{ "cases": [ { "id": "case15", "tree": "robocoin_lerobot_v3/robocoin_agilex_decoupled_hd", "shard": "c000-f001", "episode": 515, "start": 407, "starts": [ 407, 439, 471, 503, 535, 567, 599, 631 ], "prompts": [ "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." ], "split": "validation", "file": "case15.npz", "motion_score": 0.008097350597381592, "complexity_score": 0.015439535921463632, "difficulty_proxy": "low", "reproduction": { "case_id": "case15", "case_ordinal": 0, "dataset_tree": "robocoin_lerobot_v3/robocoin_agilex_decoupled_hd", "dataset_family": "robocoin_lerobot_v3", "processed_shard": "c000-f001", "processed_episode": 515, "original_source_id": "robocoin_lerobot_v3:Agilex_Cobot_Magic_scoop_coffee_beans/episode_000128", "split": "validation", "episode_length_ticks": 896, "prediction_start_tick": 407, "prediction_start_seconds": 16.28, "history_past_start_seconds": 9.28, "episode_anchor_seconds": 0, "cameras": { "head": { "source_relative_path": "datasets_train/robocoin_lerobot_v3/robocoin_agilex_decoupled_hd/videos/observation.images.cam_high_rgb/chunk-000/file-005.mp4", "episode_start_in_video_s": 1740.5666666666664, "episode_end_in_video_s": 1776.3999999999996, "native_fps": 30.0, "used_in_composite": true }, "wrist_left": { "source_relative_path": "datasets_train/robocoin_lerobot_v3/robocoin_agilex_decoupled_hd/videos/observation.images.cam_left_wrist_rgb/chunk-000/file-001.mp4", "episode_start_in_video_s": 4757.233333333334, "episode_end_in_video_s": 4793.066666666667, "native_fps": 30.0, "used_in_composite": true }, "wrist_right": { "source_relative_path": "datasets_train/robocoin_lerobot_v3/robocoin_agilex_decoupled_hd/videos/observation.images.cam_right_wrist_rgb/chunk-000/file-001.mp4", "episode_start_in_video_s": 5207.4333333333325, "episode_end_in_video_s": 5243.2666666666655, "native_fps": 30.0, "used_in_composite": true } }, "primary_view": "head", "composite_views": [ "head", "wrist_left", "wrist_right" ], "initial_observations": [ { "slot": 0, "role": "episode anchor", "tick": 0, "seconds": 0.0, "png": { "path": "reproduction/case15/observation-00.png", "bytes": 50629, "sha256": "07c5e24d40cb5326cbc10814434b56a33d1c9edddff76bba745cc96adf185cdc" } }, { "slot": 1, "role": "past", "tick": 232, "seconds": 9.28, "png": { "path": "reproduction/case15/observation-01.png", "bytes": 52228, "sha256": "1b20e0736f86dfcd02a7a9b1029d5445fa72be3dcf25f665ad6dc735941a2103" } }, { "slot": 2, "role": "past", "tick": 257, "seconds": 10.28, "png": { "path": "reproduction/case15/observation-02.png", "bytes": 54732, "sha256": "2c5c83616e79089cd6baad895a33fc20fad36e2018da3b0083d8bbd5049a99a7" } }, { "slot": 3, "role": "past", "tick": 282, "seconds": 11.28, "png": { "path": "reproduction/case15/observation-03.png", "bytes": 54741, "sha256": "793d545e6a6926b28e3645872ddfc89d1d1dc574f516534fb9b5d55a37392f49" } }, { "slot": 4, "role": "past", "tick": 307, "seconds": 12.28, "png": { "path": "reproduction/case15/observation-04.png", "bytes": 57120, "sha256": "584e5adb36640372217e8f85c7fc1d43f9f55b833620d23629de0967815992af" } }, { "slot": 5, "role": "past", "tick": 332, "seconds": 13.28, "png": { "path": "reproduction/case15/observation-05.png", "bytes": 62245, "sha256": "807e3a407260f15a15d162abfea6981c78b9acf906e33f83fba6272cfd730273" } }, { "slot": 6, "role": "past", "tick": 357, "seconds": 14.28, "png": { "path": "reproduction/case15/observation-06.png", "bytes": 62984, "sha256": "be5aaa44927e6f96f37e5f76e44389a552b725a926d9f83c509389fff411cd2a" } }, { "slot": 7, "role": "past", "tick": 382, "seconds": 15.28, "png": { "path": "reproduction/case15/observation-07.png", "bytes": 63506, "sha256": "700329c580a4e54404e7cf4cc38c8359ded9bc8b65d2023554f900eeab09da68" } }, { "slot": 8, "role": "current", "tick": 407, "seconds": 16.28, "png": { "path": "reproduction/case15/observation-08.png", "bytes": 59906, "sha256": "6758207529b2323eb63defd3ceb0de4fd91d5a8ddcd95199cc4dd06bd9ee985c" } } ], "chunks": [ { "chunk_index": 0, "current_tick": 407, "current_seconds": 16.28, "history_ticks": [ 0, 232, 257, 282, 307, 332, 357, 382, 407 ], "history_seconds": [ 0.0, 9.28, 10.28, 11.28, 12.28, 13.28, 14.28, 15.28, 16.28 ], "future_video_ticks": [ 411, 415, 419, 423, 427, 431, 435, 439 ], "future_video_seconds": [ 16.44, 16.6, 16.76, 16.92, 17.08, 17.24, 17.4, 17.56 ], "action_target_tick_range_inclusive": [ 408, 439 ], "action_target_seconds_inclusive": [ 16.32, 17.56 ], "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "cameras": { "head": { "requested_history_video_seconds": [ 1740.5666666666664, 1749.8466666666664, 1750.8466666666664, 1751.8466666666664, 1752.8466666666664, 1753.8466666666664, 1754.8466666666664, 1755.8466666666664, 1756.8466666666664 ], "requested_history_native_frame_indices": [ 52217, 52495, 52525, 52555, 52585, 52615, 52645, 52675, 52705 ] }, "wrist_left": { "requested_history_video_seconds": [ 4757.233333333334, 4766.513333333333, 4767.513333333333, 4768.513333333333, 4769.513333333333, 4770.513333333333, 4771.513333333333, 4772.513333333333, 4773.513333333333 ], "requested_history_native_frame_indices": [ 142717, 142995, 143025, 143055, 143085, 143115, 143145, 143175, 143205 ] }, "wrist_right": { "requested_history_video_seconds": [ 5207.4333333333325, 5216.713333333332, 5217.713333333332, 5218.713333333332, 5219.713333333332, 5220.713333333332, 5221.713333333332, 5222.713333333332, 5223.713333333332 ], "requested_history_native_frame_indices": [ 156223, 156501, 156531, 156561, 156591, 156621, 156651, 156681, 156711 ] } } }, { "chunk_index": 1, "current_tick": 439, "current_seconds": 17.56, "history_ticks": [ 0, 264, 289, 314, 339, 364, 389, 414, 439 ], "history_seconds": [ 0.0, 10.56, 11.56, 12.56, 13.56, 14.56, 15.56, 16.56, 17.56 ], "future_video_ticks": [ 443, 447, 451, 455, 459, 463, 467, 471 ], "future_video_seconds": [ 17.72, 17.88, 18.04, 18.2, 18.36, 18.52, 18.68, 18.84 ], "action_target_tick_range_inclusive": [ 440, 471 ], "action_target_seconds_inclusive": [ 17.6, 18.84 ], "seed": 43, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "cameras": { "head": { "requested_history_video_seconds": [ 1740.5666666666664, 1751.1266666666663, 1752.1266666666663, 1753.1266666666663, 1754.1266666666663, 1755.1266666666663, 1756.1266666666663, 1757.1266666666663, 1758.1266666666663 ], "requested_history_native_frame_indices": [ 52217, 52534, 52564, 52594, 52624, 52654, 52684, 52714, 52744 ] }, "wrist_left": { "requested_history_video_seconds": [ 4757.233333333334, 4767.793333333334, 4768.793333333334, 4769.793333333334, 4770.793333333334, 4771.793333333334, 4772.793333333334, 4773.793333333334, 4774.793333333334 ], "requested_history_native_frame_indices": [ 142717, 143034, 143064, 143094, 143124, 143154, 143184, 143214, 143244 ] }, "wrist_right": { "requested_history_video_seconds": [ 5207.4333333333325, 5217.993333333333, 5218.993333333333, 5219.993333333333, 5220.993333333333, 5221.993333333333, 5222.993333333333, 5223.993333333333, 5224.993333333333 ], "requested_history_native_frame_indices": [ 156223, 156540, 156570, 156600, 156630, 156660, 156690, 156720, 156750 ] } } }, { "chunk_index": 2, "current_tick": 471, "current_seconds": 18.84, "history_ticks": [ 0, 296, 321, 346, 371, 396, 421, 446, 471 ], "history_seconds": [ 0.0, 11.84, 12.84, 13.84, 14.84, 15.84, 16.84, 17.84, 18.84 ], "future_video_ticks": [ 475, 479, 483, 487, 491, 495, 499, 503 ], "future_video_seconds": [ 19.0, 19.16, 19.32, 19.48, 19.64, 19.8, 19.96, 20.12 ], "action_target_tick_range_inclusive": [ 472, 503 ], "action_target_seconds_inclusive": [ 18.88, 20.12 ], "seed": 44, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "cameras": { "head": { "requested_history_video_seconds": [ 1740.5666666666664, 1752.4066666666663, 1753.4066666666663, 1754.4066666666663, 1755.4066666666663, 1756.4066666666663, 1757.4066666666663, 1758.4066666666663, 1759.4066666666663 ], "requested_history_native_frame_indices": [ 52217, 52572, 52602, 52632, 52662, 52692, 52722, 52752, 52782 ] }, "wrist_left": { "requested_history_video_seconds": [ 4757.233333333334, 4769.073333333334, 4770.073333333334, 4771.073333333334, 4772.073333333334, 4773.073333333334, 4774.073333333334, 4775.073333333334, 4776.073333333334 ], "requested_history_native_frame_indices": [ 142717, 143072, 143102, 143132, 143162, 143192, 143222, 143252, 143282 ] }, "wrist_right": { "requested_history_video_seconds": [ 5207.4333333333325, 5219.273333333333, 5220.273333333333, 5221.273333333333, 5222.273333333333, 5223.273333333333, 5224.273333333333, 5225.273333333333, 5226.273333333333 ], "requested_history_native_frame_indices": [ 156223, 156578, 156608, 156638, 156668, 156698, 156728, 156758, 156788 ] } } }, { "chunk_index": 3, "current_tick": 503, "current_seconds": 20.12, "history_ticks": [ 0, 328, 353, 378, 403, 428, 453, 478, 503 ], "history_seconds": [ 0.0, 13.12, 14.12, 15.12, 16.12, 17.12, 18.12, 19.12, 20.12 ], "future_video_ticks": [ 507, 511, 515, 519, 523, 527, 531, 535 ], "future_video_seconds": [ 20.28, 20.44, 20.6, 20.76, 20.92, 21.08, 21.24, 21.4 ], "action_target_tick_range_inclusive": [ 504, 535 ], "action_target_seconds_inclusive": [ 20.16, 21.4 ], "seed": 45, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "cameras": { "head": { "requested_history_video_seconds": [ 1740.5666666666664, 1753.6866666666663, 1754.6866666666663, 1755.6866666666663, 1756.6866666666663, 1757.6866666666663, 1758.6866666666663, 1759.6866666666663, 1760.6866666666663 ], "requested_history_native_frame_indices": [ 52217, 52611, 52641, 52671, 52701, 52731, 52761, 52791, 52821 ] }, "wrist_left": { "requested_history_video_seconds": [ 4757.233333333334, 4770.3533333333335, 4771.3533333333335, 4772.3533333333335, 4773.3533333333335, 4774.3533333333335, 4775.3533333333335, 4776.3533333333335, 4777.3533333333335 ], "requested_history_native_frame_indices": [ 142717, 143111, 143141, 143171, 143201, 143231, 143261, 143291, 143321 ] }, "wrist_right": { "requested_history_video_seconds": [ 5207.4333333333325, 5220.553333333332, 5221.553333333332, 5222.553333333332, 5223.553333333332, 5224.553333333332, 5225.553333333332, 5226.553333333332, 5227.553333333332 ], "requested_history_native_frame_indices": [ 156223, 156617, 156647, 156677, 156707, 156737, 156767, 156797, 156827 ] } } }, { "chunk_index": 4, "current_tick": 535, "current_seconds": 21.4, "history_ticks": [ 0, 360, 385, 410, 435, 460, 485, 510, 535 ], "history_seconds": [ 0.0, 14.4, 15.4, 16.4, 17.4, 18.4, 19.4, 20.4, 21.4 ], "future_video_ticks": [ 539, 543, 547, 551, 555, 559, 563, 567 ], "future_video_seconds": [ 21.56, 21.72, 21.88, 22.04, 22.2, 22.36, 22.52, 22.68 ], "action_target_tick_range_inclusive": [ 536, 567 ], "action_target_seconds_inclusive": [ 21.44, 22.68 ], "seed": 46, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "cameras": { "head": { "requested_history_video_seconds": [ 1740.5666666666664, 1754.9666666666665, 1755.9666666666665, 1756.9666666666665, 1757.9666666666665, 1758.9666666666665, 1759.9666666666665, 1760.9666666666665, 1761.9666666666665 ], "requested_history_native_frame_indices": [ 52217, 52649, 52679, 52709, 52739, 52769, 52799, 52829, 52859 ] }, "wrist_left": { "requested_history_video_seconds": [ 4757.233333333334, 4771.633333333333, 4772.633333333333, 4773.633333333333, 4774.633333333333, 4775.633333333333, 4776.633333333333, 4777.633333333333, 4778.633333333333 ], "requested_history_native_frame_indices": [ 142717, 143149, 143179, 143209, 143239, 143269, 143299, 143329, 143359 ] }, "wrist_right": { "requested_history_video_seconds": [ 5207.4333333333325, 5221.833333333332, 5222.833333333332, 5223.833333333332, 5224.833333333332, 5225.833333333332, 5226.833333333332, 5227.833333333332, 5228.833333333332 ], "requested_history_native_frame_indices": [ 156223, 156655, 156685, 156715, 156745, 156775, 156805, 156835, 156865 ] } } }, { "chunk_index": 5, "current_tick": 567, "current_seconds": 22.68, "history_ticks": [ 0, 392, 417, 442, 467, 492, 517, 542, 567 ], "history_seconds": [ 0.0, 15.68, 16.68, 17.68, 18.68, 19.68, 20.68, 21.68, 22.68 ], "future_video_ticks": [ 571, 575, 579, 583, 587, 591, 595, 599 ], "future_video_seconds": [ 22.84, 23.0, 23.16, 23.32, 23.48, 23.64, 23.8, 23.96 ], "action_target_tick_range_inclusive": [ 568, 599 ], "action_target_seconds_inclusive": [ 22.72, 23.96 ], "seed": 47, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "cameras": { "head": { "requested_history_video_seconds": [ 1740.5666666666664, 1756.2466666666664, 1757.2466666666664, 1758.2466666666664, 1759.2466666666664, 1760.2466666666664, 1761.2466666666664, 1762.2466666666664, 1763.2466666666664 ], "requested_history_native_frame_indices": [ 52217, 52687, 52717, 52747, 52777, 52807, 52837, 52867, 52897 ] }, "wrist_left": { "requested_history_video_seconds": [ 4757.233333333334, 4772.913333333334, 4773.913333333334, 4774.913333333334, 4775.913333333334, 4776.913333333334, 4777.913333333334, 4778.913333333334, 4779.913333333334 ], "requested_history_native_frame_indices": [ 142717, 143187, 143217, 143247, 143277, 143307, 143337, 143367, 143397 ] }, "wrist_right": { "requested_history_video_seconds": [ 5207.4333333333325, 5223.113333333333, 5224.113333333333, 5225.113333333333, 5226.113333333333, 5227.113333333333, 5228.113333333333, 5229.113333333333, 5230.113333333333 ], "requested_history_native_frame_indices": [ 156223, 156693, 156723, 156753, 156783, 156813, 156843, 156873, 156903 ] } } }, { "chunk_index": 6, "current_tick": 599, "current_seconds": 23.96, "history_ticks": [ 0, 424, 449, 474, 499, 524, 549, 574, 599 ], "history_seconds": [ 0.0, 16.96, 17.96, 18.96, 19.96, 20.96, 21.96, 22.96, 23.96 ], "future_video_ticks": [ 603, 607, 611, 615, 619, 623, 627, 631 ], "future_video_seconds": [ 24.12, 24.28, 24.44, 24.6, 24.76, 24.92, 25.08, 25.24 ], "action_target_tick_range_inclusive": [ 600, 631 ], "action_target_seconds_inclusive": [ 24.0, 25.24 ], "seed": 48, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "cameras": { "head": { "requested_history_video_seconds": [ 1740.5666666666664, 1757.5266666666664, 1758.5266666666664, 1759.5266666666664, 1760.5266666666664, 1761.5266666666664, 1762.5266666666664, 1763.5266666666664, 1764.5266666666664 ], "requested_history_native_frame_indices": [ 52217, 52726, 52756, 52786, 52816, 52846, 52876, 52906, 52936 ] }, "wrist_left": { "requested_history_video_seconds": [ 4757.233333333334, 4774.193333333334, 4775.193333333334, 4776.193333333334, 4777.193333333334, 4778.193333333334, 4779.193333333334, 4780.193333333334, 4781.193333333334 ], "requested_history_native_frame_indices": [ 142717, 143226, 143256, 143286, 143316, 143346, 143376, 143406, 143436 ] }, "wrist_right": { "requested_history_video_seconds": [ 5207.4333333333325, 5224.3933333333325, 5225.3933333333325, 5226.3933333333325, 5227.3933333333325, 5228.3933333333325, 5229.3933333333325, 5230.3933333333325, 5231.3933333333325 ], "requested_history_native_frame_indices": [ 156223, 156732, 156762, 156792, 156822, 156852, 156882, 156912, 156942 ] } } }, { "chunk_index": 7, "current_tick": 631, "current_seconds": 25.24, "history_ticks": [ 0, 456, 481, 506, 531, 556, 581, 606, 631 ], "history_seconds": [ 0.0, 18.24, 19.24, 20.24, 21.24, 22.24, 23.24, 24.24, 25.24 ], "future_video_ticks": [ 635, 639, 643, 647, 651, 655, 659, 663 ], "future_video_seconds": [ 25.4, 25.56, 25.72, 25.88, 26.04, 26.2, 26.36, 26.52 ], "action_target_tick_range_inclusive": [ 632, 663 ], "action_target_seconds_inclusive": [ 25.28, 26.52 ], "seed": 49, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "cameras": { "head": { "requested_history_video_seconds": [ 1740.5666666666664, 1758.8066666666664, 1759.8066666666664, 1760.8066666666664, 1761.8066666666664, 1762.8066666666664, 1763.8066666666664, 1764.8066666666664, 1765.8066666666664 ], "requested_history_native_frame_indices": [ 52217, 52764, 52794, 52824, 52854, 52884, 52914, 52944, 52974 ] }, "wrist_left": { "requested_history_video_seconds": [ 4757.233333333334, 4775.473333333333, 4776.473333333333, 4777.473333333333, 4778.473333333333, 4779.473333333333, 4780.473333333333, 4781.473333333333, 4782.473333333333 ], "requested_history_native_frame_indices": [ 142717, 143264, 143294, 143324, 143354, 143384, 143414, 143444, 143474 ] }, "wrist_right": { "requested_history_video_seconds": [ 5207.4333333333325, 5225.673333333332, 5226.673333333332, 5227.673333333332, 5228.673333333332, 5229.673333333332, 5230.673333333332, 5231.673333333332, 5232.673333333332 ], "requested_history_native_frame_indices": [ 156223, 156770, 156800, 156830, 156860, 156890, 156920, 156950, 156980 ] } } } ], "diagnostics": [ { "history": "current_repeat", "variant": "full_original", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b" }, { "history": "current_repeat", "variant": "full_original", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b" }, { "history": "current_repeat", "variant": "full_stop", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7" }, { "history": "current_repeat", "variant": "full_stop", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7" }, { "history": "current_repeat", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72" }, { "history": "current_repeat", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72" }, { "history": "current_repeat", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0" }, { "history": "current_repeat", "variant": "l3_conflict", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0" }, { "history": "reverse_past", "variant": "full_original", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b" }, { "history": "reverse_past", "variant": "full_original", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b" }, { "history": "reverse_past", "variant": "full_stop", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7" }, { "history": "reverse_past", "variant": "full_stop", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7" }, { "history": "reverse_past", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72" }, { "history": "reverse_past", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72" }, { "history": "reverse_past", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0" }, { "history": "reverse_past", "variant": "l3_conflict", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0" }, { "history": "true_history", "variant": "full_original", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b" }, { "history": "true_history", "variant": "full_original", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b" }, { "history": "true_history", "variant": "full_stop", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7" }, { "history": "true_history", "variant": "full_stop", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7" }, { "history": "true_history", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72" }, { "history": "true_history", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72" }, { "history": "true_history", "variant": "l1_conflict", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "8c82f79f30d41f3c0a00f47ba9c859ff57bf158f776bcc665609eb87aea18354" }, { "history": "true_history", "variant": "l1_conflict", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "8c82f79f30d41f3c0a00f47ba9c859ff57bf158f776bcc665609eb87aea18354" }, { "history": "true_history", "variant": "l1_only_original", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "7ad00156a568375367657b1b631644287ef46a954e15d311fd0f685a7e60d85a" }, { "history": "true_history", "variant": "l1_only_original", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "7ad00156a568375367657b1b631644287ef46a954e15d311fd0f685a7e60d85a" }, { "history": "true_history", "variant": "l1_only_stop", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "90d0afd5583d741c3b567d1feabe073ca5a37c149e55a25e720a7bc48c0ebd1f" }, { "history": "true_history", "variant": "l1_only_stop", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "90d0afd5583d741c3b567d1feabe073ca5a37c149e55a25e720a7bc48c0ebd1f" }, { "history": "true_history", "variant": "l1_only_swap", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "aeba9d7338d3fec531ef9acc418d27c78aaf17d3b0a65630c74f66896a239739" }, { "history": "true_history", "variant": "l1_only_swap", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "aeba9d7338d3fec531ef9acc418d27c78aaf17d3b0a65630c74f66896a239739" }, { "history": "true_history", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0" }, { "history": "true_history", "variant": "l3_conflict", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0" }, { "history": "true_history", "variant": "l3_only_edit", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Raise