
|
| 138 |
+
"grid_dims": [
|
| 139 |
+
17,
|
| 140 |
+
10
|
| 141 |
+
]
|
| 142 |
+
}
|
| 143 |
+
},
|
| 144 |
+
"match_tolerance": 1e-09,
|
| 145 |
+
"phase": "R8_two_arm_heldout_eval",
|
| 146 |
+
"source": "eval_sobol_independent",
|
| 147 |
+
"arms": [
|
| 148 |
+
"eval_sobol_independent"
|
| 149 |
+
],
|
| 150 |
+
"arm_counts": {
|
| 151 |
+
"eval_sobol_independent": 50
|
| 152 |
+
},
|
| 153 |
+
"seeds": {
|
| 154 |
+
"sobol": 2026072905
|
| 155 |
+
},
|
| 156 |
+
"order_policy": "independent_sobol_stream",
|
| 157 |
+
"order_policy_description": "Rows keep the independent eval Sobol stream order; both clips are repositioned every episode so there is no single-placement batching to reduce operator moves.",
|
| 158 |
+
"source_index_order_placement_changes": 0,
|
| 159 |
+
"placement_changes": 0,
|
| 160 |
+
"placement_moves_reduced_by": 0,
|
| 161 |
+
"sobol_stream": {
|
| 162 |
+
"start_index": 0,
|
| 163 |
+
"end_index_exclusive": 50
|
| 164 |
+
},
|
| 165 |
+
"registry_usage_id": "routing_d1_r8_heldout_eval_independent_sobol_seed2026072905",
|
| 166 |
+
"disjoint_from": "Fresh independent scrambled Sobol stream audited against the routing_d1 R0 250-target collection manifest (baseline_uniform 100 + ours_sobol 100 + eval_heldout 50). Clips are rejection-sampled >= 2 in apart. Eval points are never promoted into training unless a later protocol explicitly records that promotion.",
|
| 167 |
+
"purpose": "Paired held-out robot eval for routing_d1 R8 base actors (baseline_uniform-r8 vs ours_sobol-r8) on the same 50 independent-stream Sobol held-out states (paired McNemar). routing runs freeCF-only 2-arm evals as the clean protocol demonstration.",
|
| 168 |
+
"within_set_min_periodic_dist": 0.2648081153439341,
|
| 169 |
+
"cross_set_min_periodic_dist_to_prior_manifests": {
|
| 170 |
+
"experiments/2026-06-29/blind_inputs/routing_d1_r0_three_arm_uniform100_sobol100_evalsobol50_scrambled.json": 0.21143529291208435,
|
| 171 |
+
"experiments/2026-07-07/blind_inputs/routing_d1_r1_ef25cov25_blind_dagger.json": 0.2540352343495771,
|
| 172 |
+
"experiments/2026-07-08/blind_inputs/routing_d1_r2_ef25cov25_blind_dagger.json": 0.27899831246394785,
|
| 173 |
+
"experiments/2026-07-09/blind_inputs/routing_d1_r3_ef25cov25_blind_dagger.json": 0.19933836239286248,
|
| 174 |
+
"experiments/2026-07-10/blind_inputs/routing_d1_r4_ef25cov25_blind_dagger.json": 0.2200326870813131,
|
| 175 |
+
"experiments/2026-07-11/blind_inputs/routing_d1_r5_ef20cov30_blind_dagger.json": 0.3017522643409873,
|
| 176 |
+
"experiments/2026-07-12/blind_inputs/routing_d1_r6_ef25cov25_blind_dagger.json": 0.2692918562201127,
|
| 177 |
+
"experiments/2026-07-13/blind_inputs/routing_d1_r7_ef25cov25_blind_dagger.json": 0.24943310657717851,
|
| 178 |
+
"experiments/2026-07-29/blind_inputs/routing_d1_r8_ef25cov25_blind_dagger.json": 0.17319251961551774,
|
| 179 |
+
"experiments/2026-07-04/blind_inputs/routing_d1_r0_eval_heldout_independent_sobol_seed2026070501.json": 0.4146457334078463,
|
| 180 |
+
"experiments/2026-07-04/blind_inputs/routing_d1_r1_eval_heldout_independent_sobol_seed2026070705.json": 0.27899831246394785,
|
| 181 |
+
"experiments/2026-07-04/blind_inputs/routing_d1_r2_eval_heldout_independent_sobol_seed2026070802.json": 0.3057856042565063,
|
| 182 |
+
"experiments/2026-07-04/blind_inputs/routing_d1_r3_eval_heldout_independent_sobol_seed2026070902.json": 0.1152471048146919,
|
| 183 |
+