the left arm; keep the right arm still.", "context": "5176121eba73870949d8fc772b6eea3c0bba4aa8ddd150cf58be0facb6f1df6d" }, { "history": "true_history", "variant": "l3_only_edit", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Raise the left arm; keep the right arm still.", "context": "5176121eba73870949d8fc772b6eea3c0bba4aa8ddd150cf58be0facb6f1df6d" }, { "history": "true_history", "variant": "l3_only_original", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.", "context": "ea15bee7276196a10a47d9365436f530826a42a46736c6c8a0c0c2db58d17c77" }, { "history": "true_history", "variant": "l3_only_original", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.", "context": "ea15bee7276196a10a47d9365436f530826a42a46736c6c8a0c0c2db58d17c77" }, { "history": "true_history", "variant": "repeat", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b" }, { "history": "true_history", "variant": "repeat", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b" } ], "initial_state_raw": [ 0.7518470883369446, 0.42762458324432373, 0.8808151483535767, 0.0, 0.0, 0.0, 0.0, 0.1537500023841858, 0.2313108593225479, -0.29873302578926086, 1.0388143062591553, 0.0, 0.0, 0.0, 0.0, 0.29875001311302185 ], "initial_state_valid": [ true, true, true, false, false, false, false, true, true, true, true, false, false, false, false, true ], "initial_state_normalized": [ 1.705043077468872, 1.976334810256958, -1.0275874137878418, 0.0, 0.0, 0.0, 0.0, -1.64435613155365, -1.0799715518951416, -0.5675503015518188, 0.565629780292511, 0.0, 0.0, 0.0, 0.0, -0.8459872603416443 ], "assets": { "initial_input": { "path": "reproduction/case15/initial-input.npz", "bytes": 758282, "sha256": "3c79c9c8321d71c2edc511d03c8e178591e429dfb0e57660fc6dbc1e06ee0393" }, "state_arrays": { "path": "reproduction/case15/arrays.npz", "bytes": 4242, "sha256": "464dfd0fa09d46094404967a4a3cf45b13a325bca076cff15e426212ee2d89c9" }, "frame_parts": [ { "path": "reproduction/case15/frames-00.npz", "bytes": 2857656, "sha256": "956a6035469e1ac5b7b80823bde2ec63e60b88dd59a3f194ae9d5f4a8f92f2e1" }, { "path": "reproduction/case15/frames-01.npz", "bytes": 2878003, "sha256": "0cd1654e0b3390e3ce48a2be9f494d6f4b26f7da805f96e70f8879f40484b773" }, { "path": "reproduction/case15/frames-02.npz", "bytes": 2973288, "sha256": "470abfae8ebe5d0e102ef45b1f6f5861ae1e3d6003a801660c5f9f4892a92a11" }, { "path": "reproduction/case15/frames-03.npz", "bytes": 2109328, "sha256": "290d10cbc18c6ffdcc97a81b43b829bb96e5ada44bae54171e19bf57e0c4ae91" } ] }, "original_case_npz_sha256": "eab2a8f5098f448aae014744d5bddcb8a9f49922a7ad736947d42cf9211486ab", "frame_pixels_sha256": "244aea5b0e9455b57ed8f2e21f5c72cf1d364c195096db53493e63df8c5e2e98", "protocol": "reproduction/protocol.json" } }, { "id": "case13", "tree": "robocoin_lerobot_v3/robocoin_agilex_cobot_magic_with_front_chest", "shard": "c000-f000", "episode": 3, "start": 257, "starts": [ 257, 289, 321, 353, 385, 417, 449, 481 ], "prompts": [ "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Grasp the orange build block on the right side of the table.", "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block.", "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Move the orange build block towards the yellow build block.", "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block.", "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block; Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block.", "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block.", "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block.", "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Place the red build block on top of the yellow build block." ], "split": "validation", "file": "case13.npz", "motion_score": 0.01852918416261673, "complexity_score": 0.01967648371262829, "difficulty_proxy": "low", "reproduction": { "case_id": "case13", "case_ordinal": 1, "dataset_tree": "robocoin_lerobot_v3/robocoin_agilex_cobot_magic_with_front_chest", "dataset_family": "robocoin_lerobot_v3", "processed_shard": "c000-f000", "processed_episode": 3, "original_source_id": "robocoin_lerobot_v3:Agilex_Cobot_Magic_connect_block/episode_000003", "split": "validation", "episode_length_ticks": 638, "prediction_start_tick": 257, "prediction_start_seconds": 10.28, "history_past_start_seconds": 3.28, "episode_anchor_seconds": 0, "cameras": { "head": { "source_relative_path": "datasets_train/robocoin_lerobot_v3/robocoin_agilex_cobot_magic_with_front_chest/videos/observation.images.cam_head_rgb/chunk-000/file-000.mp4", "episode_start_in_video_s": 104.83333333333333, "episode_end_in_video_s": 130.36666666666667, "native_fps": 30.0, "used_in_composite": true }, "front": { "source_relative_path": "datasets_train/robocoin_lerobot_v3/robocoin_agilex_cobot_magic_with_front_chest/videos/observation.images.cam_front_chest_rgb/chunk-000/file-000.mp4", "episode_start_in_video_s": 104.83333333333333, "episode_end_in_video_s": 130.36666666666667, "native_fps": 30.0, "used_in_composite": false }, "wrist_left": { "source_relative_path": "datasets_train/robocoin_lerobot_v3/robocoin_agilex_cobot_magic_with_front_chest/videos/observation.images.cam_left_wrist_rgb/chunk-000/file-000.mp4", "episode_start_in_video_s": 104.83333333333333, "episode_end_in_video_s": 130.36666666666667, "native_fps": 30.0, "used_in_composite": true }, "wrist_right": { "source_relative_path": "datasets_train/robocoin_lerobot_v3/robocoin_agilex_cobot_magic_with_front_chest/videos/observation.images.cam_right_wrist_rgb/chunk-000/file-000.mp4", "episode_start_in_video_s": 104.83333333333333, "episode_end_in_video_s": 130.36666666666667, "native_fps": 30.0, "used_in_composite": true } }, "primary_view": "head", "composite_views": [ "head", "wrist_left", "wrist_right" ], "initial_observations": [ { "slot": 0, "role": "episode anchor", "tick": 0, "seconds": 0.0, "png": { "path": "reproduction/case13/observation-00.png", "bytes": 44383, "sha256": "70b9dda816950f554b9ccab070d5590871fde43282992b289295b6231a85b977" } }, { "slot": 1, "role": "past", "tick": 82, "seconds": 3.28, "png": { "path": "reproduction/case13/observation-01.png", "bytes": 54772, "sha256": "9efa48246f07de1390cf5cd39aa9a156d4a32a52cb934acdb578104526ba9f67" } }, { "slot": 2, "role": "past", "tick": 107, "seconds": 4.28, "png": { "path": "reproduction/case13/observation-02.png", "bytes": 60719, "sha256": "45e9e58999414f67c627a8bfedee6b34eadd3332de53606a0ebec62b076cb032" } }, { "slot": 3, "role": "past", "tick": 132, "seconds": 5.28, "png": { "path": "reproduction/case13/observation-03.png", "bytes": 71401, "sha256": "e1fd91103783147f2e15fd60952e7062d77d2d853b4b5db3c1ea05e569a0577f" } }, { "slot": 4, "role": "past", "tick": 157, "seconds": 6.28, "png": { "path": "reproduction/case13/observation-04.png", "bytes": 72420, "sha256": "79050e1aeb82f24c3cf786771f45cfb8aa28acfdef6c11f8bb5098f02e2b7d15" } }, { "slot": 5, "role": "past", "tick": 182, "seconds": 7.28, "png": { "path": "reproduction/case13/observation-05.png", "bytes": 54019, "sha256": "61891247d7375e1cb65903ddffb84d9d9328ba68cb820c9707030c12924aaee0" } }, { "slot": 6, "role": "past", "tick": 207, "seconds": 8.28, "png": { "path": "reproduction/case13/observation-06.png", "bytes": 46660, "sha256": "3874f76abdcec052401579dee0c034189fd7fac19ad5a2806a503baa27075f8c" } }, { "slot": 7, "role": "past", "tick": 232, "seconds": 9.28, "png": { "path": "reproduction/case13/observation-07.png", "bytes": 46282, "sha256": "e94d95d2c61c33877fb2e79a783ca0ce4e3f6fbd4e9ae9182cd32d8224d34083" } }, { "slot": 8, "role": "current", "tick": 257, "seconds": 10.28, "png": { "path": "reproduction/case13/observation-08.png", "bytes": 45225, "sha256": "d3aafc7f12022403809fd99314d2a355fbf088cc0872ec2e7f4404d4dc0e43ad" } } ], "chunks": [ { "chunk_index": 0, "current_tick": 257, "current_seconds": 10.28, "history_ticks": [ 0, 82, 107, 132, 157, 182, 207, 232, 257 ], "history_seconds": [ 0.0, 3.28, 4.28, 5.28, 6.28, 7.28, 8.28, 9.28, 10.28 ], "future_video_ticks": [ 261, 265, 269, 273, 277, 281, 285, 289 ], "future_video_seconds": [ 10.44, 10.6, 10.76, 10.92, 11.08, 11.24, 11.4, 11.56 ], "action_target_tick_range_inclusive": [ 258, 289 ], "action_target_seconds_inclusive": [ 10.32, 11.56 ], "seed": 142, "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Grasp the orange build block on the right side of the table.", "cameras": { "head": { "requested_history_video_seconds": [ 104.83333333333333, 108.11333333333333, 109.11333333333333, 110.11333333333333, 111.11333333333333, 112.11333333333333, 113.11333333333333, 114.11333333333333, 115.11333333333333 ], "requested_history_native_frame_indices": [ 3145, 3243, 3273, 3303, 3333, 3363, 3393, 3423, 3453 ] }, "front": { "requested_history_video_seconds": [ 104.83333333333333, 108.11333333333333, 109.11333333333333, 110.11333333333333, 111.11333333333333, 112.11333333333333, 113.11333333333333, 114.11333333333333, 115.11333333333333 ], "requested_history_native_frame_indices": [ 3145, 3243, 3273, 3303, 3333, 3363, 3393, 3423, 3453 ] }, "wrist_left": { "requested_history_video_seconds": [ 104.83333333333333, 108.11333333333333, 109.11333333333333, 110.11333333333333, 111.11333333333333, 112.11333333333333, 113.11333333333333, 114.11333333333333, 115.11333333333333 ], "requested_history_native_frame_indices": [ 3145, 3243, 3273, 3303, 3333, 3363, 3393, 3423, 3453 ] }, "wrist_right": { "requested_history_video_seconds": [ 104.83333333333333, 108.11333333333333, 109.11333333333333, 110.11333333333333, 111.11333333333333, 112.11333333333333, 113.11333333333333, 114.11333333333333, 115.11333333333333 ], "requested_history_native_frame_indices": [ 3145, 3243, 3273, 3303, 3333, 3363, 3393, 3423, 3453 ] } } }, { "chunk_index": 1, "current_tick": 289, "current_seconds": 11.56, "history_ticks": [ 0, 114, 139, 164, 189, 214, 239, 264, 289 ], "history_seconds": [ 0.0, 4.56, 5.56, 6.56, 7.56, 8.56, 9.56, 10.56, 11.56 ], "future_video_ticks": [ 293, 297, 301, 305, 309, 313, 317, 321 ], "future_video_seconds": [ 11.72, 11.88, 12.04, 12.2, 12.36, 12.52, 12.68, 12.84 ], "action_target_tick_range_inclusive": [ 290, 321 ], "action_target_seconds_inclusive": [ 11.6, 12.84 ], "seed": 143, "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block.", "cameras": { "head": { "requested_history_video_seconds": [ 104.83333333333333, 109.39333333333333, 110.39333333333333, 111.39333333333333, 112.39333333333333, 113.39333333333333, 114.39333333333333, 115.39333333333333, 116.39333333333333 ], "requested_history_native_frame_indices": [ 3145, 3282, 3312, 3342, 3372, 3402, 3432, 3462, 3492 ] }, "front": { "requested_history_video_seconds": [ 104.83333333333333, 109.39333333333333, 110.39333333333333, 111.39333333333333, 112.39333333333333, 113.39333333333333, 114.39333333333333, 115.39333333333333, 116.39333333333333 ], "requested_history_native_frame_indices": [ 3145, 3282, 3312, 3342, 3372, 3402, 3432, 3462, 3492 ] }, "wrist_left": { "requested_history_video_seconds": [ 104.83333333333333, 109.39333333333333, 110.39333333333333, 111.39333333333333, 112.39333333333333, 113.39333333333333, 114.39333333333333, 115.39333333333333, 116.39333333333333 ], "requested_history_native_frame_indices": [ 3145, 3282, 3312, 3342, 3372, 3402, 3432, 3462, 3492 ] }, "wrist_right": { "requested_history_video_seconds": [ 104.83333333333333, 109.39333333333333, 110.39333333333333, 111.39333333333333, 112.39333333333333, 113.39333333333333, 114.39333333333333, 115.39333333333333, 116.39333333333333 ], "requested_history_native_frame_indices": [ 3145, 3282, 3312, 3342, 3372, 3402, 3432, 3462, 3492 ] } } }, { "chunk_index": 2, "current_tick": 321, "current_seconds": 12.84, "history_ticks": [ 0, 146, 171, 196, 221, 246, 271, 296, 321 ], "history_seconds": [ 0.0, 5.84, 6.84, 7.84, 8.84, 9.84, 10.84, 11.84, 12.84 ], "future_video_ticks": [ 325, 329, 333, 337, 341, 345, 349, 353 ], "future_video_seconds": [ 13.0, 13.16, 13.32, 13.48, 13.64, 13.8, 13.96, 14.12 ], "action_target_tick_range_inclusive": [ 322, 353 ], "action_target_seconds_inclusive": [ 12.88, 14.12 ], "seed": 144, "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Move the orange build block towards the yellow build block.", "cameras": { "head": { "requested_history_video_seconds": [ 104.83333333333333, 110.67333333333333, 111.67333333333333, 112.67333333333333, 113.67333333333333, 114.67333333333333, 115.67333333333333, 116.67333333333333, 117.67333333333333 ], "requested_history_native_frame_indices": [ 3145, 3320, 3350, 3380, 3410, 3440, 3470, 3500, 3530 ] }, "front": { "requested_history_video_seconds": [ 104.83333333333333, 110.67333333333333, 111.67333333333333, 112.67333333333333, 113.67333333333333, 114.67333333333333, 115.67333333333333, 116.67333333333333, 117.67333333333333 ], "requested_history_native_frame_indices": [ 3145, 3320, 3350, 3380, 3410, 3440, 3470, 3500, 3530 ] }, "wrist_left": { "requested_history_video_seconds": [ 104.83333333333333, 110.67333333333333, 111.67333333333333, 112.67333333333333, 113.67333333333333, 114.67333333333333, 115.67333333333333, 116.67333333333333, 117.67333333333333 ], "requested_history_native_frame_indices": [ 3145, 3320, 3350, 3380, 3410, 3440, 3470, 3500, 3530 ] }, "wrist_right": { "requested_history_video_seconds": [ 104.83333333333333, 110.67333333333333, 111.67333333333333, 112.67333333333333, 113.67333333333333, 114.67333333333333, 115.67333333333333, 116.67333333333333, 117.67333333333333 ], "requested_history_native_frame_indices": [ 3145, 3320, 3350, 3380, 3410, 3440, 3470, 3500, 3530 ] } } }, { "chunk_index": 3, "current_tick": 353, "current_seconds": 14.12, "history_ticks": [ 0, 178, 203, 228, 253, 278, 303, 328, 353 ], "history_seconds": [ 0.0, 7.12, 8.12, 9.12, 10.12, 11.12, 12.12, 13.12, 14.12 ], "future_video_ticks": [ 357, 361, 365, 369, 373, 377, 381, 385 ], "future_video_seconds": [ 14.28, 14.44, 14.6, 14.76, 14.92, 15.08, 15.24, 15.4 ], "action_target_tick_range_inclusive": [ 354, 385 ], "action_target_seconds_inclusive": [ 14.16, 15.4 ], "seed": 145, "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block.", "cameras": { "head": { "requested_history_video_seconds": [ 104.83333333333333, 111.95333333333333, 112.95333333333333, 113.95333333333333, 114.95333333333333, 115.95333333333333, 116.95333333333333, 117.95333333333333, 118.95333333333333 ], "requested_history_native_frame_indices": [ 3145, 3359, 3389, 3419, 3449, 3479, 3509, 3539, 3569 ] }, "front": { "requested_history_video_seconds": [ 104.83333333333333, 111.95333333333333, 112.95333333333333, 113.95333333333333, 114.95333333333333, 115.95333333333333, 116.95333333333333, 117.95333333333333, 118.95333333333333 ], "requested_history_native_frame_indices": [ 3145, 3359, 3389, 3419, 3449, 3479, 3509, 3539, 3569 ] }, "wrist_left": { "requested_history_video_seconds": [ 104.83333333333333, 111.95333333333333, 112.95333333333333, 113.95333333333333, 114.95333333333333, 115.95333333333333, 116.95333333333333, 117.95333333333333, 118.95333333333333 ], "requested_history_native_frame_indices": [ 3145, 3359, 3389, 3419, 3449, 3479, 3509, 3539, 3569 ] }, "wrist_right": { "requested_history_video_seconds": [ 104.83333333333333, 111.95333333333333, 112.95333333333333, 113.95333333333333, 114.95333333333333, 115.95333333333333, 116.95333333333333, 117.95333333333333, 118.95333333333333 ], "requested_history_native_frame_indices": [ 3145, 3359, 3389, 3419, 3449, 3479, 3509, 3539, 3569 ] } } }, { "chunk_index": 4, "current_tick": 385, "current_seconds": 15.4, "history_ticks": [ 0, 210, 235, 260, 285, 310, 335, 360, 385 ], "history_seconds": [ 0.0, 8.4, 9.4, 10.4, 11.4, 12.4, 13.4, 14.4, 15.4 ], "future_video_ticks": [ 389, 393, 397, 401, 405, 409, 413, 417 ], "future_video_seconds": [ 15.56, 15.72, 15.88, 16.04, 16.2, 16.36, 16.52, 16.68 ], "action_target_tick_range_inclusive": [ 386, 417 ], "action_target_seconds_inclusive": [ 15.44, 16.68 ], "seed": 146, "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block; Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block.", "cameras": { "head": { "requested_history_video_seconds": [ 104.83333333333333, 113.23333333333333, 114.23333333333333, 115.23333333333333, 116.23333333333333, 117.23333333333333, 118.23333333333333, 119.23333333333333, 120.23333333333333 ], "requested_history_native_frame_indices": [ 3145, 3397, 3427, 3457, 3487, 3517, 3547, 3577, 3607 ] }, "front": { "requested_history_video_seconds": [ 104.83333333333333, 113.23333333333333, 114.23333333333333, 115.23333333333333, 116.23333333333333, 117.23333333333333, 118.23333333333333, 119.23333333333333, 120.23333333333333 ], "requested_history_native_frame_indices": [ 3145, 3397, 3427, 3457, 3487, 3517, 3547, 3577, 3607 ] }, "wrist_left": { "requested_history_video_seconds": [ 104.83333333333333, 113.23333333333333, 114.23333333333333, 115.23333333333333, 116.23333333333333, 117.23333333333333, 118.23333333333333, 119.23333333333333, 120.23333333333333 ], "requested_history_native_frame_indices": [ 3145, 3397, 3427, 3457, 3487, 3517, 3547, 3577, 3607 ] }, "wrist_right": { "requested_history_video_seconds": [ 104.83333333333333, 113.23333333333333, 114.23333333333333, 115.23333333333333, 116.23333333333333, 117.23333333333333, 118.23333333333333, 119.23333333333333, 120.23333333333333 ], "requested_history_native_frame_indices": [ 3145, 3397, 3427, 3457, 3487, 3517, 3547, 3577, 3607 ] } } }, { "chunk_index": 5, "current_tick": 417, "current_seconds": 16.68, "history_ticks": [ 0, 242, 267, 292, 317, 342, 367, 392, 417 ], "history_seconds": [ 0.0, 9.68, 10.68, 11.68, 12.68, 13.68, 14.68, 15.68, 16.68 ], "future_video_ticks": [ 421, 425, 429, 433, 437, 441, 445, 449 ], "future_video_seconds": [ 16.84, 17.0, 17.16, 17.32, 17.48, 17.64, 17.8, 17.96 ], "action_target_tick_range_inclusive": [ 418, 449 ], "action_target_seconds_inclusive": [ 16.72, 17.96 ], "seed": 147, "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block.", "cameras": { "head": { "requested_history_video_seconds": [ 104.83333333333333, 114.51333333333332, 115.51333333333332, 116.51333333333332, 117.51333333333332, 118.51333333333332, 119.51333333333332, 120.51333333333332, 121.51333333333332 ], "requested_history_native_frame_indices": [ 3145, 3435, 3465, 3495, 3525, 3555, 3585, 3615, 3645 ] }, "front": { "requested_history_video_seconds": [ 104.83333333333333, 114.51333333333332, 115.51333333333332, 116.51333333333332, 117.51333333333332, 118.51333333333332, 119.51333333333332, 120.51333333333332, 121.51333333333332 ], "requested_history_native_frame_indices": [ 3145, 3435, 3465, 3495, 3525, 3555, 3585, 3615, 3645 ] }, "wrist_left": { "requested_history_video_seconds": [ 104.83333333333333, 114.51333333333332, 115.51333333333332, 116.51333333333332, 117.51333333333332, 118.51333333333332, 119.51333333333332, 120.51333333333332, 121.51333333333332 ], "requested_history_native_frame_indices": [ 3145, 3435, 3465, 3495, 3525, 3555, 3585, 3615, 3645 ] }, "wrist_right": { "requested_history_video_seconds": [ 104.83333333333333, 114.51333333333332, 115.51333333333332, 116.51333333333332, 117.51333333333332, 118.51333333333332, 119.51333333333332, 120.51333333333332, 121.51333333333332 ], "requested_history_native_frame_indices": [ 3145, 3435, 3465, 3495, 3525, 3555, 3585, 3615, 3645 ] } } }, { "chunk_index": 6, "current_tick": 449, "current_seconds": 17.96, "history_ticks": [ 0, 274, 299, 324, 349, 374, 399, 424, 449 ], "history_seconds": [ 0.0, 10.96, 11.96, 12.96, 13.96, 14.96, 15.96, 16.96, 17.96 ], "future_video_ticks": [ 453, 457, 461, 465, 469, 473, 477, 481 ], "future_video_seconds": [ 18.12, 18.28, 18.44, 18.6, 18.76, 18.92, 19.08, 19.24 ], "action_target_tick_range_inclusive": [ 450, 481 ], "action_target_seconds_inclusive": [ 18.0, 19.24 ], "seed": 148, "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block.", "cameras": { "head": { "requested_history_video_seconds": [ 104.83333333333333, 115.79333333333332, 116.79333333333332, 117.79333333333332, 118.79333333333332, 119.79333333333332, 120.79333333333332, 121.79333333333332, 122.79333333333332 ], "requested_history_native_frame_indices": [ 3145, 3474, 3504, 3534, 3564, 3594, 3624, 3654, 3684 ] }, "front": { "requested_history_video_seconds": [ 104.83333333333333, 115.79333333333332, 116.79333333333332, 117.79333333333332, 118.79333333333332, 119.79333333333332, 120.79333333333332, 121.79333333333332, 122.79333333333332 ], "requested_history_native_frame_indices": [ 3145, 3474, 3504, 3534, 3564, 3594, 3624, 3654, 3684 ] }, "wrist_left": { "requested_history_video_seconds": [ 104.83333333333333, 115.79333333333332, 116.79333333333332, 117.79333333333332, 118.79333333333332, 119.79333333333332, 120.79333333333332, 121.79333333333332, 122.79333333333332 ], "requested_history_native_frame_indices": [ 3145, 3474, 3504, 3534, 3564, 3594, 3624, 3654, 3684 ] }, "wrist_right": { "requested_history_video_seconds": [ 104.83333333333333, 115.79333333333332, 116.79333333333332, 117.79333333333332, 118.79333333333332, 119.79333333333332, 120.79333333333332, 121.79333333333332, 122.79333333333332 ], "requested_history_native_frame_indices": [ 3145, 3474, 3504, 3534, 3564, 3594, 3624, 3654, 3684 ] } } }, { "chunk_index": 7, "current_tick": 481, "current_seconds": 19.24, "history_ticks": [ 0, 306, 331, 356, 381, 406, 431, 456, 481 ], "history_seconds": [ 0.0, 12.24, 13.24, 14.24, 15.24, 16.24, 17.24, 18.24, 19.24 ], "future_video_ticks": [ 485, 489, 493, 497, 501, 505, 509, 513 ], "future_video_seconds": [ 19.4, 19.56, 19.72, 19.88, 20.04, 20.2, 20.36, 20.52 ], "action_target_tick_range_inclusive": [ 482, 513 ], "action_target_seconds_inclusive": [ 19.28, 20.52 ], "seed": 149, "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Place the red build block on top of the yellow build block.", "cameras": { "head": { "requested_history_video_seconds": [ 104.83333333333333, 117.07333333333332, 118.07333333333332, 119.07333333333332, 120.07333333333332, 121.07333333333332, 122.07333333333332, 123.07333333333332, 124.07333333333332 ], "requested_history_native_frame_indices": [ 3145, 3512, 3542, 3572, 3602, 3632, 3662, 3692, 3722 ] }, "front": { "requested_history_video_seconds": [ 104.83333333333333, 117.07333333333332, 118.07333333333332, 119.07333333333332, 120.07333333333332, 121.07333333333332, 122.07333333333332, 123.07333333333332, 124.07333333333332 ], "requested_history_native_frame_indices": [ 3145, 3512, 3542, 3572, 3602, 3632, 3662, 3692, 3722 ] }, "wrist_left": { "requested_history_video_seconds": [ 104.83333333333333, 117.07333333333332, 118.07333333333332, 119.07333333333332, 120.07333333333332, 121.07333333333332, 122.07333333333332, 123.07333333333332, 124.07333333333332 ], "requested_history_native_frame_indices": [ 3145, 3512, 3542, 3572, 3602, 3632, 3662, 3692, 3722 ] }, "wrist_right": { "requested_history_video_seconds": [ 104.83333333333333, 117.07333333333332, 118.07333333333332, 119.07333333333332, 120.07333333333332, 121.07333333333332, 122.07333333333332, 123.07333333333332, 124.07333333333332 ], "requested_history_native_frame_indices": [ 3145, 3512, 3542, 3572, 3602, 3632, 3662, 3692, 3722 ] } } } ], "diagnostics": [], "initial_state_raw": [ 0.23194262385368347, 0.29082566499710083, 1.054770588874817, 0.0, 0.0, 0.0, 0.0, 0.39349591732025146, 0.33220362663269043, -0.3010307252407074, 1.0530526638031006, 0.0, 0.0, 0.0, 0.0, 0.9981885552406311 ], "initial_state_valid": [ true, true, true, false, false, false, false, true, true, true, true, false, false, false, false, true ], "initial_state_normalized": [ -0.5599660873413086, 0.3587225377559662, 0.37924912571907043, 0.0, 0.0, 0.0, 0.0, -0.9073516726493835, -0.4425239861011505, -0.7173656225204468, 0.8382827639579773, 0.0, 0.0, 0.0, 0.0, 1.199441909790039 ], "assets": { "initial_input": { "path": "reproduction/case13/initial-input.npz", "bytes": 705642, "sha256": "c8ceb1b2b5563dd9cd238b9b536c47ba18074ccb742a37165d27528af8343c80" }, "state_arrays": { "path": "reproduction/case13/arrays.npz", "bytes": 4883, "sha256": "49d647adb9faed1a1ca1792cddc82c4798ce51142d1ad0377bf50e91a39ef127" }, "frame_parts": [ { "path": "reproduction/case13/frames-00.npz", "bytes": 2378501, "sha256": "3471bd7ae6dada1a8c1ace36fcd072e81a4eebea4e86208a8b3d5f6bbf24a568" }, { "path": "reproduction/case13/frames-01.npz", "bytes": 2698539, "sha256": "b2a2d1e7bea2589e9e0d2e9cd89653711f63ab04bf33acecd3521d1d8cd9d12a" }, { "path": "reproduction/case13/frames-02.npz", "bytes": 3144046, "sha256": "1a23d01f93723d6da95a93da3288517f7283a527aeefb70d6f3add58b9b7e645" }, { "path": "reproduction/case13/frames-03.npz", "bytes": 2162698, "sha256": "1becc2f59fedfbad00f45f2a65dc85e5679b6ae70956fdc5a753a98003813720" } ] }, "original_case_npz_sha256": "f6e79ef640242eb11edf9caf86c24eb1ec5edc58746b0277fe60b0403defe0bd", "frame_pixels_sha256": "03b1777000df5931f0cc5293ed38f7cb494704b39d71bd31a53073e689982027", "protocol": "reproduction/protocol.json" } }, { "id": "case21", "tree": "robocoin_lerobot_v3/robocoin_galaxea_r1_lite_stereo", "shard": "c000-f000", "episode": 690, "start": 639, "starts": [ 639, 671, 703, 735, 767, 799, 831, 863 ], "prompts": [ "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." ], "split": "validation", "file": "case21.npz", "motion_score": 0.011995866894721985, "complexity_score": 0.032190986166889785, "difficulty_proxy": "low", "reproduction": { "case_id": "case21", "case_ordinal": 2, "dataset_tree": "robocoin_lerobot_v3/robocoin_galaxea_r1_lite_stereo", "dataset_family": "robocoin_lerobot_v3", "processed_shard": "c000-f000", "processed_episode": 690, "original_source_id": "robocoin_lerobot_v3:Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube/episode_000034", "split": "validation", "episode_length_ticks": 1092, "prediction_start_tick": 639, "prediction_start_seconds": 25.56, "history_past_start_seconds": 18.56, "episode_anchor_seconds": 0, "cameras": { "head": { "source_relative_path": "datasets_train/robocoin_lerobot_v3/robocoin_galaxea_r1_lite_stereo/videos/observation.images.cam_head_left_rgb/chunk-000/file-009.mp4", "episode_start_in_video_s": 46.83333333333333, "episode_end_in_video_s": 90.53333333333333, "native_fps": 30.0, "used_in_composite": true }, "wrist_left": { "source_relative_path": "datasets_train/robocoin_lerobot_v3/robocoin_galaxea_r1_lite_stereo/videos/observation.images.cam_left_wrist_rgb/chunk-000/file-010.mp4", "episode_start_in_video_s": 646.2666666666667, "episode_end_in_video_s": 689.9666666666667, "native_fps": 30.0, "used_in_composite": true }, "wrist_right": { "source_relative_path": "datasets_train/robocoin_lerobot_v3/robocoin_galaxea_r1_lite_stereo/videos/observation.images.cam_right_wrist_rgb/chunk-000/file-010.mp4", "episode_start_in_video_s": 472.8666666666666, "episode_end_in_video_s": 516.5666666666666, "native_fps": 30.0, "used_in_composite": true } }, "primary_view": "head", "composite_views": [ "head", "wrist_left", "wrist_right" ], "initial_observations": [ { "slot": 0, "role": "episode anchor", "tick": 0, "seconds": 0.0, "png": { "path": "reproduction/case21/observation-00.png", "bytes": 64458, "sha256": "fbe6d6bcbe97cc1b928b0291c72dfc9f596189d091342da8cef21bdf8269b7f6" } }, { "slot": 1, "role": "past", "tick": 464, "seconds": 18.56, "png": { "path": "reproduction/case21/observation-01.png", "bytes": 76191, "sha256": "0e9804667758c4275a7ed5dc853d14c297ff0c3226d4514b8008a59d26caab4e" } }, { "slot": 2, "role": "past", "tick": 489, "seconds": 19.56, "png": { "path": "reproduction/case21/observation-02.png", "bytes": 76773, "sha256": "dd3cd9798bd3b6bffcdc1644470158f51d448c8e75faaf60fdebb096e0001927" } }, { "slot": 3, "role": "past", "tick": 514, "seconds": 20.56, "png": { "path": "reproduction/case21/observation-03.png", "bytes": 77112, "sha256": "f01817b60d23bc387346022b471a33b61072a463a02bfc2215bcffbe2e4d735f" } }, { "slot": 4, "role": "past", "tick": 539, "seconds": 21.56, "png": { "path": "reproduction/case21/observation-04.png", "bytes": 69927, "sha256": "693896bd2774c2f3deee1e2ac64d2da04e378b989019140ef9552b970cbf76c8" } }, { "slot": 5, "role": "past", "tick": 564, "seconds": 22.56, "png": { "path": "reproduction/case21/observation-05.png", "bytes": 77406, "sha256": "03651ae32deb865a7f8350f7c30cfe5ed50a5461d3f6b13e1ca9504d061545d9" } }, { "slot": 6, "role": "past", "tick": 589, "seconds": 23.56, "png": { "path": "reproduction/case21/observation-06.png", "bytes": 80894, "sha256": "a535328029aeef582966fe0f597499e6e24df1572e6bcc199f0c77b8ffdc6a24" } }, { "slot": 7, "role": "past", "tick": 614, "seconds": 24.56, "png": { "path": "reproduction/case21/observation-07.png", "bytes": 83386, "sha256": "476a4eddd1e6ef9a586ed5420a4887aaab188b878e17eaf5f66a2171adfd2328" } }, { "slot": 8, "role": "current", "tick": 639, "seconds": 25.56, "png": { "path": "reproduction/case21/observation-08.png", "bytes": 80480, "sha256": "b16426b9441b58f70a7c5e14572d59512977b45feddce71ea9b30ccb60c488a4" } } ], "chunks": [ { "chunk_index": 0, "current_tick": 639, "current_seconds": 25.56, "history_ticks": [ 0, 464, 489, 514, 539, 564, 589, 614, 639 ], "history_seconds": [ 0.0, 18.56, 19.56, 20.56, 21.56, 22.56, 23.56, 24.56, 25.56 ], "future_video_ticks": [ 643, 647, 651, 655, 659, 663, 667, 671 ], "future_video_seconds": [ 25.72, 25.88, 26.04, 26.2, 26.36, 26.52, 26.68, 26.84 ], "action_target_tick_range_inclusive": [ 640, 671 ], "action_target_seconds_inclusive": [ 25.6, 26.84 ], "seed": 242, "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "cameras": { "head": { "requested_history_video_seconds": [ 46.83333333333333, 65.39333333333333, 66.39333333333333, 67.39333333333333, 68.39333333333333, 69.39333333333333, 70.39333333333333, 71.39333333333333, 72.39333333333333 ], "requested_history_native_frame_indices": [ 1405, 1962, 1992, 2022, 2052, 2082, 2112, 2142, 2172 ] }, "wrist_left": { "requested_history_video_seconds": [ 646.2666666666667, 664.8266666666666, 665.8266666666666, 666.8266666666666, 667.8266666666666, 668.8266666666666, 669.8266666666666, 670.8266666666666, 671.8266666666666 ], "requested_history_native_frame_indices": [ 19388, 19945, 19975, 20005, 20035, 20065, 20095, 20125, 20155 ] }, "wrist_right": { "requested_history_video_seconds": [ 472.8666666666666, 491.4266666666666, 492.4266666666666, 493.4266666666666, 494.4266666666666, 495.4266666666666, 496.4266666666666, 497.4266666666666, 498.4266666666666 ], "requested_history_native_frame_indices": [ 14186, 14743, 14773, 14803, 14833, 14863, 14893, 14923, 14953 ] } } }, { "chunk_index": 1, "current_tick": 671, "current_seconds": 26.84, "history_ticks": [ 0, 496, 521, 546, 571, 596, 621, 646, 671 ], "history_seconds": [ 0.0, 19.84, 20.84, 21.84, 22.84, 23.84, 24.84, 25.84, 26.84 ], "future_video_ticks": [ 675, 679, 683, 687, 691, 695, 699, 703 ], "future_video_seconds": [ 27.0, 27.16, 27.32, 27.48, 27.64, 27.8, 27.96, 28.12 ], "action_target_tick_range_inclusive": [ 672, 703 ], "action_target_seconds_inclusive": [ 26.88, 28.12 ], "seed": 243, "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "cameras": { "head": { "requested_history_video_seconds": [ 46.83333333333333, 66.67333333333333, 67.67333333333333, 68.67333333333333, 69.67333333333333, 70.67333333333333, 71.67333333333333, 72.67333333333333, 73.67333333333333 ], "requested_history_native_frame_indices": [ 1405, 2000, 2030, 2060, 2090, 2120, 2150, 2180, 2210 ] }, "wrist_left": { "requested_history_video_seconds": [ 646.2666666666667, 666.1066666666667, 667.1066666666667, 668.1066666666667, 669.1066666666667, 670.1066666666667, 671.1066666666667, 672.1066666666667, 673.1066666666667 ], "requested_history_native_frame_indices": [ 19388, 19983, 20013, 20043, 20073, 20103, 20133, 20163, 20193 ] }, "wrist_right": { "requested_history_video_seconds": [ 472.8666666666666, 492.7066666666666, 493.7066666666666, 494.7066666666666, 495.7066666666666, 496.7066666666666, 497.7066666666666, 498.7066666666666, 499.7066666666666 ], "requested_history_native_frame_indices": [ 14186, 14781, 14811, 14841, 14871, 14901, 14931, 14961, 14991 ] } } }, { "chunk_index": 2, "current_tick": 703, "current_seconds": 28.12, "history_ticks": [ 0, 528, 553, 578, 603, 628, 653, 678, 703 ], "history_seconds": [ 0.0, 21.12, 22.12, 23.12, 24.12, 25.12, 26.12, 27.12, 28.12 ], "future_video_ticks": [ 707, 711, 715, 719, 723, 727, 731, 735 ], "future_video_seconds": [ 28.28, 28.44, 28.6, 28.76, 28.92, 29.08, 29.24, 29.4 ], "action_target_tick_range_inclusive": [ 704, 735 ], "action_target_seconds_inclusive": [ 28.16, 29.4 ], "seed": 244, "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "cameras": { "head": { "requested_history_video_seconds": [ 46.83333333333333, 67.95333333333333, 68.95333333333333, 69.95333333333333, 70.95333333333333, 71.95333333333333, 72.95333333333333, 73.95333333333333, 74.95333333333333 ], "requested_history_native_frame_indices": [ 1405, 2039, 2069, 2099, 2129, 2159, 2189, 2219, 2249 ] }, "wrist_left": { "requested_history_video_seconds": [ 646.2666666666667, 667.3866666666667, 668.3866666666667, 669.3866666666667, 670.3866666666667, 671.3866666666667, 672.3866666666667, 673.3866666666667, 674.3866666666667 ], "requested_history_native_frame_indices": [ 19388, 20022, 20052, 20082, 20112, 20142, 20172, 20202, 20232 ] }, "wrist_right": { "requested_history_video_seconds": [ 472.8666666666666, 493.9866666666666, 494.9866666666666, 495.9866666666666, 496.9866666666666, 497.9866666666666, 498.9866666666666, 499.9866666666666, 500.9866666666666 ], "requested_history_native_frame_indices": [ 14186, 14820, 14850, 14880, 14910, 14940, 14970, 15000, 15030 ] } } }, { "chunk_index": 3, "current_tick": 735, "current_seconds": 29.4, "history_ticks": [ 0, 560, 585, 610, 635, 660, 685, 710, 735 ], "history_seconds": [ 0.0, 22.4, 23.4, 24.4, 25.4, 26.4, 27.4, 28.4, 29.4 ], "future_video_ticks": [ 739, 743, 747, 751, 755, 759, 763, 767 ], "future_video_seconds": [ 29.56, 29.72, 29.88, 30.04, 30.2, 30.36, 30.52, 30.68 ], "action_target_tick_range_inclusive": [ 736, 767 ], "action_target_seconds_inclusive": [ 29.44, 30.68 ], "seed": 245, "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "cameras": { "head": { "requested_history_video_seconds": [ 46.83333333333333, 69.23333333333332, 70.23333333333332, 71.23333333333332, 72.23333333333332, 73.23333333333332, 74.23333333333332, 75.23333333333332, 76.23333333333332 ], "requested_history_native_frame_indices": [ 1405, 2077, 2107, 2137, 2167, 2197, 2227, 2257, 2287 ] }, "wrist_left": { "requested_history_video_seconds": [ 646.2666666666667, 668.6666666666666, 669.6666666666666, 670.6666666666666, 671.6666666666666, 672.6666666666666, 673.6666666666666, 674.6666666666666, 675.6666666666666 ], "requested_history_native_frame_indices": [ 19388, 20060, 20090, 20120, 20150, 20180, 20210, 20240, 20270 ] }, "wrist_right": { "requested_history_video_seconds": [ 472.8666666666666, 495.2666666666666, 496.2666666666666, 497.2666666666666, 498.2666666666666, 499.2666666666666, 500.2666666666666, 501.2666666666666, 502.2666666666666 ], "requested_history_native_frame_indices": [ 14186, 14858, 14888, 14918, 14948, 14978, 15008, 15038, 15068 ] } } }, { "chunk_index": 4, "current_tick": 767, "current_seconds": 30.68, "history_ticks": [ 0, 592, 617, 642, 667, 692, 717, 742, 767 ], "history_seconds": [ 0.0, 23.68, 24.68, 25.68, 26.68, 27.68, 28.68, 29.68, 30.68 ], "future_video_ticks": [ 771, 775, 779, 783, 787, 791, 795, 799 ], "future_video_seconds": [ 30.84, 31.0, 31.16, 31.32, 31.48, 31.64, 31.8, 31.96 ], "action_target_tick_range_inclusive": [ 768, 799 ], "action_target_seconds_inclusive": [ 30.72, 31.96 ], "seed": 246, "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "cameras": { "head": { "requested_history_video_seconds": [ 46.83333333333333, 70.51333333333332, 71.51333333333332, 72.51333333333332, 73.51333333333332, 74.51333333333332, 75.51333333333332, 76.51333333333332, 77.51333333333332 ], "requested_history_native_frame_indices": [ 1405, 2115, 2145, 2175, 2205, 2235, 2265, 2295, 2325 ] }, "wrist_left": { "requested_history_video_seconds": [ 646.2666666666667, 669.9466666666666, 670.9466666666666, 671.9466666666666, 672.9466666666666, 673.9466666666666, 674.9466666666666, 675.9466666666666, 676.9466666666666 ], "requested_history_native_frame_indices": [ 19388, 20098, 20128, 20158, 20188, 20218, 20248, 20278, 20308 ] }, "wrist_right": { "requested_history_video_seconds": [ 472.8666666666666, 496.5466666666666, 497.5466666666666, 498.5466666666666, 499.5466666666666, 500.5466666666666, 501.5466666666666, 502.5466666666666, 503.5466666666666 ], "requested_history_native_frame_indices": [ 14186, 14896, 14926, 14956, 14986, 15016, 15046, 15076, 15106 ] } } }, { "chunk_index": 5, "current_tick": 799, "current_seconds": 31.96, "history_ticks": [ 0, 624, 649, 674, 699, 724, 749, 774, 799 ], "history_seconds": [ 0.0, 24.96, 25.96, 26.96, 27.96, 28.96, 29.96, 30.96, 31.96 ], "future_video_ticks": [ 803, 807, 811, 815, 819, 823, 827, 831 ], "future_video_seconds": [ 32.12, 32.28, 32.44, 32.6, 32.76, 32.92, 33.08, 33.24 ], "action_target_tick_range_inclusive": [ 800, 831 ], "action_target_seconds_inclusive": [ 32.0, 33.24 ], "seed": 247, "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "cameras": { "head": { "requested_history_video_seconds": [ 46.83333333333333, 71.79333333333332, 72.79333333333332, 73.79333333333332, 74.79333333333332, 75.79333333333332, 76.79333333333332, 77.79333333333332, 78.79333333333332 ], "requested_history_native_frame_indices": [ 1405, 2154, 2184, 2214, 2244, 2274, 2304, 2334, 2364 ] }, "wrist_left": { "requested_history_video_seconds": [ 646.2666666666667, 671.2266666666667, 672.2266666666667, 673.2266666666667, 674.2266666666667, 675.2266666666667, 676.2266666666667, 677.2266666666667, 678.2266666666667 ], "requested_history_native_frame_indices": [ 19388, 20137, 20167, 20197, 20227, 20257, 20287, 20317, 20347 ] }, "wrist_right": { "requested_history_video_seconds": [ 472.8666666666666, 497.8266666666666, 498.8266666666666, 499.8266666666666, 500.8266666666666, 501.8266666666666, 502.8266666666666, 503.8266666666666, 504.8266666666666 ], "requested_history_native_frame_indices": [ 14186, 14935, 14965, 14995, 15025, 15055, 15085, 15115, 15145 ] } } }, { "chunk_index": 6, "current_tick": 831, "current_seconds": 33.24, "history_ticks": [ 0, 656, 681, 706, 731, 756, 781, 806, 831 ], "history_seconds": [ 0.0, 26.24, 27.24, 28.24, 29.24, 30.24, 31.24, 32.24, 33.24 ], "future_video_ticks": [ 835, 839, 843, 847, 851, 855, 859, 863 ], "future_video_seconds": [ 33.4, 33.56, 33.72, 33.88, 34.04, 34.2, 34.36, 34.52 ], "action_target_tick_range_inclusive": [ 832, 863 ], "action_target_seconds_inclusive": [ 33.28, 34.52 ], "seed": 248, "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "cameras": { "head": { "requested_history_video_seconds": [ 