"experiments/2026-07-04/blind_inputs/routing_d1_r4_eval_heldout_independent_sobol_seed2026071007.json": 0.26293793381727426,
|
| 184 |
+
"experiments/2026-07-12/blind_inputs/routing_d1_r5_eval_heldout_independent_sobol_seed2026071107.json": 0.3985101727639067,
|
| 185 |
+
"experiments/2026-07-13/blind_inputs/routing_d1_r6_eval_heldout_independent_sobol_seed2026071206.json": 0.24943310657717851,
|
| 186 |
+
"experiments/2026-07-13/blind_inputs/routing_d1_r7_eval_heldout_independent_sobol_seed2026071306.json": 0.3014379949573787
|
| 187 |
+
},
|
| 188 |
+
"proposal_status": "PROPOSED_NOT_LAUNCHED",
|
| 189 |
+
"registry_claim_status": "RESERVED_NOT_YET_REGISTERED",
|
| 190 |
+
"registry_claim_note": "Eval Sobol seed 2026072905 is RESERVED for the R8 headline eval and is NOT appended to experiments/tracking/data/01c/real_point_registry/sobol_stream_ranges.csv: this manifest was built WITHOUT --apply-registry. Building/reading the file does not burn the seed; only the R8 robot eval session does (R7 precedent: seed 2026071306 stayed `proposed` from the 2026-07-13 build until the 2026-07-18 session).",
|
| 191 |
+
"round_state_at_build": "R8 collection NOT yet collected; the R8 collection manifest is still the 2026-07-29 DRAFT (ready_to_collect=false). This eval manifest is the design-time artifact only.",
|
| 192 |
+
"seed_roles": {
|
| 193 |
+
"eval_sobol": 2026072905,
|
| 194 |
+
"arena_interleave": 2026072906,
|
| 195 |
+
"note": "Post-swap truth per collector_seeds/seed_ledger_audit.csv: arena interleave is 2026072906 and 2026072907 is the already-consumed coverage-diagnostic seed. The pre-swap INVERTED mapping (coverage=06 / arena=07) was corrected 2026-08-04 in commit 26083e68b in BOTH seed_proposal.json and 2026-07-29_07, which now record the post-swap mapping with explicit do-not-restore guards; the seed ledger and this manifest remain the truth surfaces."
|
| 196 |
+
},
|
| 197 |
+
"built_by": "experiments/tracking/scripts/01b_real_world/routing_d1/2026-08-04_05_make_routing_d1_r8_eval_heldout_manifest.py",
|
| 198 |
+
"audited_surfaces": 17,
|
| 199 |
+
"states": [
|
| 200 |
+
{
|
| 201 |
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"rope_x": -0.04970459387302399,
|
| 202 |
+
"clip_left_x": 0.1651,
|
| 203 |
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"clip_left_y": 0.08889999999999999,
|
| 204 |
+
"clip_left_oidx": 1.0,
|
| 205 |
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"clip_right_x": -0.038099999999999995,
|
| 206 |
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"clip_right_y": -0.038099999999999995,
|
| 207 |
+
"clip_right_oidx": 1.0,
|
| 208 |
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"clip_left_yaw": -1.5707963267948966,
|
| 209 |
+
"clip_right_yaw": -1.5707963267948966,
|
| 210 |
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"source": "eval_sobol_independent",
|
| 211 |
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"sources": [
|
| 212 |
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"eval_sobol_independent"
|
| 213 |
+
],
|
| 214 |
+
"source_index": 0,
|
| 215 |
+
"sobol_seed": 2026072905,
|
| 216 |
+
"sobol_stream_index": 0,
|
| 217 |
+
"manifest_idx": 0,
|
| 218 |
+
"order_policy": "source_index"
|
| 219 |
+
},
|
| 220 |
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{
|
| 221 |
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"rope_x": 0.1936458828032017,
|
| 222 |
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"clip_left_x": -0.1651,
|
| 223 |