46.83333333333333, 73.07333333333332, 74.07333333333332, 75.07333333333332, 76.07333333333332, 77.07333333333332, 78.07333333333332, 79.07333333333332, 80.07333333333332 ], "requested_history_native_frame_indices": [ 1405, 2192, 2222, 2252, 2282, 2312, 2342, 2372, 2402 ] }, "wrist_left": { "requested_history_video_seconds": [ 646.2666666666667, 672.5066666666667, 673.5066666666667, 674.5066666666667, 675.5066666666667, 676.5066666666667, 677.5066666666667, 678.5066666666667, 679.5066666666667 ], "requested_history_native_frame_indices": [ 19388, 20175, 20205, 20235, 20265, 20295, 20325, 20355, 20385 ] }, "wrist_right": { "requested_history_video_seconds": [ 472.8666666666666, 499.1066666666666, 500.1066666666666, 501.1066666666666, 502.1066666666666, 503.1066666666666, 504.1066666666666, 505.1066666666666, 506.1066666666666 ], "requested_history_native_frame_indices": [ 14186, 14973, 15003, 15033, 15063, 15093, 15123, 15153, 15183 ] } } }, { "chunk_index": 7, "current_tick": 863, "current_seconds": 34.52, "history_ticks": [ 0, 688, 713, 738, 763, 788, 813, 838, 863 ], "history_seconds": [ 0.0, 27.52, 28.52, 29.52, 30.52, 31.52, 32.52, 33.52, 34.52 ], "future_video_ticks": [ 867, 871, 875, 879, 883, 887, 891, 895 ], "future_video_seconds": [ 34.68, 34.84, 35.0, 35.16, 35.32, 35.48, 35.64, 35.8 ], "action_target_tick_range_inclusive": [ 864, 895 ], "action_target_seconds_inclusive": [ 34.56, 35.8 ], "seed": 249, "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "cameras": { "head": { "requested_history_video_seconds": [ 46.83333333333333, 74.35333333333332, 75.35333333333332, 76.35333333333332, 77.35333333333332, 78.35333333333332, 79.35333333333332, 80.35333333333332, 81.35333333333332 ], "requested_history_native_frame_indices": [ 1405, 2231, 2261, 2291, 2321, 2351, 2381, 2411, 2441 ] }, "wrist_left": { "requested_history_video_seconds": [ 646.2666666666667, 673.7866666666666, 674.7866666666666, 675.7866666666666, 676.7866666666666, 677.7866666666666, 678.7866666666666, 679.7866666666666, 680.7866666666666 ], "requested_history_native_frame_indices": [ 19388, 20214, 20244, 20274, 20304, 20334, 20364, 20394, 20424 ] }, "wrist_right": { "requested_history_video_seconds": [ 472.8666666666666, 500.3866666666666, 501.3866666666666, 502.3866666666666, 503.3866666666666, 504.3866666666666, 505.3866666666666, 506.3866666666666, 507.3866666666666 ], "requested_history_native_frame_indices": [ 14186, 15012, 15042, 15072, 15102, 15132, 15162, 15192, 15222 ] } } } ], "diagnostics": [], "initial_state_raw": [ 0.4343373775482178, 0.06015176698565483, 1.2187398672103882, 0.0, 0.0, 0.0, 0.0, 0.25435322523117065, 0.06916258484125137, -0.33658790588378906, 1.1827131509780884, 0.0, 0.0, 0.0, 0.0, 0.9442044496536255 ], "initial_state_valid": [ true, true, true, false, false, false, false, true, true, true, true, false, false, false, false, true ], "initial_state_normalized": [ 0.8708748817443848, -1.8461170196533203, -0.8042090535163879, 0.0, 0.0, 0.0, 0.0, -1.355104923248291, -0.9081161022186279, -0.5530738234519958, -0.8926331400871277, 0.0, 0.0, 0.0, 0.0, 0.3112541735172272 ], "assets": { "initial_input": { "path": "reproduction/case21/initial-input.npz", "bytes": 1020264, "sha256": "886665005e3463da06693331b10ec200cff0ea68505f2ff42ae0fe692477596f" }, "state_arrays": { "path": "reproduction/case21/arrays.npz", "bytes": 5154, "sha256": "ae2aa1f73de97199fec8ca7bf9e0f6817c2b2452e3b3a7606778c04b83586453" }, "frame_parts": [ { "path": "reproduction/case21/frames-00.npz", "bytes": 3731220, "sha256": "0f176740e8f8af0f1d33ba89e191946fe70f80eb5d372f22246c92e864150217" }, { "path": "reproduction/case21/frames-01.npz", "bytes": 3600630, "sha256": "59377dba0c61cc2b0953d17d4d47f0618fa17820c4e3901986d43f33b0ee362b" }, { "path": "reproduction/case21/frames-02.npz", "bytes": 3557157, "sha256": "3197b9c2cf7fc3bf94fb4d22edfb8094cd98dd42f7c1f10e4d8354912648a691" }, { "path": "reproduction/case21/frames-03.npz", "bytes": 2619943, "sha256": "eefce006f4e27045bcbade46eacd15b36272070c7443560f49b201775679ba7a" } ] }, "original_case_npz_sha256": "369fd07d3d3d57baaef9bd87a500728ee3e5f37f795111aa107608a395f952b2", "frame_pixels_sha256": "66557de359d4ffff09ff61150afc9211dc1d9ce2586e2c75764322453b6780ac", "protocol": "reproduction/protocol.json" } }, { "id": "case14", "tree": "robocoin_lerobot_v3/robocoin_agilex_decoupled", "shard": "c000-f000", "episode": 273, "start": 468, "starts": [ 468, 500, 532, 564, 596, 628, 660, 692 ], "prompts": [ "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "Robot: robocoin_agilex_decoupled. 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Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "cameras": { "head": { "requested_history_video_seconds": [ 378.9, 391.9, 392.9, 393.9, 394.9, 395.9, 396.9, 397.9, 398.9 ], "requested_history_native_frame_indices": [ 11367, 11757, 11787, 11817, 11847, 11877, 11907, 11937, 11967 ] }, "wrist_left": { "requested_history_video_seconds": [ 2048.433333333333, 2061.433333333333, 2062.433333333333, 2063.433333333333, 2064.433333333333, 2065.433333333333, 2066.433333333333, 2067.433333333333, 2068.433333333333 ], "requested_history_native_frame_indices": [ 61453, 61843, 61873, 61903, 61933, 61963, 61993, 62023, 62053 ] }, "wrist_right": { "requested_history_video_seconds": [ 1721.5999999999992, 1734.5999999999992, 1735.5999999999992, 1736.5999999999992, 1737.5999999999992, 1738.5999999999992, 1739.5999999999992, 1740.5999999999992, 1741.5999999999992 ], "requested_history_native_frame_indices": [ 51648, 52038, 52068, 52098, 52128, 52158, 52188, 52218, 52248 ] } } }, { "chunk_index": 2, "current_tick": 532, "current_seconds": 21.28, "history_ticks": [ 0, 357, 382, 407, 432, 457, 482, 507, 532 ], "history_seconds": [ 0.0, 14.28, 15.28, 16.28, 17.28, 18.28, 19.28, 20.28, 21.28 ], "future_video_ticks": [ 536, 540, 544, 548, 552, 556, 560, 564 ], "future_video_seconds": [ 21.44, 21.6, 21.76, 21.92, 22.08, 22.24, 22.4, 22.56 ], "action_target_tick_range_inclusive": [ 533, 564 ], "action_target_seconds_inclusive": [ 21.32, 22.56 ], "seed": 344, "prompt": "Robot: robocoin_agilex_decoupled. 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Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "cameras": { "head": { "requested_history_video_seconds": [ 378.9, 394.46, 395.46, 396.46, 397.46, 398.46, 399.46, 400.46, 401.46 ], "requested_history_native_frame_indices": [ 11367, 11834, 11864, 11894, 11924, 11954, 11984, 12014, 12044 ] }, "wrist_left": { "requested_history_video_seconds": [ 2048.433333333333, 2063.993333333333, 2064.993333333333, 2065.993333333333, 2066.993333333333, 2067.993333333333, 2068.993333333333, 2069.993333333333, 2070.993333333333 ], "requested_history_native_frame_indices": [ 61453, 61920, 61950, 61980, 62010, 62040, 62070, 62100, 62130 ] }, "wrist_right": { "requested_history_video_seconds": [ 1721.5999999999992, 1737.1599999999992, 1738.1599999999992, 1739.1599999999992, 1740.1599999999992, 1741.1599999999992, 1742.1599999999992, 1743.1599999999992, 1744.1599999999992 ], "requested_history_native_frame_indices": [ 51648, 52115, 52145, 52175, 52205, 52235, 52265, 52295, 52325 ] } } }, { "chunk_index": 4, "current_tick": 596, "current_seconds": 23.84, "history_ticks": [ 0, 421, 446, 471, 496, 521, 546, 571, 596 ], "history_seconds": [ 0.0, 16.84, 17.84, 18.84, 19.84, 20.84, 21.84, 22.84, 23.84 ], "future_video_ticks": [ 600, 604, 608, 612, 616, 620, 624, 628 ], "future_video_seconds": [ 24.0, 24.16, 24.32, 24.48, 24.64, 24.8, 24.96, 25.12 ], "action_target_tick_range_inclusive": [ 597, 628 ], "action_target_seconds_inclusive": [ 23.88, 25.12 ], "seed": 346, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "cameras": { "head": { "requested_history_video_seconds": [ 378.9, 395.73999999999995, 396.73999999999995, 397.73999999999995, 398.73999999999995, 399.73999999999995, 400.73999999999995, 401.73999999999995, 402.73999999999995 ], "requested_history_native_frame_indices": [ 11367, 11872, 11902, 11932, 11962, 11992, 12022, 12052, 12082 ] }, "wrist_left": { "requested_history_video_seconds": [ 2048.433333333333, 2065.273333333333, 2066.273333333333, 2067.273333333333, 2068.273333333333, 2069.273333333333, 2070.273333333333, 2071.273333333333, 2072.273333333333 ], "requested_history_native_frame_indices": [ 61453, 61958, 61988, 62018, 62048, 62078, 62108, 62138, 62168 ] }, "wrist_right": { "requested_history_video_seconds": [ 1721.5999999999992, 1738.4399999999991, 1739.4399999999991, 1740.4399999999991, 1741.4399999999991, 1742.4399999999991, 1743.4399999999991, 1744.4399999999991, 1745.4399999999991 ], "requested_history_native_frame_indices": [ 51648, 52153, 52183, 52213, 52243, 52273, 52303, 52333, 52363 ] } } }, { "chunk_index": 5, "current_tick": 628, "current_seconds": 25.12, "history_ticks": [ 0, 453, 478, 503, 528, 553, 578, 603, 628 ], "history_seconds": [ 0.0, 18.12, 19.12, 20.12, 21.12, 22.12, 23.12, 24.12, 25.12 ], "future_video_ticks": [ 632, 636, 640, 644, 648, 652, 656, 660 ], "future_video_seconds": [ 25.28, 25.44, 25.6, 25.76, 25.92, 26.08, 26.24, 26.4 ], "action_target_tick_range_inclusive": [ 629, 660 ], "action_target_seconds_inclusive": [ 25.16, 26.4 ], "seed": 347, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "cameras": { "head": { "requested_history_video_seconds": [ 378.9, 397.02, 398.02, 399.02, 400.02, 401.02, 402.02, 403.02, 404.02 ], "requested_history_native_frame_indices": [ 11367, 11911, 11941, 11971, 12001, 12031, 12061, 12091, 12121 ] }, "wrist_left": { "requested_history_video_seconds": [ 2048.433333333333, 2066.553333333333, 2067.553333333333, 2068.553333333333, 2069.553333333333, 2070.553333333333, 2071.553333333333, 2072.553333333333, 2073.553333333333 ], "requested_history_native_frame_indices": [ 61453, 61997, 62027, 62057, 62087, 62117, 62147, 62177, 62207 ] }, "wrist_right": { "requested_history_video_seconds": [ 1721.5999999999992, 1739.7199999999991, 1740.7199999999991, 1741.7199999999991, 1742.7199999999991, 1743.7199999999991, 1744.7199999999991, 1745.7199999999991, 1746.7199999999991 ], "requested_history_native_frame_indices": [ 51648, 52192, 52222, 52252, 52282, 52312, 52342, 52372, 52402 ] } } }, { "chunk_index": 6, "current_tick": 660, "current_seconds": 26.4, "history_ticks": [ 0, 485, 510, 535, 560, 585, 610, 635, 660 ], "history_seconds": [ 0.0, 19.4, 20.4, 21.4, 22.4, 23.4, 24.4, 25.4, 26.4 ], "future_video_ticks": [ 664, 668, 672, 676, 680, 684, 688, 692 ], "future_video_seconds": [ 26.56, 26.72, 26.88, 27.04, 27.2, 27.36, 27.52, 27.68 ], "action_target_tick_range_inclusive": [ 661, 692 ], "action_target_seconds_inclusive": [ 26.44, 27.68 ], "seed": 348, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "cameras": { "head": { "requested_history_video_seconds": [ 378.9, 398.29999999999995, 399.29999999999995, 400.29999999999995, 401.29999999999995, 402.29999999999995, 403.29999999999995, 404.29999999999995, 405.29999999999995 ], "requested_history_native_frame_indices": [ 11367, 11949, 11979, 12009, 12039, 12069, 12099, 12129, 12159 ] }, "wrist_left": { "requested_history_video_seconds": [ 2048.433333333333, 2067.833333333333, 2068.833333333333, 2069.833333333333, 2070.833333333333, 2071.833333333333, 2072.833333333333, 2073.833333333333, 2074.833333333333 ], "requested_history_native_frame_indices": [ 61453, 62035, 62065, 62095, 62125, 62155, 62185, 62215, 62245 ] }, "wrist_right": { "requested_history_video_seconds": [ 1721.5999999999992, 1740.9999999999993, 1741.9999999999993, 1742.9999999999993, 1743.9999999999993, 1744.9999999999993, 1745.9999999999993, 1746.9999999999993, 1747.9999999999993 ], "requested_history_native_frame_indices": [ 51648, 52230, 52260, 52290, 52320, 52350, 52380, 52410, 52440 ] } } }, { "chunk_index": 7, "current_tick": 692, "current_seconds": 27.68, "history_ticks": [ 0, 517, 542, 567, 592, 617, 642, 667, 692 ], "history_seconds": [ 0.0, 20.68, 21.68, 22.68, 23.68, 24.68, 25.68, 26.68, 27.68 ], "future_video_ticks": [ 696, 700, 704, 708, 712, 716, 720, 724 ], "future_video_seconds": [ 27.84, 28.0, 28.16, 28.32, 28.48, 28.64, 28.8, 28.96 ], "action_target_tick_range_inclusive": [ 693, 724 ], "action_target_seconds_inclusive": [ 27.72, 28.96 ], "seed": 349, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "cameras": { "head": { "requested_history_video_seconds": [ 378.9, 399.58, 400.58, 401.58, 402.58, 403.58, 404.58, 405.58, 406.58 ], "requested_history_native_frame_indices": [ 11367, 11987, 12017, 12047, 12077, 12107, 12137, 12167, 12197 ] }, "wrist_left": { "requested_history_video_seconds": [ 2048.433333333333, 2069.113333333333, 2070.113333333333, 2071.113333333333, 2072.113333333333, 2073.113333333333, 2074.113333333333, 2075.113333333333, 2076.113333333333 ], "requested_history_native_frame_indices": [ 61453, 62073, 62103, 62133, 62163, 62193, 62223, 62253, 62283 ] }, "wrist_right": { "requested_history_video_seconds": [ 1721.5999999999992, 1742.2799999999993, 1743.2799999999993, 1744.2799999999993, 1745.2799999999993, 1746.2799999999993, 1747.2799999999993, 1748.2799999999993, 1749.2799999999993 ], "requested_history_native_frame_indices": [ 51648, 52268, 52298, 52328, 52358, 52388, 52418, 52448, 52478 ] } } } ], "diagnostics": [ { "history": "current_repeat", "variant": "full_original", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "context": "5d7156548762a4a589701c7c9417ca3796e7cd2f9c9fd03b7d729dbd7ac04679" }, { "history": "current_repeat", "variant": "full_original", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "context": "5d7156548762a4a589701c7c9417ca3796e7cd2f9c9fd03b7d729dbd7ac04679" }, { "history": "current_repeat", "variant": "full_stop", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "8eb5d95484fcd61b4e7ea44e69ebb98a0bb74818e9dfd007f8867093d7a39254" }, { "history": "current_repeat", "variant": "full_stop", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "8eb5d95484fcd61b4e7ea44e69ebb98a0bb74818e9dfd007f8867093d7a39254" }, { "history": "current_repeat", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: right arm: Pour the orange juice from the bottle into the black mug.", "context": "f1f6d48460562fea54f3ee9a0cbeafa5b64e6e4782548b463d79477b2be6ea68" }, { "history": "current_repeat", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: right arm: Pour the orange juice from the bottle into the black mug.", "context": "f1f6d48460562fea54f3ee9a0cbeafa5b64e6e4782548b463d79477b2be6ea68" }, { "history": "current_repeat", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "context": "bf630a783b0b48ad6c043bd9fab4750b50327cb6b42b0150c505838049f7b954" }, { "history": "current_repeat", "variant": "l3_conflict", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "context": "bf630a783b0b48ad6c043bd9fab4750b50327cb6b42b0150c505838049f7b954" }, { "history": "reverse_past", "variant": "full_original", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "context": "5d7156548762a4a589701c7c9417ca3796e7cd2f9c9fd03b7d729dbd7ac04679" }, { "history": "reverse_past", "variant": "full_original", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "context": "5d7156548762a4a589701c7c9417ca3796e7cd2f9c9fd03b7d729dbd7ac04679" }, { "history": "reverse_past", "variant": "full_stop", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "8eb5d95484fcd61b4e7ea44e69ebb98a0bb74818e9dfd007f8867093d7a39254" }, { "history": "reverse_past", "variant": "full_stop", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "8eb5d95484fcd61b4e7ea44e69ebb98a0bb74818e9dfd007f8867093d7a39254" }, { "history": "reverse_past", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: right arm: Pour the orange juice from the bottle into the black mug.", "context": "f1f6d48460562fea54f3ee9a0cbeafa5b64e6e4782548b463d79477b2be6ea68" }, { "history": "reverse_past", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: right arm: Pour the orange juice from the bottle into the black mug.", "context": "f1f6d48460562fea54f3ee9a0cbeafa5b64e6e4782548b463d79477b2be6ea68" }, { "history": "reverse_past", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "context": "bf630a783b0b48ad6c043bd9fab4750b50327cb6b42b0150c505838049f7b954" }, { "history": "reverse_past", "variant": "l3_conflict", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "context": "bf630a783b0b48ad6c043bd9fab4750b50327cb6b42b0150c505838049f7b954" }, { "history": "true_history", "variant": "full_original", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "context": "5d7156548762a4a589701c7c9417ca3796e7cd2f9c9fd03b7d729dbd7ac04679" }, { "history": "true_history", "variant": "full_original", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "context": "5d7156548762a4a589701c7c9417ca3796e7cd2f9c9fd03b7d729dbd7ac04679" }, { "history": "true_history", "variant": "full_stop", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "8eb5d95484fcd61b4e7ea44e69ebb98a0bb74818e9dfd007f8867093d7a39254" }, { "history": "true_history", "variant": "full_stop", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "8eb5d95484fcd61b4e7ea44e69ebb98a0bb74818e9dfd007f8867093d7a39254" }, { "history": "true_history", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: right arm: Pour the orange juice from the bottle into the black mug.", "context": "f1f6d48460562fea54f3ee9a0cbeafa5b64e6e4782548b463d79477b2be6ea68" }, { "history": "true_history", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: right arm: Pour the orange juice from the bottle into the black mug.", "context": "f1f6d48460562fea54f3ee9a0cbeafa5b64e6e4782548b463d79477b2be6ea68" }, { "history": "true_history", "variant": "l1_conflict", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "02afdb370b8b1d06cc117a5fdcfebb93ce68f46da7410cb9760fd4fd5a0bbda2" }, { "history": "true_history", "variant": "l1_conflict", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "02afdb370b8b1d06cc117a5fdcfebb93ce68f46da7410cb9760fd4fd5a0bbda2" }, { "history": "true_history", "variant": "l1_only_original", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "context": "f30507b4a6856eacfe9237bd041a806ae1b04901d3fd14996b00b985bac7dc46" }, { "history": "true_history", "variant": "l1_only_original", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "context": "f30507b4a6856eacfe9237bd041a806ae1b04901d3fd14996b00b985bac7dc46" }, { "history": "true_history", "variant": "l1_only_stop", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "bc35d3bacd0d894646b47b76cfbf2b5c40444a785307324f682d0726da6f2752" }, { "history": "true_history", "variant": "l1_only_stop", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "bc35d3bacd0d894646b47b76cfbf2b5c40444a785307324f682d0726da6f2752" }, { "history": "true_history", "variant": "l1_only_swap", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled\nAtomic instruction: right arm: Pour the orange juice from the bottle into the black mug.", "context": "cd718f9866da579fa0bf25605a554eadf89d38defe85c2828afbb13f71ab6600" }, { "history": "true_history", "variant": "l1_only_swap", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled\nAtomic instruction: right arm: Pour the orange juice from the bottle into the black mug.", "context": "cd718f9866da579fa0bf25605a554eadf89d38defe85c2828afbb13f71ab6600" }, { "history": "true_history", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "context": "bf630a783b0b48ad6c043bd9fab4750b50327cb6b42b0150c505838049f7b954" }, { "history": "true_history", "variant": "l3_conflict", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "context": "bf630a783b0b48ad6c043bd9fab4750b50327cb6b42b0150c505838049f7b954" }, { "history": "true_history", "variant": "l3_only_edit", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled. 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Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Continue moving the left arm forward towards the water bottle. right arm: Wait in the starting position.", "cameras": { "head": { "requested_history_video_seconds": [ 1205.1333333333334, 1206.7733333333335, 1207.7733333333335, 1208.7733333333335, 1209.7733333333335, 1210.7733333333335, 1211.7733333333335, 1212.7733333333335, 1213.7733333333335 ], "requested_history_native_frame_indices": [ 36154, 36203, 36233, 36263, 36293, 36323, 36353, 36383, 36413 ] }, "other": { "requested_history_video_seconds": [ 1205.1333333333334, 1206.7733333333335, 1207.7733333333335, 1208.7733333333335, 1209.7733333333335, 1210.7733333333335, 1211.7733333333335, 1212.7733333333335, 1213.7733333333335 ], "requested_history_native_frame_indices": [ 36154, 36203, 36233, 36263, 36293, 36323, 36353, 36383, 36413 ] }, "wrist_left": { "requested_history_video_seconds": [ 1205.1333333333334, 1206.7733333333335, 1207.7733333333335, 1208.7733333333335, 1209.7733333333335, 1210.7733333333335, 1211.7733333333335, 1212.7733333333335, 1213.7733333333335 ], "requested_history_native_frame_indices": [ 36154, 36203, 36233, 36263, 36293, 36323, 36353, 36383, 36413 ] }, "wrist_right": { "requested_history_video_seconds": [ 1205.1333333333334, 1206.7733333333335, 1207.7733333333335, 1208.7733333333335, 1209.7733333333335, 1210.7733333333335, 1211.7733333333335, 1212.7733333333335, 1213.7733333333335 ], "requested_history_native_frame_indices": [ 36154, 36203, 36233, 36263, 36293, 36323, 36353, 36383, 36413 ] } } }, { "chunk_index": 4, "current_tick": 248, "current_seconds": 9.92, "history_ticks": [ 0, 73, 98, 123, 148, 173, 198, 223, 248 ], "history_seconds": [ 0.0, 2.92, 3.92, 4.92, 5.92, 6.92, 7.92, 8.92, 9.92 ], "future_video_ticks": [ 252, 256, 260, 264, 268, 272, 276, 280 ], "future_video_seconds": [ 10.08, 10.24, 10.4, 10.56, 10.72, 10.88, 11.04, 11.2 ], "action_target_tick_range_inclusive": [ 249, 280 ], "action_target_seconds_inclusive": [ 9.96, 11.2 ], "seed": 446, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Continue moving the left arm forward towards the water bottle. right arm: Wait in the starting position.", "cameras": { "head": { "requested_history_video_seconds": [ 1205.1333333333334, 1208.0533333333335, 1209.0533333333335, 1210.0533333333335, 1211.0533333333335, 1212.0533333333335, 1213.0533333333335, 1214.0533333333335, 1215.0533333333335 ], "requested_history_native_frame_indices": [ 36154, 36242, 36272, 36302, 36332, 36362, 36392, 36422, 36452 ] }, "other": { "requested_history_video_seconds": [ 1205.1333333333334, 1208.0533333333335, 1209.0533333333335, 1210.0533333333335, 1211.0533333333335, 1212.0533333333335, 1213.0533333333335, 1214.0533333333335, 1215.0533333333335 ], "requested_history_native_frame_indices": [ 36154, 36242, 36272, 36302, 36332, 36362, 36392, 36422, 36452 ] }, "wrist_left": { "requested_history_video_seconds": [ 1205.1333333333334, 1208.0533333333335, 1209.0533333333335, 1210.0533333333335, 1211.0533333333335, 1212.0533333333335, 1213.0533333333335, 1214.0533333333335, 1215.0533333333335 ], "requested_history_native_frame_indices": [ 36154, 36242, 36272, 36302, 36332, 36362, 36392, 36422, 36452 ] }, "wrist_right": { "requested_history_video_seconds": [ 1205.1333333333334, 1208.0533333333335, 1209.0533333333335, 1210.0533333333335, 1211.0533333333335, 1212.0533333333335, 1213.0533333333335, 1214.0533333333335, 1215.0533333333335 ], "requested_history_native_frame_indices": [ 36154, 36242, 36272, 36302, 36332, 36362, 36392, 36422, 36452 ] } } }, { "chunk_index": 5, "current_tick": 280, "current_seconds": 11.2, "history_ticks": [ 0, 105, 130, 155, 180, 205, 230, 255, 280 ], "history_seconds": [ 0.0, 4.2, 5.2, 6.2, 7.2, 8.2, 9.2, 10.2, 11.2 ], "future_video_ticks": [ 284, 288, 292, 296, 300, 304, 308, 312 ], "future_video_seconds": [ 11.36, 11.52, 11.68, 11.84, 12.0, 12.16, 12.32, 12.48 ], "action_target_tick_range_inclusive": [ 281, 312 ], "action_target_seconds_inclusive": [ 11.24, 12.48 ], "seed": 447, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Continue moving the left arm forward towards the water bottle. right arm: Wait in the starting position.", "cameras": { "head": { "requested_history_video_seconds": [ 1205.1333333333334, 1209.3333333333335, 1210.3333333333335, 1211.3333333333335, 1212.3333333333335, 1213.3333333333335, 1214.3333333333335, 1215.3333333333335, 1216.3333333333335 ], "requested_history_native_frame_indices": [ 36154, 36280, 36310, 36340, 36370, 36400, 36430, 36460, 36490 ] }, "other": { "requested_history_video_seconds": [ 1205.1333333333334, 1209.3333333333335, 1210.3333333333335, 1211.3333333333335, 1212.3333333333335, 1213.3333333333335, 1214.3333333333335, 1215.3333333333335, 1216.3333333333335 ], "requested_history_native_frame_indices": [ 36154, 36280, 36310, 36340, 36370, 36400, 36430, 36460, 36490 ] }, "wrist_left": { "requested_history_video_seconds": [ 1205.1333333333334, 1209.3333333333335, 1210.3333333333335, 1211.3333333333335, 1212.3333333333335, 1213.3333333333335, 1214.3333333333335, 1215.3333333333335, 1216.3333333333335 ], "requested_history_native_frame_indices": [ 36154, 36280, 36310, 36340, 36370, 36400, 36430, 36460, 36490 ] }, "wrist_right": { "requested_history_video_seconds": [ 1205.1333333333334, 1209.3333333333335, 1210.3333333333335, 1211.3333333333335, 1212.3333333333335, 1213.3333333333335, 1214.3333333333335, 1215.3333333333335, 1216.3333333333335 ], "requested_history_native_frame_indices": [ 36154, 36280, 36310, 36340, 36370, 36400, 36430, 36460, 36490 ] } } }, { "chunk_index": 6, "current_tick": 312, "current_seconds": 12.48, "history_ticks": [ 0, 137, 162, 187, 212, 237, 262, 287, 312 ], "history_seconds": [ 0.0, 5.48, 6.48, 7.48, 8.48, 9.48, 10.48, 11.48, 12.48 ], "future_video_ticks": [ 316, 320, 324, 328, 332, 336, 340, 344 ], "future_video_seconds": [ 12.64, 12.8, 12.96, 13.12, 13.28, 13.44, 13.6, 13.76 ], "action_target_tick_range_inclusive": [ 313, 344 ], "action_target_seconds_inclusive": [ 12.52, 13.76 ], "seed": 448, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Continue moving the left arm forward towards the water bottle. right arm: Wait in the starting position.", "cameras": { "head": { "requested_history_video_seconds": [ 1205.1333333333334, 1210.6133333333335, 1211.6133333333335, 1212.6133333333335, 1213.6133333333335, 1214.6133333333335, 1215.6133333333335, 1216.6133333333335, 1217.6133333333335 ], "requested_history_native_frame_indices": [ 36154, 36318, 36348, 36378, 36408, 36438, 36468, 36498, 36528 ] }, "other": { "requested_history_video_seconds": [ 1205.1333333333334, 1210.6133333333335, 1211.6133333333335, 1212.6133333333335, 1213.6133333333335, 1214.6133333333335, 1215.6133333333335, 1216.6133333333335, 1217.6133333333335 ], "requested_history_native_frame_indices": [ 36154, 36318, 36348, 36378, 36408, 36438, 36468, 36498, 36528 ] }, "wrist_left": { "requested_history_video_seconds": [ 1205.1333333333334, 1210.6133333333335, 1211.6133333333335, 1212.6133333333335, 1213.6133333333335, 1214.6133333333335, 1215.6133333333335, 1216.6133333333335, 1217.6133333333335 ], "requested_history_native_frame_indices": [ 36154, 36318, 36348, 36378, 36408, 36438, 36468, 36498, 36528 ] }, "wrist_right": { "requested_history_video_seconds": [ 1205.1333333333334, 1210.6133333333335, 1211.6133333333335, 1212.6133333333335, 1213.6133333333335, 1214.6133333333335, 1215.6133333333335, 1216.6133333333335, 1217.6133333333335 ], "requested_history_native_frame_indices": [ 36154, 36318, 36348, 36378, 36408, 36438, 36468, 36498, 36528 ] } } }, { "chunk_index": 7, "current_tick": 344, "current_seconds": 13.76, "history_ticks": [ 0, 169, 194, 219, 244, 269, 294, 319, 344 ], "history_seconds": [ 0.0, 6.76, 7.76, 8.76, 9.76, 10.76, 11.76, 12.76, 13.76 ], "future_video_ticks": [ 348, 352, 356, 360, 364, 368, 372, 376 ], "future_video_seconds": [ 13.92, 14.08, 14.24, 14.4, 14.56, 14.72, 14.88, 15.04 ], "action_target_tick_range_inclusive": [ 345, 376 ], "action_target_seconds_inclusive": [ 13.8, 15.04 ], "seed": 449, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "cameras": { "head": { "requested_history_video_seconds": [ 1205.1333333333334, 1211.8933333333334, 1212.8933333333334, 1213.8933333333334, 1214.8933333333334, 1215.8933333333334, 1216.8933333333334, 1217.8933333333334, 1218.8933333333334 ], "requested_history_native_frame_indices": [ 36154, 36357, 36387, 36417, 36447, 36477, 36507, 36537, 36567 ] }, "other": { "requested_history_video_seconds": [ 1205.1333333333334, 1211.8933333333334, 1212.8933333333334, 1213.8933333333334, 1214.8933333333334, 1215.8933333333334, 1216.8933333333334, 1217.8933333333334, 1218.8933333333334 ], "requested_history_native_frame_indices": [ 36154, 36357, 36387, 36417, 36447, 36477, 36507, 36537, 36567 ] }, "wrist_left": { "requested_history_video_seconds": [ 1205.1333333333334, 1211.8933333333334, 1212.8933333333334, 1213.8933333333334, 1214.8933333333334, 1215.8933333333334, 1216.8933333333334, 1217.8933333333334, 1218.8933333333334 ], "requested_history_native_frame_indices": [ 36154, 36357, 36387, 36417, 36447, 36477, 36507, 36537, 36567 ] }, "wrist_right": { "requested_history_video_seconds": [ 1205.1333333333334, 1211.8933333333334, 1212.8933333333334, 1213.8933333333334, 1214.8933333333334, 1215.8933333333334, 1216.8933333333334, 1217.8933333333334, 1218.8933333333334 ], "requested_history_native_frame_indices": [ 36154, 36357, 36387, 36417, 36447, 36477, 36507, 36537, 36567 ] } } } ], "diagnostics": [ { "history": "current_repeat", "variant": "full_original", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "context": "826fcdeabec1640804f33e2431d4c4ddf8b851a5356990fd12c7713d227d18c5" }, { "history": "current_repeat", "variant": "full_original", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "context": "826fcdeabec1640804f33e2431d4c4ddf8b851a5356990fd12c7713d227d18c5" }, { "history": "current_repeat", "variant": "full_stop", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "f61420a26204152d6d2e340098057dcbd38e08b86ed28a6766a6d3da44d0af64" }, { "history": "current_repeat", "variant": "full_stop", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "f61420a26204152d6d2e340098057dcbd38e08b86ed28a6766a6d3da44d0af64" }, { "history": "current_repeat", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Wait in the starting position.", "context": "d6b1b6af3abf5cfc2e5655902f1ac801b17093949aaf080d43b358261edfc7d3" }, { "history": "current_repeat", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Wait in the starting position.", "context": "d6b1b6af3abf5cfc2e5655902f1ac801b17093949aaf080d43b358261edfc7d3" }, { "history": "current_repeat", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "context": "583dca92e535bbedef0eb9f32e960d8696cfea3ee883709ed53d59ee72c4a65c" }, { "history": "current_repeat", "variant": "l3_conflict", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "context": "583dca92e535bbedef0eb9f32e960d8696cfea3ee883709ed53d59ee72c4a65c" }, { "history": "reverse_past", "variant": "full_original", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "context": "826fcdeabec1640804f33e2431d4c4ddf8b851a5356990fd12c7713d227d18c5" }, { "history": "reverse_past", "variant": "full_original", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "context": "826fcdeabec1640804f33e2431d4c4ddf8b851a5356990fd12c7713d227d18c5" }, { "history": "reverse_past", "variant": "full_stop", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "f61420a26204152d6d2e340098057dcbd38e08b86ed28a6766a6d3da44d0af64" }, { "history": "reverse_past", "variant": "full_stop", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "f61420a26204152d6d2e340098057dcbd38e08b86ed28a6766a6d3da44d0af64" }, { "history": "reverse_past", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Wait in the starting position.", "context": "d6b1b6af3abf5cfc2e5655902f1ac801b17093949aaf080d43b358261edfc7d3" }, { "history": "reverse_past", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Wait in the starting position.", "context": "d6b1b6af3abf5cfc2e5655902f1ac801b17093949aaf080d43b358261edfc7d3" }, { "history": "reverse_past", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "context": "583dca92e535bbedef0eb9f32e960d8696cfea3ee883709ed53d59ee72c4a65c" }, { "history": "reverse_past", "variant": "l3_conflict", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "context": "583dca92e535bbedef0eb9f32e960d8696cfea3ee883709ed53d59ee72c4a65c" }, { "history": "true_history", "variant": "full_original", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "context": "826fcdeabec1640804f33e2431d4c4ddf8b851a5356990fd12c7713d227d18c5" }, { "history": "true_history", "variant": "full_original", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "context": "826fcdeabec1640804f33e2431d4c4ddf8b851a5356990fd12c7713d227d18c5" }, { "history": "true_history", "variant": "full_stop", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "f61420a26204152d6d2e340098057dcbd38e08b86ed28a6766a6d3da44d0af64" }, { "history": "true_history", "variant": "full_stop", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "f61420a26204152d6d2e340098057dcbd38e08b86ed28a6766a6d3da44d0af64" }, { "history": "true_history", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Wait in the starting position.", "context": "d6b1b6af3abf5cfc2e5655902f1ac801b17093949aaf080d43b358261edfc7d3" }, { "history": "true_history", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Wait in the starting position.", "context": "d6b1b6af3abf5cfc2e5655902f1ac801b17093949aaf080d43b358261edfc7d3" }, { "history": "true_history", "variant": "l1_conflict", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "41e26cf4391881a15977523794e9fc5e763832f462eff3d1d00f378457ebd8c5" }, { "history": "true_history", "variant": "l1_conflict", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "41e26cf4391881a15977523794e9fc5e763832f462eff3d1d00f378457ebd8c5" }, { "history": "true_history", "variant": "l1_only_original", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28\nAtomic instruction: right arm: Wait in the starting position.", "context": "cb18e64e9bbc2bd4e5c06e178900d03efde19ce5e702d6d140f51abf065d5c56" }, { "history": "true_history", "variant": "l1_only_original", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28\nAtomic instruction: right arm: Wait in the starting position.", "context": "cb18e64e9bbc2bd4e5c06e178900d03efde19ce5e702d6d140f51abf065d5c56" }, { "history": "true_history", "variant": "l1_only_stop", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "d4a63f6d775c2eca2eb2d8cbf647f9d99179c35eb1e6830aa1b9b6502e6c0abd" }, { "history": "true_history", "variant": "l1_only_stop", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "d4a63f6d775c2eca2eb2d8cbf647f9d99179c35eb1e6830aa1b9b6502e6c0abd" }, { "history": "true_history", "variant": "l1_only_swap", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28\nAtomic instruction: left arm: Wait in the starting position.", "context": "3d938fa4168683828e9c2f8cd275e747260275ae69b46e2b8848018f50b4c945" }, { "history": "true_history", "variant": "l1_only_swap", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28\nAtomic instruction: left arm: Wait in the starting position.", "context": "3d938fa4168683828e9c2f8cd275e747260275ae69b46e2b8848018f50b4c945" }, { "history": "true_history", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "context": "583dca92e535bbedef0eb9f32e960d8696cfea3ee883709ed53d59ee72c4a65c" }, { "history": "true_history", "variant": "l3_conflict", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "context": "583dca92e535bbedef0eb9f32e960d8696cfea3ee883709ed53d59ee72c4a65c" }, { "history": "true_history", "variant": "l3_only_edit", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: Raise the left arm; keep the right arm still.", "context": "d6f0e3d8a068db7229e68634bdeddce1b39964b659afe277ae483b84c570eed6" }, { "history": "true_history", "variant": "l3_only_edit", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: Raise the left arm; keep the right arm still.", "context": "d6f0e3d8a068db7229e68634bdeddce1b39964b659afe277ae483b84c570eed6" }, { "history": "true_history", "variant": "l3_only_original", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.", "context": "36c75653e56ef9b627cda7557bea8fea264c6c627045ae86b29a907aefc4b0e4" }, { "history": "true_history", "variant": "l3_only_original", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.", "context": "36c75653e56ef9b627cda7557bea8fea264c6c627045ae86b29a907aefc4b0e4" }, { "history": "true_history", "variant": "repeat", "seed": 314, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "context": "826fcdeabec1640804f33e2431d4c4ddf8b851a5356990fd12c7713d227d18c5" }, { "history": "true_history", "variant": "repeat", "seed": 42, "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "context": "826fcdeabec1640804f33e2431d4c4ddf8b851a5356990fd12c7713d227d18c5" } ], "initial_state_raw": [ 0.41537800431251526, 0.23995782434940338, 1.1608951091766357, 0.0, 0.0, 0.0, 0.0, 0.918181836605072, 0.4307604432106018, -0.18760143220424652, 1.1350067853927612, 0.0, 0.0, 0.0, 0.0, 0.9127272963523865 ], "initial_state_valid": [ true, true, true, false, false, false, false, true, true, true, true, false, false, false, false, true ], "initial_state_normalized": [ -0.9266119003295898, -0.5015506744384766, -0.09444459527730942, 0.0, 0.0, 0.0, 0.0, 0.6785138845443726, -0.9383405447006226, 0.7211414575576782, -0.5605101585388184, 0.0, 0.0, 0.0, 0.0, 0.5931494235992432 ], "assets": { "initial_input": { "path": "reproduction/case19/initial-input.npz", "bytes": 940781, "sha256": "68a27be20b72c8cac795b9b9715b9308318dd5e1796aeac104a2121b4ccd6b43" }, "state_arrays": { "path": "reproduction/case19/arrays.npz", "bytes": 6057, "sha256": "89ccc77a8b7359a79bc8ea2b8e1cdb7c9eb9a069358d5c9734c83715f03a3b23" }, "frame_parts": [ { "path": "reproduction/case19/frames-00.npz", "bytes": 3385693, "sha256": "c448058b48fb27dc9fd0b74b8968d2a53b9522721da61709ed6cf48ad0e43fd8" }, { "path": "reproduction/case19/frames-01.npz", "bytes": 3428141, "sha256": "6feb2b7bac0ce58f287b0a45c48490ed4d098fe589d14826bdc569ea3855f457" }, { "path": "reproduction/case19/frames-02.npz", "bytes": 3502705, "sha256": "7b13708996e3cf9ba1da2e57750a288d4cbe9e848ddae46ef365fbbbe4b32b7f" }, { "path": "reproduction/case19/frames-03.npz", "bytes": 1979472, "sha256": "6ab468ed8f372e2ea6630621acfd2e7102209c664d31dc7581c5aab137292a51" } ] }, "original_case_npz_sha256": "4fcd447dd3e0ce1a65282a52ca9974f9b14d123d662463e5cc3dad75e78c5906", "frame_pixels_sha256": "5fa6724bd1b081d2d11df85ee3028acd9ba4f954c999900d106709e0c319870c", "protocol": "reproduction/protocol.json" } }, { "id": "case23", "tree": "robocoin_lerobot_v3/robocoin_realman_aidal", "shard": "c000-f002", "episode": 434, "start": 918, "starts": [ 918, 950, 982, 1014, 1046, 1078, 1110, 1142 ], "prompts": [ "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening.", "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: left arm: Hold the lunch bag securely while the right arm adjusts its position. right arm: Pull the zipper to close the bag opening.", "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening.", "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.; Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside.", "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside. right arm: Move down towards the bottom of the bag zipper.", "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside.", "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside.", "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." ], "split": "validation", "file": "case23.npz", "motion_score": 0.026141373440623283, "complexity_score": 0.0361144578313253, "difficulty_proxy": "medium", "reproduction": { "case_id": "case23", "case_ordinal": 