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"clip_left_y": 0.1397,
|
| 224 |
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"clip_left_oidx": 2.0,
|
| 225 |
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"clip_right_x": 0.13969999999999996,
|
| 226 |
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"clip_right_y": -0.21589999999999998,
|
| 227 |
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"clip_right_oidx": 1.0,
|
| 228 |
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"clip_left_yaw": -2.356194490192345,
|
| 229 |
+
"clip_right_yaw": -1.5707963267948966,
|
| 230 |
+
"source": "eval_sobol_independent",
|
| 231 |
+
"sources": [
|
| 232 |
+
"eval_sobol_independent"
|
| 233 |
+
],
|
| 234 |
+
"source_index": 1,
|
| 235 |
+
"sobol_seed": 2026072905,
|
| 236 |
+
"sobol_stream_index": 1,
|
| 237 |
+
"manifest_idx": 1,
|
| 238 |
+
"order_policy": "source_index"
|
| 239 |
+
},
|
| 240 |
+
{
|
| 241 |
+
"rope_x": 0.11573147641122342,
|
| 242 |
+
"clip_left_x": 0.11429999999999998,
|
| 243 |
+
"clip_left_y": 0.038099999999999995,
|
| 244 |
+
"clip_left_oidx": 0.0,
|
| 245 |
+
"clip_right_x": 0.0889,
|
| 246 |
+
"clip_right_y": -0.1397,
|
| 247 |
+
"clip_right_oidx": 2.0,
|
| 248 |
+
"clip_left_yaw": -0.7853981633974483,
|
| 249 |
+
"clip_right_yaw": -2.356194490192345,
|
| 250 |
+
"source": "eval_sobol_independent",
|
| 251 |
+
"sources": [
|
| 252 |
+
"eval_sobol_independent"
|
| 253 |
+
],
|
| 254 |
+
"source_index": 2,
|
| 255 |
+
"sobol_seed": 2026072905,
|
| 256 |
+
"sobol_stream_index": 2,
|
| 257 |
+
"manifest_idx": 2,
|
| 258 |
+
"order_policy": "source_index"
|
| 259 |
+
},
|
| 260 |
+
{
|
| 261 |
+
"rope_x": -0.12433819125592709,
|
| 262 |
+
"clip_left_x": -0.012700000000000017,
|
| 263 |
+
"clip_left_y": 0.2413,
|
| 264 |
+
"clip_left_oidx": 1.0,
|
| 265 |
+
"clip_right_x": -0.0889,
|
| 266 |
+
"clip_right_y": -0.11429999999999998,
|
| 267 |
+
"clip_right_oidx": 0.0,
|
| 268 |
+
"clip_left_yaw": -1.5707963267948966,
|
| 269 |
+
"clip_right_yaw": -0.7853981633974483,
|
| 270 |
+
"source": "eval_sobol_independent",
|
| 271 |
+
"sources": [
|
| 272 |
+
"eval_sobol_independent"
|
| 273 |
+
],
|
| 274 |
+
"source_index": 3,
|
| 275 |
+
"sobol_seed": 2026072905,
|
| 276 |
+
"sobol_stream_index": 3,
|
| 277 |
+
"manifest_idx": 3,
|
| 278 |
+
"order_policy": "source_index"
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"rope_x": -0.09822167544364929,
|
| 282 |
+
"clip_left_x": 0.0889,
|
| 283 |
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"clip_left_y": 0.19049999999999997,
|
| 284 |
+
"clip_left_oidx": 2.0,
|
| 285 |
+
"clip_right_x": -0.1651,
|
| 286 |
+
"clip_right_y": -0.0127,
|
| 287 |
+
"clip_right_oidx": 2.0,
|
| 288 |
+
"clip_left_yaw": -2.356194490192345,
|
| 289 |
+
"clip_right_yaw": -2.356194490192345,
|
| 290 |
+
"source": "eval_sobol_independent",
|
| 291 |
+
"sources": [
|
| 292 |
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"eval_sobol_independent"
|
| 293 |
+
],
|
| 294 |
+
"source_index": 4,
|
| 295 |
+
"sobol_seed": 2026072905,
|
| 296 |
+
"sobol_stream_index": 4,
|
| 297 |
+
"manifest_idx": 4,
|
| 298 |
+
"order_policy": "source_index"
|
| 299 |
+
},
|
| 300 |
+
{
|
| 301 |
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"rope_x": 0.04352682703137398,
|
| 302 |
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"clip_left_x": -0.038099999999999995,
|
| 303 |
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"clip_left_y": 0.1143,
|
| 304 |