5, "dataset_tree": "robocoin_lerobot_v3/robocoin_realman_aidal", "dataset_family": "robocoin_lerobot_v3", "processed_shard": "c000-f002", "processed_episode": 434, "original_source_id": "robocoin_lerobot_v3:RMC-AIDA-L_food_packaging/episode_000033", "split": "validation", "episode_length_ticks": 1757, "prediction_start_tick": 918, "prediction_start_seconds": 36.72, "history_past_start_seconds": 29.72, "episode_anchor_seconds": 0, "cameras": { "head": { "source_relative_path": "datasets_train/robocoin_lerobot_v3/robocoin_realman_aidal/videos/observation.images.cam_high_rgb/chunk-000/file-003.mp4", "episode_start_in_video_s": 820.5666666666666, "episode_end_in_video_s": 890.8666666666666, "native_fps": 30.0, "used_in_composite": true }, "wrist_left": { "source_relative_path": "datasets_train/robocoin_lerobot_v3/robocoin_realman_aidal/videos/observation.images.cam_left_wrist_rgb/chunk-000/file-001.mp4", "episode_start_in_video_s": 4847.600000000003, "episode_end_in_video_s": 4917.900000000003, "native_fps": 30.0, "used_in_composite": true }, "wrist_right": { "source_relative_path": "datasets_train/robocoin_lerobot_v3/robocoin_realman_aidal/videos/observation.images.cam_right_wrist_rgb/chunk-000/file-001.mp4", "episode_start_in_video_s": 5059.800000000003, "episode_end_in_video_s": 5130.100000000003, "native_fps": 30.0, "used_in_composite": true } }, "primary_view": "head", "composite_views": [ "head", "wrist_left", "wrist_right" ], "initial_observations": [ { "slot": 0, "role": "episode anchor", "tick": 0, "seconds": 0.0, "png": { "path": "reproduction/case23/observation-00.png", "bytes": 83230, "sha256": "dd933b641208be0e9fb80d1371fb486d2f2997d4c126e0be3b7671fa8ab09de4" } }, { "slot": 1, "role": "past", "tick": 743, "seconds": 29.72, "png": { "path": "reproduction/case23/observation-01.png", "bytes": 91620, "sha256": "7b7a2b52f66b574deff77e93763c10d4160ae00edb90065824217a486e3d93e8" } }, { "slot": 2, "role": "past", "tick": 768, "seconds": 30.72, "png": { "path": "reproduction/case23/observation-02.png", "bytes": 89811, "sha256": "53d38b43f17db8acb73f42aad40fc8e7127ebacc11b95eb841188839a7604a0e" } }, { "slot": 3, "role": "past", "tick": 793, "seconds": 31.72, "png": { "path": "reproduction/case23/observation-03.png", "bytes": 82095, "sha256": "9fa0f8d1fe03e5c50b5137a7d58cc79ee909b3728a3ba90dad3a153adea7c749" } }, { "slot": 4, "role": "past", "tick": 818, "seconds": 32.72, "png": { "path": "reproduction/case23/observation-04.png", "bytes": 82419, "sha256": "e6cf5b0efe69380b408603289bf69af0ee520289a7586435eed08689d19bce8b" } }, { "slot": 5, "role": "past", "tick": 843, "seconds": 33.72, "png": { "path": "reproduction/case23/observation-05.png", "bytes": 84269, "sha256": "34d0942b977807caef917e7929c8f39ea35de684cc06381a0e5c2f649ee0bbe2" } }, { "slot": 6, "role": "past", "tick": 868, "seconds": 34.72, "png": { "path": "reproduction/case23/observation-06.png", "bytes": 84465, "sha256": "ae99ffcd13eb6d334a5005bb2b96e78a3dd07cf6375aea2ff6a821d8c220b38f" } }, { "slot": 7, "role": "past", "tick": 893, "seconds": 35.72, "png": { "path": "reproduction/case23/observation-07.png", "bytes": 91997, "sha256": "b15d416c1faa931d6fbba06f84260c2148f66d0c8d89c5c6b94b19eea5e7329e" } }, { "slot": 8, "role": "current", "tick": 918, "seconds": 36.72, "png": { "path": "reproduction/case23/observation-08.png", "bytes": 92522, "sha256": "9e610a5f76a6910d89eecb9d0824b2852d7551831343f77fb8ddebd6b766082c" } } ], "chunks": [ { "chunk_index": 0, "current_tick": 918, "current_seconds": 36.72, "history_ticks": [ 0, 743, 768, 793, 818, 843, 868, 893, 918 ], "history_seconds": [ 0.0, 29.72, 30.72, 31.72, 32.72, 33.72, 34.72, 35.72, 36.72 ], "future_video_ticks": [ 922, 926, 930, 934, 938, 942, 946, 950 ], "future_video_seconds": [ 36.88, 37.04, 37.2, 37.36, 37.52, 37.68, 37.84, 38.0 ], "action_target_tick_range_inclusive": [ 919, 950 ], "action_target_seconds_inclusive": [ 36.76, 38.0 ], "seed": 542, "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening.", "cameras": { "head": { "requested_history_video_seconds": [ 820.5666666666666, 850.2866666666666, 851.2866666666666, 852.2866666666666, 853.2866666666666, 854.2866666666666, 855.2866666666666, 856.2866666666666, 857.2866666666666 ], "requested_history_native_frame_indices": [ 24617, 25509, 25539, 25569, 25599, 25629, 25659, 25689, 25719 ] }, "wrist_left": { "requested_history_video_seconds": [ 4847.600000000003, 4877.320000000003, 4878.320000000003, 4879.320000000003, 4880.320000000003, 4881.320000000003, 4882.320000000003, 4883.320000000003, 4884.320000000003 ], "requested_history_native_frame_indices": [ 145428, 146320, 146350, 146380, 146410, 146440, 146470, 146500, 146530 ] }, "wrist_right": { "requested_history_video_seconds": [ 5059.800000000003, 5089.520000000003, 5090.520000000003, 5091.520000000003, 5092.520000000003, 5093.520000000003, 5094.520000000003, 5095.520000000003, 5096.520000000003 ], "requested_history_native_frame_indices": [ 151794, 152686, 152716, 152746, 152776, 152806, 152836, 152866, 152896 ] } } }, { "chunk_index": 1, "current_tick": 950, "current_seconds": 38.0, "history_ticks": [ 0, 775, 800, 825, 850, 875, 900, 925, 950 ], "history_seconds": [ 0.0, 31.0, 32.0, 33.0, 34.0, 35.0, 36.0, 37.0, 38.0 ], "future_video_ticks": [ 954, 958, 962, 966, 970, 974, 978, 982 ], "future_video_seconds": [ 38.16, 38.32, 38.48, 38.64, 38.8, 38.96, 39.12, 39.28 ], "action_target_tick_range_inclusive": [ 951, 982 ], "action_target_seconds_inclusive": [ 38.04, 39.28 ], "seed": 543, "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: left arm: Hold the lunch bag securely while the right arm adjusts its position. right arm: Pull the zipper to close the bag opening.", "cameras": { "head": { "requested_history_video_seconds": [ 820.5666666666666, 851.5666666666666, 852.5666666666666, 853.5666666666666, 854.5666666666666, 855.5666666666666, 856.5666666666666, 857.5666666666666, 858.5666666666666 ], "requested_history_native_frame_indices": [ 24617, 25547, 25577, 25607, 25637, 25667, 25697, 25727, 25757 ] }, "wrist_left": { "requested_history_video_seconds": [ 4847.600000000003, 4878.600000000003, 4879.600000000003, 4880.600000000003, 4881.600000000003, 4882.600000000003, 4883.600000000003, 4884.600000000003, 4885.600000000003 ], "requested_history_native_frame_indices": [ 145428, 146358, 146388, 146418, 146448, 146478, 146508, 146538, 146568 ] }, "wrist_right": { "requested_history_video_seconds": [ 5059.800000000003, 5090.800000000003, 5091.800000000003, 5092.800000000003, 5093.800000000003, 5094.800000000003, 5095.800000000003, 5096.800000000003, 5097.800000000003 ], "requested_history_native_frame_indices": [ 151794, 152724, 152754, 152784, 152814, 152844, 152874, 152904, 152934 ] } } }, { "chunk_index": 2, "current_tick": 982, "current_seconds": 39.28, "history_ticks": [ 0, 807, 832, 857, 882, 907, 932, 957, 982 ], "history_seconds": [ 0.0, 32.28, 33.28, 34.28, 35.28, 36.28, 37.28, 38.28, 39.28 ], "future_video_ticks": [ 986, 990, 994, 998, 1002, 1006, 1010, 1014 ], "future_video_seconds": [ 39.44, 39.6, 39.76, 39.92, 40.08, 40.24, 40.4, 40.56 ], "action_target_tick_range_inclusive": [ 983, 1014 ], "action_target_seconds_inclusive": [ 39.32, 40.56 ], "seed": 544, "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening.", "cameras": { "head": { "requested_history_video_seconds": [ 820.5666666666666, 852.8466666666666, 853.8466666666666, 854.8466666666666, 855.8466666666666, 856.8466666666666, 857.8466666666666, 858.8466666666666, 859.8466666666666 ], "requested_history_native_frame_indices": [ 24617, 25585, 25615, 25645, 25675, 25705, 25735, 25765, 25795 ] }, "wrist_left": { "requested_history_video_seconds": [ 4847.600000000003, 4879.880000000003, 4880.880000000003, 4881.880000000003, 4882.880000000003, 4883.880000000003, 4884.880000000003, 4885.880000000003, 4886.880000000003 ], "requested_history_native_frame_indices": [ 145428, 146396, 146426, 146456, 146486, 146516, 146546, 146576, 146606 ] }, "wrist_right": { "requested_history_video_seconds": [ 5059.800000000003, 5092.080000000003, 5093.080000000003, 5094.080000000003, 5095.080000000003, 5096.080000000003, 5097.080000000003, 5098.080000000003, 5099.080000000003 ], "requested_history_native_frame_indices": [ 151794, 152762, 152792, 152822, 152852, 152882, 152912, 152942, 152972 ] } } }, { "chunk_index": 3, "current_tick": 1014, "current_seconds": 40.56, "history_ticks": [ 0, 839, 864, 889, 914, 939, 964, 989, 1014 ], "history_seconds": [ 0.0, 33.56, 34.56, 35.56, 36.56, 37.56, 38.56, 39.56, 40.56 ], "future_video_ticks": [ 1018, 1022, 1026, 1030, 1034, 1038, 1042, 1046 ], "future_video_seconds": [ 40.72, 40.88, 41.04, 41.2, 41.36, 41.52, 41.68, 41.84 ], "action_target_tick_range_inclusive": [ 1015, 1046 ], "action_target_seconds_inclusive": [ 40.6, 41.84 ], "seed": 545, "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.; Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside.", "cameras": { "head": { "requested_history_video_seconds": [ 820.5666666666666, 854.1266666666666, 855.1266666666666, 856.1266666666666, 857.1266666666666, 858.1266666666666, 859.1266666666666, 860.1266666666666, 861.1266666666666 ], "requested_history_native_frame_indices": [ 24617, 25624, 25654, 25684, 25714, 25744, 25774, 25804, 25834 ] }, "wrist_left": { "requested_history_video_seconds": [ 4847.600000000003, 4881.1600000000035, 4882.1600000000035, 4883.1600000000035, 4884.1600000000035, 4885.1600000000035, 4886.1600000000035, 4887.1600000000035, 4888.1600000000035 ], "requested_history_native_frame_indices": [ 145428, 146435, 146465, 146495, 146525, 146555, 146585, 146615, 146645 ] }, "wrist_right": { "requested_history_video_seconds": [ 5059.800000000003, 5093.360000000003, 5094.360000000003, 5095.360000000003, 5096.360000000003, 5097.360000000003, 5098.360000000003, 5099.360000000003, 5100.360000000003 ], "requested_history_native_frame_indices": [ 151794, 152801, 152831, 152861, 152891, 152921, 152951, 152981, 153011 ] } } }, { "chunk_index": 4, "current_tick": 1046, "current_seconds": 41.84, "history_ticks": [ 0, 871, 896, 921, 946, 971, 996, 1021, 1046 ], "history_seconds": [ 0.0, 34.84, 35.84, 36.84, 37.84, 38.84, 39.84, 40.84, 41.84 ], "future_video_ticks": [ 1050, 1054, 1058, 1062, 1066, 1070, 1074, 1078 ], "future_video_seconds": [ 42.0, 42.16, 42.32, 42.48, 42.64, 42.8, 42.96, 43.12 ], "action_target_tick_range_inclusive": [ 1047, 1078 ], "action_target_seconds_inclusive": [ 41.88, 43.12 ], "seed": 546, "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside. right arm: Move down towards the bottom of the bag zipper.", "cameras": { "head": { "requested_history_video_seconds": [ 820.5666666666666, 855.4066666666666, 856.4066666666666, 857.4066666666666, 858.4066666666666, 859.4066666666666, 860.4066666666666, 861.4066666666666, 862.4066666666666 ], "requested_history_native_frame_indices": [ 24617, 25662, 25692, 25722, 25752, 25782, 25812, 25842, 25872 ] }, "wrist_left": { "requested_history_video_seconds": [ 4847.600000000003, 4882.440000000003, 4883.440000000003, 4884.440000000003, 4885.440000000003, 4886.440000000003, 4887.440000000003, 4888.440000000003, 4889.440000000003 ], "requested_history_native_frame_indices": [ 145428, 146473, 146503, 146533, 146563, 146593, 146623, 146653, 146683 ] }, "wrist_right": { "requested_history_video_seconds": [ 5059.800000000003, 5094.640000000003, 5095.640000000003, 5096.640000000003, 5097.640000000003, 5098.640000000003, 5099.640000000003, 5100.640000000003, 5101.640000000003 ], "requested_history_native_frame_indices": [ 151794, 152839, 152869, 152899, 152929, 152959, 152989, 153019, 153049 ] } } }, { "chunk_index": 5, "current_tick": 1078, "current_seconds": 43.12, "history_ticks": [ 0, 903, 928, 953, 978, 1003, 1028, 1053, 1078 ], "history_seconds": [ 0.0, 36.12, 37.12, 38.12, 39.12, 40.12, 41.12, 42.12, 43.12 ], "future_video_ticks": [ 1082, 1086, 1090, 1094, 1098, 1102, 1106, 1110 ], "future_video_seconds": [ 43.28, 43.44, 43.6, 43.76, 43.92, 44.08, 44.24, 44.4 ], "action_target_tick_range_inclusive": [ 1079, 1110 ], "action_target_seconds_inclusive": [ 43.16, 44.4 ], "seed": 547, "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside.", "cameras": { "head": { "requested_history_video_seconds": [ 820.5666666666666, 856.6866666666666, 857.6866666666666, 858.6866666666666, 859.6866666666666, 860.6866666666666, 861.6866666666666, 862.6866666666666, 863.6866666666666 ], "requested_history_native_frame_indices": [ 24617, 25701, 25731, 25761, 25791, 25821, 25851, 25881, 25911 ] }, "wrist_left": { "requested_history_video_seconds": [ 4847.600000000003, 4883.720000000003, 4884.720000000003, 4885.720000000003, 4886.720000000003, 4887.720000000003, 4888.720000000003, 4889.720000000003, 4890.720000000003 ], "requested_history_native_frame_indices": [ 145428, 146512, 146542, 146572, 146602, 146632, 146662, 146692, 146722 ] }, "wrist_right": { "requested_history_video_seconds": [ 5059.800000000003, 5095.920000000003, 5096.920000000003, 5097.920000000003, 5098.920000000003, 5099.920000000003, 5100.920000000003, 5101.920000000003, 5102.920000000003 ], "requested_history_native_frame_indices": [ 151794, 152878, 152908, 152938, 152968, 152998, 153028, 153058, 153088 ] } } }, { "chunk_index": 6, "current_tick": 1110, "current_seconds": 44.4, "history_ticks": [ 0, 935, 960, 985, 1010, 1035, 1060, 1085, 1110 ], "history_seconds": [ 0.0, 37.4, 38.4, 39.4, 40.4, 41.4, 42.4, 43.4, 44.4 ], "future_video_ticks": [ 1114, 1118, 1122, 1126, 1130, 1134, 1138, 1142 ], "future_video_seconds": [ 44.56, 44.72, 44.88, 45.04, 45.2, 45.36, 45.52, 45.68 ], "action_target_tick_range_inclusive": [ 1111, 1142 ], "action_target_seconds_inclusive": [ 44.44, 45.68 ], "seed": 548, "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside.", "cameras": { "head": { "requested_history_video_seconds": [ 820.5666666666666, 857.9666666666666, 858.9666666666666, 859.9666666666666, 860.9666666666666, 861.9666666666666, 862.9666666666666, 863.9666666666666, 864.9666666666666 ], "requested_history_native_frame_indices": [ 24617, 25739, 25769, 25799, 25829, 25859, 25889, 25919, 25949 ] }, "wrist_left": { "requested_history_video_seconds": [ 4847.600000000003, 4885.000000000003, 4886.000000000003, 4887.000000000003, 4888.000000000003, 4889.000000000003, 4890.000000000003, 4891.000000000003, 4892.000000000003 ], "requested_history_native_frame_indices": [ 145428, 146550, 146580, 146610, 146640, 146670, 146700, 146730, 146760 ] }, "wrist_right": { "requested_history_video_seconds": [ 5059.800000000003, 5097.200000000003, 5098.200000000003, 5099.200000000003, 5100.200000000003, 5101.200000000003, 5102.200000000003, 5103.200000000003, 5104.200000000003 ], "requested_history_native_frame_indices": [ 151794, 152916, 152946, 152976, 153006, 153036, 153066, 153096, 153126 ] } } }, { "chunk_index": 7, "current_tick": 1142, "current_seconds": 45.68, "history_ticks": [ 0, 967, 992, 1017, 1042, 1067, 1092, 1117, 1142 ], "history_seconds": [ 0.0, 38.68, 39.68, 40.68, 41.68, 42.68, 43.68, 44.68, 45.68 ], "future_video_ticks": [ 1146, 1150, 1154, 1158, 1162, 1166, 1170, 1174 ], "future_video_seconds": [ 45.84, 46.0, 46.16, 46.32, 46.48, 46.64, 46.8, 46.96 ], "action_target_tick_range_inclusive": [ 1143, 1174 ], "action_target_seconds_inclusive": [ 45.72, 46.96 ], "seed": 549, "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside.", "cameras": { "head": { "requested_history_video_seconds": [ 820.5666666666666, 859.2466666666666, 860.2466666666666, 861.2466666666666, 862.2466666666666, 863.2466666666666, 864.2466666666666, 865.2466666666666, 866.2466666666666 ], "requested_history_native_frame_indices": [ 24617, 25777, 25807, 25837, 25867, 25897, 25927, 25957, 25987 ] }, "wrist_left": { "requested_history_video_seconds": [ 4847.600000000003, 4886.280000000003, 4887.280000000003, 4888.280000000003, 4889.280000000003, 4890.280000000003, 4891.280000000003, 4892.280000000003, 4893.280000000003 ], "requested_history_native_frame_indices": [ 145428, 146588, 146618, 146648, 146678, 146708, 146738, 146768, 146798 ] }, "wrist_right": { "requested_history_video_seconds": [ 5059.800000000003, 5098.480000000003, 5099.480000000003, 5100.480000000003, 5101.480000000003, 5102.480000000003, 5103.480000000003, 5104.480000000003, 5105.480000000003 ], "requested_history_native_frame_indices": [ 151794, 152954, 152984, 153014, 153044, 153074, 153104, 153134, 153164 ] } } } ], "diagnostics": [], "initial_state_raw": [ 0.547451913356781, 0.299310564994812, 1.129324197769165, 0.0, 0.0, 0.0, 0.0, 0.06343307346105576, 0.60976243019104, -0.15019471943378448, 1.1096882820129395, 0.0, 0.0, 0.0, 0.0, 0.10872726887464523 ], "initial_state_valid": [ true, true, true, false, false, false, false, true, true, true, true, false, false, false, false, true ], "initial_state_normalized": [ 0.136498361825943, 0.4240456521511078, 0.5794023871421814, 0.0, 0.0, 0.0, 0.0, -1.3300409317016602, 0.9375443458557129, 1.416208028793335, 0.05530340224504471, 0.0, 0.0, 0.0, 0.0, -1.4500555992126465 ], "assets": { "initial_input": { "path": "reproduction/case23/initial-input.npz", "bytes": 1123928, "sha256": "9298cb5e6fd80f101eafb9c826f8ad99d0dee64d88e914f8cdd4a1c9e457cbab" }, "state_arrays": { "path": "reproduction/case23/arrays.npz", "bytes": 9036, "sha256": "21e177e84b40a54331c19255fe8a1718dfd7b6c7dd04d6cd240831a592511c5c" }, "frame_parts": [ { "path": "reproduction/case23/frames-00.npz", "bytes": 4003266, "sha256": "6a899963fbba59ce27f2f99d196246ad53c50065e92051e6dbcca236fe7868a0" }, { "path": "reproduction/case23/frames-01.npz", "bytes": 3988185, "sha256": "77a9565e384e8f44ffb4e7c98ab1daf1d0bc988ff42f4cf2dd1439fe9ae0ea89" }, { "path": "reproduction/case23/frames-02.npz", "bytes": 4221561, "sha256": "ac73188f301c40e10eaeefd3de748e60d24a95bef594a6a95ba4eb61051f4767" }, { "path": "reproduction/case23/frames-03.npz", "bytes": 2970884, "sha256": "fb794d6b7e8c42516cfb44bfec5b1b287a4c8855f4309eaeeca4abf972a04373" } ] }, "original_case_npz_sha256": "8216e80bce76a6df28fadccc1bde48203cbb891b0b6b20dc13e5d656d2e361ee", "frame_pixels_sha256": "85c9fa0cb5489745f2cbb3cb8ae5c40cc5f6dc5845d83ab92a0077f7df74e5e1", "protocol": "reproduction/protocol.json" } }, { "id": "case03", "tree": "agibotworld_2026_lerobot_v3/s193a44", "shard": "c000-f000", "episode": 25, "start": 394, "starts": [ 394, 426, 458, 490, 522, 554, 586, 618 ], "prompts": [ "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge.", "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge.", "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge.", "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge.", "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge.", "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge.", "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge.", "Robot: s193a44. 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Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge.", "cameras": { "head": { "requested_history_video_seconds": [ 1841.233333333333, 1856.393333333333, 1857.393333333333, 1858.393333333333, 1859.393333333333, 1860.393333333333, 1861.393333333333, 1862.393333333333, 1863.393333333333 ], "requested_history_native_frame_indices": [ 55237, 55692, 55722, 55752, 55782, 55812, 55842, 55872, 55902 ] }, "wrist_left": { "requested_history_video_seconds": [ 1841.233333333333, 1856.393333333333, 1857.393333333333, 1858.393333333333, 1859.393333333333, 1860.393333333333, 1861.393333333333, 1862.393333333333, 1863.393333333333 ], "requested_history_native_frame_indices": [ 55237, 55692, 55722, 55752, 55782, 55812, 55842, 55872, 55902 ] }, "wrist_right": { "requested_history_video_seconds": [ 1841.233333333333, 1856.393333333333, 1857.393333333333, 1858.393333333333, 1859.393333333333, 1860.393333333333, 1861.393333333333, 1862.393333333333, 1863.393333333333 ], "requested_history_native_frame_indices": [ 55237, 55692, 55722, 55752, 55782, 55812, 55842, 55872, 55902 ] } } }, { "chunk_index": 6, "current_tick": 586, "current_seconds": 23.44, "history_ticks": [ 0, 411, 436, 461, 486, 511, 536, 561, 586 ], "history_seconds": [ 0.0, 16.44, 17.44, 18.44, 19.44, 20.44, 21.44, 22.44, 23.44 ], "future_video_ticks": [ 590, 594, 598, 602, 606, 610, 614, 618 ], "future_video_seconds": [ 23.6, 23.76, 23.92, 24.08, 24.24, 24.4, 24.56, 24.72 ], "action_target_tick_range_inclusive": [ 587, 618 ], "action_target_seconds_inclusive": [ 23.48, 24.72 ], "seed": 648, "prompt": "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge.", "cameras": { "head": { "requested_history_video_seconds": [ 1841.233333333333, 1857.673333333333, 1858.673333333333, 1859.673333333333, 1860.673333333333, 1861.673333333333, 1862.673333333333, 1863.673333333333, 1864.673333333333 ], "requested_history_native_frame_indices": [ 55237, 55730, 55760, 55790, 55820, 55850, 55880, 55910, 55940 ] }, "wrist_left": { "requested_history_video_seconds": [ 1841.233333333333, 1857.673333333333, 1858.673333333333, 1859.673333333333, 1860.673333333333, 1861.673333333333, 1862.673333333333, 1863.673333333333, 1864.673333333333 ], "requested_history_native_frame_indices": [ 55237, 55730, 55760, 55790, 55820, 55850, 55880, 55910, 55940 ] }, "wrist_right": { "requested_history_video_seconds": [ 1841.233333333333, 1857.673333333333, 1858.673333333333, 1859.673333333333, 1860.673333333333, 1861.673333333333, 1862.673333333333, 1863.673333333333, 1864.673333333333 ], "requested_history_native_frame_indices": [ 55237, 55730, 55760, 55790, 55820, 55850, 55880, 55910, 55940 ] } } }, { "chunk_index": 7, "current_tick": 618, "current_seconds": 24.72, "history_ticks": [ 0, 443, 468, 493, 518, 543, 568, 593, 618 ], "history_seconds": [ 0.0, 17.72, 18.72, 19.72, 20.72, 21.72, 22.72, 23.72, 24.72 ], "future_video_ticks": [ 622, 626, 630, 634, 638, 642, 646, 650 ], "future_video_seconds": [ 24.88, 25.04, 25.2, 25.36, 25.52, 25.68, 25.84, 26.0 ], "action_target_tick_range_inclusive": [ 619, 650 ], "action_target_seconds_inclusive": [ 24.76, 26.0 ], "seed": 649, "prompt": "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge.", "cameras": { "head": { "requested_history_video_seconds": [ 1841.233333333333, 1858.953333333333, 1859.953333333333, 1860.953333333333, 1861.953333333333, 1862.953333333333, 1863.953333333333, 1864.953333333333, 1865.953333333333 ], "requested_history_native_frame_indices": [ 55237, 55769, 55799, 55829, 55859, 55889, 55919, 55949, 55979 ] }, "wrist_left": { "requested_history_video_seconds": [ 1841.233333333333, 1858.953333333333, 1859.953333333333, 1860.953333333333, 1861.953333333333, 1862.953333333333, 1863.953333333333, 1864.953333333333, 1865.953333333333 ], "requested_history_native_frame_indices": [ 55237, 55769, 55799, 55829, 55859, 55889, 55919, 55949, 55979 ] }, "wrist_right": { "requested_history_video_seconds": [ 1841.233333333333, 1858.953333333333, 1859.953333333333, 1860.953333333333, 1861.953333333333, 1862.953333333333, 1863.953333333333, 1864.953333333333, 1865.953333333333 ], "requested_history_native_frame_indices": [ 55237, 55769, 55799, 55829, 55859, 55889, 55919, 55949, 55979 ] } } } ], "diagnostics": [], "initial_state_raw": [ 0.3758910298347473, -0.1274881362915039, 0.3360588848590851, 0.0, 0.0, 0.0, 0.0, 1.0, 0.44454899430274963, 0.15810845792293549, -0.3760158121585846, 0.0, 0.0, 0.0, 0.0, 0.17100000381469727 ], "initial_state_valid": [ true, true, true, false, false, false, false, true, true, true, true, false, false, false, false, true ], "initial_state_normalized": [ -0.6435075402259827, -1.4300540685653687, 0.3402649164199829, 0.0, 0.0, 0.0, 0.0, 0.9386246800422668, 0.23481479287147522, 1.3549565076828003, -0.9893001914024353, 0.0, 0.0, 0.0, 0.0, -0.7591056227684021 ], "assets": { "initial_input": { "path": "reproduction/case03/initial-input.npz", "bytes": 1597723, "sha256": "605b3ddd00f7f4bf488cd1c66f9e8e77e2a7edf7790b3c786eaf0727a640e917" }, "state_arrays": { "path": "reproduction/case03/arrays.npz", "bytes": 5986, "sha256": "760a14c8b6e579851cee0221823d9c38cc756327eff6bb7a4aed2be37116edfb" }, "frame_parts": [ { "path": "reproduction/case03/frames-00.npz", "bytes": 5532868, "sha256": "413b2d302f362e139bd0020be9100b7d0ebb56eb0a3735dff4e0c7296ed9c747" }, { "path": "reproduction/case03/frames-01.npz", "bytes": 5495293, "sha256": "1fa7d79f600e9a54744ad7d3d109471b1baee6f66740ff58e55587eed378ab72" }, { "path": "reproduction/case03/frames-02.npz", "bytes": 5495846, "sha256": "83c6d72cb937e11822cebc326cefaf1d84677ed75028d4437cc3756769d7f76f" }, { "path": "reproduction/case03/frames-03.npz", "bytes": 3845080, "sha256": "3af1cccf15047774edebd38044b874153ab27973514f88d9014e404dd34c98cc" } ] }, "original_case_npz_sha256": "16154d1ea2b7123bdb677bf52ec5f7943d088f002b7c9ce1b98d09707cb9ef5a", "frame_pixels_sha256": "37ae0d1cccb82aa346c97652b0a60feb66a331e337e1178c91d7d6721523fd2d", "protocol": "reproduction/protocol.json" } }, { "id": "case17", "tree": "robocoin_lerobot_v3/robocoin_agilex_decoupled_with_high_realsense", "shard": "c000-f001", "episode": 1514, "start": 56, "starts": [ 56, 88, 120, 152, 184, 216, 248, 280 ], "prompts": [ "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf.", "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper; Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: left arm: Carry the held tomato slice over to the lettuce leaf in the center of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: left arm: Carry the held tomato slice over to the lettuce leaf in the center of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf.", "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf." ], "split": "validation", "file": "case17.npz", "motion_score": 0.01958305574953556, "complexity_score": 0.05637996430165105, "difficulty_proxy": "medium", "reproduction": { "case_id": "case17", "case_ordinal": 7, "dataset_tree": "robocoin_lerobot_v3/robocoin_agilex_decoupled_with_high_realsense", "dataset_family": "robocoin_lerobot_v3", "processed_shard": "c000-f001", "processed_episode": 1514, "original_source_id": "robocoin_lerobot_v3:Cobot_Magic_make_hamburger/episode_001514", "split": "validation", "episode_length_ticks": 515, "prediction_start_tick": 56, "prediction_start_seconds": 2.24, "history_past_start_seconds": 0.0, "episode_anchor_seconds": 0, "cameras": { "head": { "source_relative_path": "datasets_train/robocoin_lerobot_v3/robocoin_agilex_decoupled_with_high_realsense/videos/observation.images.cam_high_realsense_rgb/chunk-000/file-011.mp4", "episode_start_in_video_s": 1500.6333333333337, "episode_end_in_video_s": 1521.2333333333336, "native_fps": 30.0, "used_in_composite": true }, "wrist_left": { "source_relative_path": "datasets_train/robocoin_lerobot_v3/robocoin_agilex_decoupled_with_high_realsense/videos/observation.images.cam_left_wrist_rgb/chunk-000/file-009.mp4", "episode_start_in_video_s": 2267.9000000000005, "episode_end_in_video_s": 2288.5000000000005, "native_fps": 30.0, "used_in_composite": true }, "wrist_right": { "source_relative_path": "datasets_train/robocoin_lerobot_v3/robocoin_agilex_decoupled_with_high_realsense/videos/observation.images.cam_right_wrist_rgb/chunk-000/file-009.mp4", "episode_start_in_video_s": 2026.7333333333338, "episode_end_in_video_s": 2047.3333333333337, "native_fps": 30.0, "used_in_composite": true } }, "primary_view": "head", "composite_views": [ "head", "wrist_left", "wrist_right" ], "initial_observations": [ { "slot": 0, "role": "episode anchor", "tick": 0, "seconds": 0.0, "png": { "path": "reproduction/case17/observation-00.png", "bytes": 83227, "sha256": "462082c9387df928ab511c037cb6441ea4c3deeb69b5f456e5b14c524ab39945" } }, { "slot": 1, "role": "past", "tick": 0, "seconds": 0.0, "png": { "path": "reproduction/case17/observation-01.png", "bytes": 83227, "sha256": "462082c9387df928ab511c037cb6441ea4c3deeb69b5f456e5b14c524ab39945" } }, { "slot": 2, "role": "past", "tick": 0, "seconds": 0.0, "png": { "path": "reproduction/case17/observation-02.png", "bytes": 83227, "sha256": "462082c9387df928ab511c037cb6441ea4c3deeb69b5f456e5b14c524ab39945" } }, { "slot": 3, "role": "past", "tick": 0, "seconds": 0.0, "png": { "path": "reproduction/case17/observation-03.png", "bytes": 83227, "sha256": "462082c9387df928ab511c037cb6441ea4c3deeb69b5f456e5b14c524ab39945" } }, { "slot": 4, "role": "past", "tick": 0, "seconds": 0.0, "png": { "path": "reproduction/case17/observation-04.png", "bytes": 83227, "sha256": "462082c9387df928ab511c037cb6441ea4c3deeb69b5f456e5b14c524ab39945" } }, { "slot": 5, "role": "past", "tick": 0, "seconds": 0.0, "png": { "path": "reproduction/case17/observation-05.png", "bytes": 83227, "sha256": "462082c9387df928ab511c037cb6441ea4c3deeb69b5f456e5b14c524ab39945" } }, { "slot": 6, "role": "past", "tick": 6, "seconds": 0.24, "png": { "path": "reproduction/case17/observation-06.png", "bytes": 83960, "sha256": "53364d2fa94c877204235c013bf5e506182e390c505869230a02ffb3d475254c" } }, { "slot": 7, "role": "past", "tick": 31, "seconds": 1.24, "png": { "path": "reproduction/case17/observation-07.png", "bytes": 83779, "sha256": "e34e28eb878eac512d217858530c5538a7d5c0b4cd1ad125ee848b91612723d5" } }, { "slot": 8, "role": "current", "tick": 56, "seconds": 2.24, "png": { "path": "reproduction/case17/observation-08.png", "bytes": 82548, "sha256": "1f6de52c1ea6109e5776d00460153958f47fbe7bc5bb2d4f4c0bbfe9961a87e0" } } ], "chunks": [ { "chunk_index": 0, "current_tick": 56, "current_seconds": 2.24, "history_ticks": [ 0, 0, 0, 0, 0, 0, 6, 31, 56 ], "history_seconds": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24, 1.24, 2.24 ], "future_video_ticks": [ 60, 64, 68, 72, 76, 80, 84, 88 ], "future_video_seconds": [ 2.4, 2.56, 2.72, 2.88, 3.04, 3.2, 3.36, 3.52 ], "action_target_tick_range_inclusive": [ 57, 88 ], "action_target_seconds_inclusive": [ 2.28, 3.52 ], "seed": 742, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "cameras": { "head": { "requested_history_video_seconds": [ 1500.6333333333337, 1500.6333333333337, 1500.6333333333337, 1500.6333333333337, 1500.6333333333337, 1500.6333333333337, 1500.8733333333337, 1501.8733333333337, 1502.8733333333337 ], "requested_history_native_frame_indices": [ 45019, 45019, 45019, 45019, 45019, 45019, 45026, 45056, 45086 ] }, "wrist_left": { "requested_history_video_seconds": [ 2267.9000000000005, 2267.9000000000005, 2267.9000000000005, 2267.9000000000005, 2267.9000000000005, 2267.9000000000005, 2268.1400000000003, 2269.1400000000003, 2270.1400000000003 ], "requested_history_native_frame_indices": [ 68037, 68037, 68037, 68037, 68037, 68037, 68044, 68074, 68104 ] }, "wrist_right": { "requested_history_video_seconds": [ 2026.7333333333338, 2026.7333333333338, 2026.7333333333338, 2026.7333333333338, 2026.7333333333338, 2026.7333333333338, 2026.9733333333338, 2027.9733333333338, 2028.9733333333338 ], "requested_history_native_frame_indices": [ 60802, 60802, 60802, 60802, 60802, 60802, 60809, 60839, 60869 ] } } }, { "chunk_index": 1, "current_tick": 88, "current_seconds": 3.52, "history_ticks": [ 0, 0, 0, 0, 0, 13, 38, 63, 88 ], "history_seconds": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.52, 1.52, 2.52, 3.52 ], "future_video_ticks": [ 92, 96, 100, 104, 108, 112, 116, 120 ], "future_video_seconds": [ 3.68, 3.84, 4.0, 4.16, 4.32, 4.48, 4.64, 4.8 ], "action_target_tick_range_inclusive": [ 89, 120 ], "action_target_seconds_inclusive": [ 3.56, 4.8 ], "seed": 743, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "cameras": { "head": { "requested_history_video_seconds": [ 1500.6333333333337, 1500.6333333333337, 1500.6333333333337, 1500.6333333333337, 1500.6333333333337, 1501.1533333333336, 1502.1533333333336, 1503.1533333333336, 1504.1533333333336 ], "requested_history_native_frame_indices": [ 45019, 45019, 45019, 45019, 45019, 45035, 45065, 45095, 45125 ] }, "wrist_left": { "requested_history_video_seconds": [ 2267.9000000000005, 2267.9000000000005, 2267.9000000000005, 2267.9000000000005, 2267.9000000000005, 2268.4200000000005, 2269.4200000000005, 2270.4200000000005, 2271.4200000000005 ], "requested_history_native_frame_indices": [ 68037, 68037, 68037, 68037, 68037, 68053, 68083, 68113, 68143 ] }, "wrist_right": { "requested_history_video_seconds": [ 2026.7333333333338, 2026.7333333333338, 2026.7333333333338, 2026.7333333333338, 2026.7333333333338, 2027.2533333333338, 2028.2533333333338, 2029.2533333333338, 2030.2533333333338 ], "requested_history_native_frame_indices": [ 60802, 60802, 60802, 60802, 60802, 60818, 60848, 60878, 60908 ] } } }, { "chunk_index": 2, "current_tick": 120, "current_seconds": 4.8, "history_ticks": [ 0, 0, 0, 0, 20, 45, 70, 95, 120 ], "history_seconds": [ 0.0, 0.0, 0.0, 0.0, 0.8, 1.8, 2.8, 3.8, 4.8 ], "future_video_ticks": [ 124, 128, 132, 136, 140, 144, 148, 152 ], "future_video_seconds": [ 4.96, 5.12, 5.28, 5.44, 5.6, 5.76, 5.92, 6.08 ], "action_target_tick_range_inclusive": [ 121, 152 ], "action_target_seconds_inclusive": [ 4.84, 6.08 ], "seed": 744, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "cameras": { "head": { "requested_history_video_seconds": [ 1500.6333333333337, 1500.6333333333337, 1500.6333333333337, 1500.6333333333337, 1501.4333333333336, 1502.4333333333336, 1503.4333333333336, 1504.4333333333336, 1505.4333333333336 ], "requested_history_native_frame_indices": [ 45019, 45019, 45019, 45019, 45043, 45073, 45103, 45133, 45163 ] }, "wrist_left": { "requested_history_video_seconds": [ 2267.9000000000005, 2267.9000000000005, 2267.9000000000005, 2267.9000000000005, 2268.7000000000007, 2269.7000000000007, 2270.7000000000007, 2271.7000000000007, 2272.7000000000007 ], "requested_history_native_frame_indices": [ 68037, 68037, 68037, 68037, 68061, 68091, 68121, 68151, 68181 ] }, "wrist_right": { "requested_history_video_seconds": [ 2026.7333333333338, 2026.7333333333338, 2026.7333333333338, 2026.7333333333338, 2027.5333333333338, 2028.5333333333338, 2029.5333333333338, 2030.5333333333338, 2031.5333333333338 ], "requested_history_native_frame_indices": [ 60802, 60802, 60802, 60802, 60826, 60856, 60886, 60916, 60946 ] } } }, { "chunk_index": 3, "current_tick": 152, "current_seconds": 6.08, "history_ticks": [ 0, 0, 2, 27, 52, 77, 102, 127, 152 ], "history_seconds": [ 0.0, 0.0, 0.08, 1.08, 2.08, 3.08, 4.08, 5.08, 6.08 ], "future_video_ticks": [ 156, 160, 164, 168, 172, 176, 180, 184 ], "future_video_seconds": [ 6.24, 6.4, 6.56, 6.72, 6.88, 7.04, 7.2, 7.36 ], "action_target_tick_range_inclusive": [ 153, 184 ], "action_target_seconds_inclusive": [ 6.12, 7.36 ], "seed": 745, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf.", "cameras": { "head": { "requested_history_video_seconds": [ 1500.6333333333337, 1500.6333333333337, 1500.7133333333336, 1501.7133333333336, 1502.7133333333336, 1503.7133333333336, 1504.7133333333336, 1505.7133333333336, 1506.7133333333336 ], "requested_history_native_frame_indices": [ 45019, 45019, 45021, 45051, 45081, 45111, 45141, 45171, 45201 ] }, "wrist_left": { "requested_history_video_seconds": [ 2267.9000000000005, 2267.9000000000005, 2267.9800000000005, 2268.9800000000005, 2269.9800000000005, 2270.9800000000005, 2271.9800000000005, 2272.9800000000005, 2273.9800000000005 ], "requested_history_native_frame_indices": [ 68037, 68037, 68039, 68069, 68099, 68129, 68159, 68189, 68219 ] }, "wrist_right": { "requested_history_video_seconds": [ 2026.7333333333338, 2026.7333333333338, 2026.8133333333337, 2027.8133333333337, 2028.8133333333337, 2029.8133333333337, 2030.8133333333337, 2031.8133333333337, 2032.8133333333337 ], "requested_history_native_frame_indices": [ 60802, 60802, 60804, 60834, 60864, 60894, 60924, 60954, 60984 ] } } }, { "chunk_index": 4, "current_tick": 184, "current_seconds": 7.36, "history_ticks": [ 0, 9, 34, 59, 84, 109, 134, 159, 184 ], "history_seconds": [ 0.0, 0.36, 1.36, 2.36, 3.36, 4.36, 5.36, 6.36, 7.36 ], "future_video_ticks": [ 188, 192, 196, 200, 204, 208, 212, 216 ], "future_video_seconds": [ 7.52, 7.68, 7.84, 8.0, 8.16, 8.32, 8.48, 8.64 ], "action_target_tick_range_inclusive": [ 185, 216 ], "action_target_seconds_inclusive": [ 7.4, 8.64 ], "seed": 746, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper; Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: left arm: Carry the held tomato slice over to the lettuce leaf in the center of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "cameras": { "head": { "requested_history_video_seconds": [ 1500.6333333333337, 1500.9933333333336, 1501.9933333333336, 1502.9933333333336, 1503.9933333333336, 1504.9933333333336, 1505.9933333333336, 1506.9933333333336, 1507.9933333333336 ], "requested_history_native_frame_indices": [ 45019, 45030, 45060, 45090, 45120, 45150, 45180, 45210, 45240 ] }, "wrist_left": { "requested_history_video_seconds": [ 2267.9000000000005, 2268.2600000000007, 2269.2600000000007, 2270.2600000000007, 2271.2600000000007, 2272.2600000000007, 2273.2600000000007, 2274.2600000000007, 2275.2600000000007 ], "requested_history_native_frame_indices": [ 68037, 68048, 68078, 68108, 68138, 68168, 68198, 68228, 68258 ] }, "wrist_right": { "requested_history_video_seconds": [ 2026.7333333333338, 2027.0933333333337, 2028.0933333333337, 2029.0933333333337, 2030.0933333333337, 2031.0933333333337, 2032.0933333333337, 2033.0933333333337, 2034.0933333333337 ], "requested_history_native_frame_indices": [ 60802, 60813, 60843, 60873, 60903, 60933, 60963, 60993, 61023 ] } } }, { "chunk_index": 5, "current_tick": 216, "current_seconds": 8.64, "history_ticks": [ 0, 41, 66, 91, 116, 141, 166, 191, 216 ], "history_seconds": [ 0.0, 1.64, 2.64, 3.64, 4.64, 5.64, 6.64, 7.64, 8.64 ], "future_video_ticks": [ 220, 224, 228, 232, 236, 240, 244, 248 ], "future_video_seconds": [ 8.8, 8.96, 9.12, 9.28, 9.44, 9.6, 9.76, 9.92 ], "action_target_tick_range_inclusive": [ 217, 248 ], "action_target_seconds_inclusive": [ 8.68, 9.92 ], "seed": 747, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: left arm: Carry the held tomato slice over to the lettuce leaf in the center of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "cameras": { "head": { "requested_history_video_seconds": [ 1500.6333333333337, 1502.2733333333338, 1503.2733333333338, 1504.2733333333338, 1505.2733333333338, 1506.2733333333338, 1507.2733333333338, 1508.2733333333338, 1509.2733333333338 ], "requested_history_native_frame_indices": [ 45019, 45068, 45098, 45128, 45158, 45188, 45218, 45248, 45278 ] }, "wrist_left": { "requested_history_video_seconds": [ 2267.9000000000005, 2269.5400000000004, 2270.5400000000004, 2271.5400000000004, 2272.5400000000004, 2273.5400000000004, 2274.5400000000004, 2275.5400000000004, 2276.5400000000004 ], "requested_history_native_frame_indices": [ 68037, 68086, 68116, 68146, 68176, 68206, 68236, 68266, 68296 ] }, "wrist_right": { "requested_history_video_seconds": [ 2026.7333333333338, 2028.373333333334, 2029.373333333334, 2030.373333333334, 2031.373333333334, 2032.373333333334, 2033.373333333334, 2034.373333333334, 2035.373333333334 ], "requested_history_native_frame_indices": [ 60802, 60851, 60881, 60911, 60941, 60971, 61001, 61031, 61061 ] } } }, { "chunk_index": 6, "current_tick": 248, "current_seconds": 9.92, "history_ticks": [ 0, 73, 98, 123, 148, 173, 198, 223, 248 ], "history_seconds": [ 0.0, 2.92, 3.92, 4.92, 5.92, 6.92, 7.92, 8.92, 9.92 ], "future_video_ticks": [ 252, 256, 260, 264, 268, 272, 276, 280 ], "future_video_seconds": [ 10.08, 10.24, 10.4, 10.56, 10.72, 10.88, 11.04, 11.2 ], "action_target_tick_range_inclusive": [ 249, 280 ], "action_target_seconds_inclusive": [ 9.96, 11.2 ], "seed": 748, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf.", "cameras": { "head": { "requested_history_video_seconds": [ 1500.6333333333337, 1503.5533333333337, 1504.5533333333337, 1505.5533333333337, 