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"clip_left_oidx": 0.0,
|
| 305 |
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"clip_right_x": 0.0889,
|
| 306 |
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"clip_right_y": -0.21589999999999998,
|
| 307 |
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"clip_right_oidx": 0.0,
|
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|
meta/stats.json
ADDED
|
@@ -0,0 +1,2657 @@
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|
meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:37e20809f7ed4a2e3addb0f456263c9201b6abbbff71b05b15f72d55ae819a0f
|
| 3 |
+
size 2040
|
policy_loading.log
ADDED
|
@@ -0,0 +1,27 @@
|
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|
| 1 |
+
|
| 2 |
+
=== scheduled policy 1/2 ===
|
| 3 |
+
slot_key=fixed:0
|
| 4 |
+
model_id=wandb://self-improving/real-dagger-mining-01b/real01b-routing-d1-baseline-uniform-r0-dp-r18-sepenc-imagen-dbc10b90-92-init0-seed-1-umirel-schemep-proprioanchor-knf2zjdr-final:v0
|
| 5 |
+
wandb: [wandb.Api()] Loaded credentials for https://api.wandb.ai from /home/lars/.netrc.
|
| 6 |
+
wandb: Downloading large artifact 'real01b-routing-d1-baseline-uniform-r0-dp-r18-sepenc-imagen-dbc10b90-92-init0-seed-1-umirel-schemep-proprioanchor-knf2zjdr-final:v0', 362.56MB. 6 files...
|
| 7 |
+
wandb: \ 1 of 6 files downloaded...
|
| 8 |
+
Done. 00:00:37.5 (9.7MB/s)
|
| 9 |
+
Loading weights from local directory
|
| 10 |
+
/home/lars/self-improving-project/self-improving-robots/robot-env/.venv/lib/python3.12/site-packages/torch/cuda/__init__.py:1061: UserWarning: Can't initialize NVML
|
| 11 |
+
raw_cnt = _raw_device_count_nvml()
|
| 12 |
+
Diffusion action horizon: predict 12 (horizon), execute 6 (n_action_steps).
|
| 13 |
+
Scheduler: DDIMScheduler (8 inference steps)
|
| 14 |
+
Image resolution: 224x224 (auto-detected from checkpoint)
|
| 15 |
+
Per-camera replacement crop: {'wrist_left': (180, 0, 639, 413), 'side_1': (140, 120, 560, 470), 'side_2': (130, 120, 440, 445)} (from policy config)
|
| 16 |
+
|
| 17 |
+
=== scheduled policy 2/2 ===
|
| 18 |
+
slot_key=fixed:1
|
| 19 |
+
model_id=wandb://self-improving/real-dagger-mining-01b/real01b-routing-d1-ours-sobol-r0-dp-r18-sepenc-imagenet-pre-56c61020-92-init0-seed-1-umirel-schemep-proprioanchor-1wbp1jd8-final:v0
|
| 20 |
+
wandb: Downloading large artifact 'real01b-routing-d1-ours-sobol-r0-dp-r18-sepenc-imagenet-pre-56c61020-92-init0-seed-1-umirel-schemep-proprioanchor-1wbp1jd8-final:v0', 362.56MB. 6 files...
|
| 21 |
+
wandb: \ 1 of 6 files downloaded...
|
| 22 |
+
Done. 00:00:33.9 (10.7MB/s)
|
| 23 |
+
Loading weights from local directory
|
| 24 |
+
Diffusion action horizon: predict 12 (horizon), execute 6 (n_action_steps).
|
| 25 |
+
Scheduler: DDIMScheduler (8 inference steps)
|
| 26 |
+
Image resolution: 224x224 (auto-detected from checkpoint)
|
| 27 |
+
Per-camera replacement crop: {'wrist_left': (180, 0, 639, 413), 'side_1': (140, 120, 560, 470), 'side_2': (130, 120, 440, 445)} (from policy config)
|
results.json
ADDED
|
@@ -0,0 +1,2018 @@
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version https://git-lfs.github.com/spec/v1
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version https://git-lfs.github.com/spec/v1
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version https://git-lfs.github.com/spec/v1
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version https://git-lfs.github.com/spec/v1
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