1506.5533333333337, 1507.5533333333337, 1508.5533333333337, 1509.5533333333337, 1510.5533333333337 ], "requested_history_native_frame_indices": [ 45019, 45107, 45137, 45167, 45197, 45227, 45257, 45287, 45317 ] }, "wrist_left": { "requested_history_video_seconds": [ 2267.9000000000005, 2270.8200000000006, 2271.8200000000006, 2272.8200000000006, 2273.8200000000006, 2274.8200000000006, 2275.8200000000006, 2276.8200000000006, 2277.8200000000006 ], "requested_history_native_frame_indices": [ 68037, 68125, 68155, 68185, 68215, 68245, 68275, 68305, 68335 ] }, "wrist_right": { "requested_history_video_seconds": [ 2026.7333333333338, 2029.6533333333339, 2030.6533333333339, 2031.6533333333339, 2032.6533333333339, 2033.6533333333339, 2034.6533333333339, 2035.6533333333339, 2036.6533333333339 ], "requested_history_native_frame_indices": [ 60802, 60890, 60920, 60950, 60980, 61010, 61040, 61070, 61100 ] } } }, { "chunk_index": 7, "current_tick": 280, "current_seconds": 11.2, "history_ticks": [ 0, 105, 130, 155, 180, 205, 230, 255, 280 ], "history_seconds": [ 0.0, 4.2, 5.2, 6.2, 7.2, 8.2, 9.2, 10.2, 11.2 ], "future_video_ticks": [ 284, 288, 292, 296, 300, 304, 308, 312 ], "future_video_seconds": [ 11.36, 11.52, 11.68, 11.84, 12.0, 12.16, 12.32, 12.48 ], "action_target_tick_range_inclusive": [ 281, 312 ], "action_target_seconds_inclusive": [ 11.24, 12.48 ], "seed": 749, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf.", "cameras": { "head": { "requested_history_video_seconds": [ 1500.6333333333337, 1504.8333333333337, 1505.8333333333337, 1506.8333333333337, 1507.8333333333337, 1508.8333333333337, 1509.8333333333337, 1510.8333333333337, 1511.8333333333337 ], "requested_history_native_frame_indices": [ 45019, 45145, 45175, 45205, 45235, 45265, 45295, 45325, 45355 ] }, "wrist_left": { "requested_history_video_seconds": [ 2267.9000000000005, 2272.1000000000004, 2273.1000000000004, 2274.1000000000004, 2275.1000000000004, 2276.1000000000004, 2277.1000000000004, 2278.1000000000004, 2279.1000000000004 ], "requested_history_native_frame_indices": [ 68037, 68163, 68193, 68223, 68253, 68283, 68313, 68343, 68373 ] }, "wrist_right": { "requested_history_video_seconds": [ 2026.7333333333338, 2030.9333333333338, 2031.9333333333338, 2032.9333333333338, 2033.9333333333338, 2034.9333333333338, 2035.9333333333338, 2036.9333333333338, 2037.9333333333338 ], "requested_history_native_frame_indices": [ 60802, 60928, 60958, 60988, 61018, 61048, 61078, 61108, 61138 ] } } } ], "diagnostics": [ { "history": "current_repeat", "variant": "full_original", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997" }, { "history": "current_repeat", "variant": "full_original", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997" }, { "history": "current_repeat", "variant": "full_stop", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "37119dce46922e367d732737375ba62ced261474b9e12ef24d1b6fba91870b21" }, { "history": "current_repeat", "variant": "full_stop", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "37119dce46922e367d732737375ba62ced261474b9e12ef24d1b6fba91870b21" }, { "history": "current_repeat", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.", "context": "9a8760327ccdb2cb0b15ef65d0a63bef08e3263587b3f48da65af98eda9757fd" }, { "history": "current_repeat", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.", "context": "9a8760327ccdb2cb0b15ef65d0a63bef08e3263587b3f48da65af98eda9757fd" }, { "history": "current_repeat", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "64d21e4b1e8a18145b224e2128a1f169dca808d9bdbe9c98c7cb7c209d40322a" }, { "history": "current_repeat", "variant": "l3_conflict", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "64d21e4b1e8a18145b224e2128a1f169dca808d9bdbe9c98c7cb7c209d40322a" }, { "history": "reverse_past", "variant": "full_original", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997" }, { "history": "reverse_past", "variant": "full_original", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997" }, { "history": "reverse_past", "variant": "full_stop", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "37119dce46922e367d732737375ba62ced261474b9e12ef24d1b6fba91870b21" }, { "history": "reverse_past", "variant": "full_stop", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "37119dce46922e367d732737375ba62ced261474b9e12ef24d1b6fba91870b21" }, { "history": "reverse_past", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.", "context": "9a8760327ccdb2cb0b15ef65d0a63bef08e3263587b3f48da65af98eda9757fd" }, { "history": "reverse_past", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.", "context": "9a8760327ccdb2cb0b15ef65d0a63bef08e3263587b3f48da65af98eda9757fd" }, { "history": "reverse_past", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "64d21e4b1e8a18145b224e2128a1f169dca808d9bdbe9c98c7cb7c209d40322a" }, { "history": "reverse_past", "variant": "l3_conflict", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "64d21e4b1e8a18145b224e2128a1f169dca808d9bdbe9c98c7cb7c209d40322a" }, { "history": "true_history", "variant": "full_original", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997" }, { "history": "true_history", "variant": "full_original", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997" }, { "history": "true_history", "variant": "full_stop", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "37119dce46922e367d732737375ba62ced261474b9e12ef24d1b6fba91870b21" }, { "history": "true_history", "variant": "full_stop", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "37119dce46922e367d732737375ba62ced261474b9e12ef24d1b6fba91870b21" }, { "history": "true_history", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.", "context": "9a8760327ccdb2cb0b15ef65d0a63bef08e3263587b3f48da65af98eda9757fd" }, { "history": "true_history", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.", "context": "9a8760327ccdb2cb0b15ef65d0a63bef08e3263587b3f48da65af98eda9757fd" }, { "history": "true_history", "variant": "l1_conflict", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "47105a1475165e0dcac43362546f72fb534f8f57ccb25214e72a6efb934b5c40" }, { "history": "true_history", "variant": "l1_conflict", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "47105a1475165e0dcac43362546f72fb534f8f57ccb25214e72a6efb934b5c40" }, { "history": "true_history", "variant": "l1_only_original", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "09cd858b3c7314e764cfbfd9d3adaf88dfafd3c09bb4a0c8ffb53711fc2467cc" }, { "history": "true_history", "variant": "l1_only_original", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "09cd858b3c7314e764cfbfd9d3adaf88dfafd3c09bb4a0c8ffb53711fc2467cc" }, { "history": "true_history", "variant": "l1_only_stop", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "cd2275ec7be55e75e9168a8f7e7d5a1f2fd6d296bf44388af1cf2791eb4517a0" }, { "history": "true_history", "variant": "l1_only_stop", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "cd2275ec7be55e75e9168a8f7e7d5a1f2fd6d296bf44388af1cf2791eb4517a0" }, { "history": "true_history", "variant": "l1_only_swap", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.", "context": "f4c14e9962a64b53e8b26cab54d1bb46b43561ee84dc469b2e160f425e202cdf" }, { "history": "true_history", "variant": "l1_only_swap", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.", "context": "f4c14e9962a64b53e8b26cab54d1bb46b43561ee84dc469b2e160f425e202cdf" }, { "history": "true_history", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "64d21e4b1e8a18145b224e2128a1f169dca808d9bdbe9c98c7cb7c209d40322a" }, { "history": "true_history", "variant": "l3_conflict", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "64d21e4b1e8a18145b224e2128a1f169dca808d9bdbe9c98c7cb7c209d40322a" }, { "history": "true_history", "variant": "l3_only_edit", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: Raise the left arm; keep the right arm still.", "context": "99e594d4fb7f27b75651c5ea03c8ba8762ee55dc70675fd996dae1c2ae0ee531" }, { "history": "true_history", "variant": "l3_only_edit", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: Raise the left arm; keep the right arm still.", "context": "99e594d4fb7f27b75651c5ea03c8ba8762ee55dc70675fd996dae1c2ae0ee531" }, { "history": "true_history", "variant": "l3_only_original", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.", "context": "1c2cf25cb9efe28762a88c73b251e6ce8b9e030f99e65452598bbfcb00e0df68" }, { "history": "true_history", "variant": "l3_only_original", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.", "context": "1c2cf25cb9efe28762a88c73b251e6ce8b9e030f99e65452598bbfcb00e0df68" }, { "history": "true_history", "variant": "repeat", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997" }, { "history": "true_history", "variant": "repeat", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997" } ], "initial_state_raw": [ 0.34228068590164185, 0.3100387752056122, 1.0019481182098389, 0.0, 0.0, 0.0, 0.0, 0.6159999966621399, 0.23101022839546204, -0.29377028346061707, 1.0412157773971558, 0.0, 0.0, 0.0, 0.0, 0.045500002801418304 ], "initial_state_valid": [ true, true, true, false, false, false, false, true, true, true, true, false, false, false, false, true ], "initial_state_normalized": [ 0.12884807586669922, 0.6444984674453735, -0.9110876321792603, 0.0, 0.0, 0.0, 0.0, 0.6837025284767151, -0.7226807475090027, -0.6169114112854004, -8.658065053168684e-05, 0.0, 0.0, 0.0, 0.0, -1.9466356039047241 ], "assets": { "initial_input": { "path": "reproduction/case17/initial-input.npz", "bytes": 1115875, "sha256": "7ca11e23d90b82d3f79969da14b16aedf0d34ea25340adccf92a6f2b92efc859" }, "state_arrays": { "path": "reproduction/case17/arrays.npz", "bytes": 4703, "sha256": "035c0d811b5c4ebf72a56fbd6ad65ace9c67475f92b55cd4577032c1a2a8bd05" }, "frame_parts": [ { "path": "reproduction/case17/frames-00.npz", "bytes": 4063540, "sha256": "0269b49a0522a83db9f429452ccd306f21c6b41e3eb22494483ed5e3eaf128f4" }, { "path": "reproduction/case17/frames-01.npz", "bytes": 4606507, "sha256": "e5409e89ddc5ff8fc41a5b788b1f034a6c0c15a9838116900afe684c713447af" }, { "path": "reproduction/case17/frames-02.npz", "bytes": 4828708, "sha256": "c29b3b819ccb3f64afb8b77d05073856cd7ec1ebdfc9a66d5f9ce1fdddf2c304" }, { "path": "reproduction/case17/frames-03.npz", "bytes": 1384037, "sha256": "12fe3a92f4a4e5df87cccf44e36e7de6f984d2ba79c461cb098d0356cc5f1f77" } ] }, "original_case_npz_sha256": "d187fccc6296f229aeb7ffe3b2f7b37a01ea21cbcafa52082a08298336d5e830", "frame_pixels_sha256": "306fadcaa5e8966a3fe95c091857b854e3e45695abf6a4f4950c0c27b422fc2d", "protocol": "reproduction/protocol.json" } }, { "id": "case05", "tree": "agibotworld_2026_lerobot_v3/s216a44_rl", "shard": "c000-f021", "episode": 981, "start": 760, "starts": [ 760, 792, 824, 856, 888, 920, 952, 984 ], "prompts": [ "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment; The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table. right arm: Grasp the battery cover on the table.", "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table. right arm: Grasp the battery cover on the table.", "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table." ], "split": "validation", "file": "case05.npz", "motion_score": 0.014730062335729599, "complexity_score": 0.059028335564480144, "difficulty_proxy": "high", "reproduction": { "case_id": "case05", "case_ordinal": 8, "dataset_tree": "agibotworld_2026_lerobot_v3/s216a44_rl", "dataset_family": "agibotworld_2026_lerobot_v3", "processed_shard": "c000-f021", "processed_episode": 981, "original_source_id": "agibotworld_2026_lerobot_v3:ReinforcementLearning__Industry__task_7093__PolicyRollout__20758141_20758461#18", "split": "validation", "episode_length_ticks": 2517, "prediction_start_tick": 760, "prediction_start_seconds": 30.4, "history_past_start_seconds": 23.4, "episode_anchor_seconds": 0, "cameras": { "head": { "source_relative_path": "datasets_train/agibotworld_2026_lerobot_v3/s216a44_rl/videos/observation.images.top_head/chunk-000/file-025.mp4", "episode_start_in_video_s": 1882.4333333333332, "episode_end_in_video_s": 1983.1333333333332, "native_fps": 30.0, "used_in_composite": true }, "wrist_left": { "source_relative_path": "datasets_train/agibotworld_2026_lerobot_v3/s216a44_rl/videos/observation.images.hand_left/chunk-000/file-027.mp4", "episode_start_in_video_s": 1882.4333333333332, "episode_end_in_video_s": 1983.1333333333332, "native_fps": 30.0, "used_in_composite": true }, "wrist_right": { "source_relative_path": "datasets_train/agibotworld_2026_lerobot_v3/s216a44_rl/videos/observation.images.hand_right/chunk-000/file-026.mp4", "episode_start_in_video_s": 1882.4333333333332, "episode_end_in_video_s": 1983.1333333333332, "native_fps": 30.0, "used_in_composite": true } }, "primary_view": "head", "composite_views": [ "head", "wrist_left", "wrist_right" ], "initial_observations": [ { "slot": 0, "role": "episode anchor", "tick": 0, "seconds": 0.0, "png": { "path": "reproduction/case05/observation-00.png", "bytes": 122645, "sha256": "4a4c268eeaf11bd050ef39e402c66aea5133d40861913fbea53d733135efd5cb" } }, { "slot": 1, "role": "past", "tick": 585, "seconds": 23.4, "png": { "path": "reproduction/case05/observation-01.png", "bytes": 126816, "sha256": "ac3e73e7e2e943244d1eeab35488011f3ed31e8c2e32ae4eca366588e7d2ff0e" } }, { "slot": 2, "role": "past", "tick": 610, "seconds": 24.4, "png": { "path": "reproduction/case05/observation-02.png", "bytes": 127931, "sha256": "992b0b2e7ba3ef3eabd7c4d4154ba29fd3b7f009c0cbb45b90d42f65ba78c900" } }, { "slot": 3, "role": "past", "tick": 635, "seconds": 25.4, "png": { "path": "reproduction/case05/observation-03.png", "bytes": 127400, "sha256": "45e11e1b8a8b202bbd232f1156d4737025c171477bbaff09adbba6d237117583" } }, { "slot": 4, "role": "past", "tick": 660, "seconds": 26.4, "png": { "path": "reproduction/case05/observation-04.png", "bytes": 126318, "sha256": "8f1baeae3a7b27ebec03fa62d91c304a61e46404a0580609348a4c8c84ed2476" } }, { "slot": 5, "role": "past", "tick": 685, "seconds": 27.4, "png": { "path": "reproduction/case05/observation-05.png", "bytes": 129348, "sha256": "2a8cddda1252662d2bd54cf2dff74b199693c74a173a9ef203d6982079701e1d" } }, { "slot": 6, "role": "past", "tick": 710, "seconds": 28.4, "png": { "path": "reproduction/case05/observation-06.png", "bytes": 132264, "sha256": "41fe0d27531be3bb3c710c14696a41355c1739b2697d5a966c07f99c7625f3b7" } }, { "slot": 7, "role": "past", "tick": 735, "seconds": 29.4, "png": { "path": "reproduction/case05/observation-07.png", "bytes": 132596, "sha256": "7006c1a71cd56bc281c866d583d0a47a170659ab4a10db186f04bbc9879c61a2" } }, { "slot": 8, "role": "current", "tick": 760, "seconds": 30.4, "png": { "path": "reproduction/case05/observation-08.png", "bytes": 132790, "sha256": "2f33bee1a0aac0df5feecc801da4f8413e0301e61937149a3a5d68fa64baf316" } } ], "chunks": [ { "chunk_index": 0, "current_tick": 760, "current_seconds": 30.4, "history_ticks": [ 0, 585, 610, 635, 660, 685, 710, 735, 760 ], "history_seconds": [ 0.0, 23.4, 24.4, 25.4, 26.4, 27.4, 28.4, 29.4, 30.4 ], "future_video_ticks": [ 764, 768, 772, 776, 780, 784, 788, 792 ], "future_video_seconds": [ 30.56, 30.72, 30.88, 31.04, 31.2, 31.36, 31.52, 31.68 ], "action_target_tick_range_inclusive": [ 761, 792 ], "action_target_seconds_inclusive": [ 30.44, 31.68 ], "seed": 842, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "cameras": { "head": { "requested_history_video_seconds": [ 1882.4333333333332, 1905.8333333333333, 1906.8333333333333, 1907.8333333333333, 1908.8333333333333, 1909.8333333333333, 1910.8333333333333, 1911.8333333333333, 1912.8333333333333 ], "requested_history_native_frame_indices": [ 56473, 57175, 57205, 57235, 57265, 57295, 57325, 57355, 57385 ] }, "wrist_left": { "requested_history_video_seconds": [ 1882.4333333333332, 1905.8333333333333, 1906.8333333333333, 1907.8333333333333, 1908.8333333333333, 1909.8333333333333, 1910.8333333333333, 1911.8333333333333, 1912.8333333333333 ], "requested_history_native_frame_indices": [ 56473, 57175, 57205, 57235, 57265, 57295, 57325, 57355, 57385 ] }, "wrist_right": { "requested_history_video_seconds": [ 1882.4333333333332, 1905.8333333333333, 1906.8333333333333, 1907.8333333333333, 1908.8333333333333, 1909.8333333333333, 1910.8333333333333, 1911.8333333333333, 1912.8333333333333 ], "requested_history_native_frame_indices": [ 56473, 57175, 57205, 57235, 57265, 57295, 57325, 57355, 57385 ] } } }, { "chunk_index": 1, "current_tick": 792, "current_seconds": 31.68, "history_ticks": [ 0, 617, 642, 667, 692, 717, 742, 767, 792 ], "history_seconds": [ 0.0, 24.68, 25.68, 26.68, 27.68, 28.68, 29.68, 30.68, 31.68 ], "future_video_ticks": [ 796, 800, 804, 808, 812, 816, 820, 824 ], "future_video_seconds": [ 31.84, 32.0, 32.16, 32.32, 32.48, 32.64, 32.8, 32.96 ], "action_target_tick_range_inclusive": [ 793, 824 ], "action_target_seconds_inclusive": [ 31.72, 32.96 ], "seed": 843, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment; The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "cameras": { "head": { "requested_history_video_seconds": [ 1882.4333333333332, 1907.1133333333332, 1908.1133333333332, 1909.1133333333332, 1910.1133333333332, 1911.1133333333332, 1912.1133333333332, 1913.1133333333332, 1914.1133333333332 ], "requested_history_native_frame_indices": [ 56473, 57213, 57243, 57273, 57303, 57333, 57363, 57393, 57423 ] }, "wrist_left": { "requested_history_video_seconds": [ 1882.4333333333332, 1907.1133333333332, 1908.1133333333332, 1909.1133333333332, 1910.1133333333332, 1911.1133333333332, 1912.1133333333332, 1913.1133333333332, 1914.1133333333332 ], "requested_history_native_frame_indices": [ 56473, 57213, 57243, 57273, 57303, 57333, 57363, 57393, 57423 ] }, "wrist_right": { "requested_history_video_seconds": [ 1882.4333333333332, 1907.1133333333332, 1908.1133333333332, 1909.1133333333332, 1910.1133333333332, 1911.1133333333332, 1912.1133333333332, 1913.1133333333332, 1914.1133333333332 ], "requested_history_native_frame_indices": [ 56473, 57213, 57243, 57273, 57303, 57333, 57363, 57393, 57423 ] } } }, { "chunk_index": 2, "current_tick": 824, "current_seconds": 32.96, "history_ticks": [ 0, 649, 674, 699, 724, 749, 774, 799, 824 ], "history_seconds": [ 0.0, 25.96, 26.96, 27.96, 28.96, 29.96, 30.96, 31.96, 32.96 ], "future_video_ticks": [ 828, 832, 836, 840, 844, 848, 852, 856 ], "future_video_seconds": [ 33.12, 33.28, 33.44, 33.6, 33.76, 33.92, 34.08, 34.24 ], "action_target_tick_range_inclusive": [ 825, 856 ], "action_target_seconds_inclusive": [ 33.0, 34.24 ], "seed": 844, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table. right arm: Grasp the battery cover on the table.", "cameras": { "head": { "requested_history_video_seconds": [ 1882.4333333333332, 1908.3933333333332, 1909.3933333333332, 1910.3933333333332, 1911.3933333333332, 1912.3933333333332, 1913.3933333333332, 1914.3933333333332, 1915.3933333333332 ], "requested_history_native_frame_indices": [ 56473, 57252, 57282, 57312, 57342, 57372, 57402, 57432, 57462 ] }, "wrist_left": { "requested_history_video_seconds": [ 1882.4333333333332, 1908.3933333333332, 1909.3933333333332, 1910.3933333333332, 1911.3933333333332, 1912.3933333333332, 1913.3933333333332, 1914.3933333333332, 1915.3933333333332 ], "requested_history_native_frame_indices": [ 56473, 57252, 57282, 57312, 57342, 57372, 57402, 57432, 57462 ] }, "wrist_right": { "requested_history_video_seconds": [ 1882.4333333333332, 1908.3933333333332, 1909.3933333333332, 1910.3933333333332, 1911.3933333333332, 1912.3933333333332, 1913.3933333333332, 1914.3933333333332, 1915.3933333333332 ], "requested_history_native_frame_indices": [ 56473, 57252, 57282, 57312, 57342, 57372, 57402, 57432, 57462 ] } } }, { "chunk_index": 3, "current_tick": 856, "current_seconds": 34.24, "history_ticks": [ 0, 681, 706, 731, 756, 781, 806, 831, 856 ], "history_seconds": [ 0.0, 27.24, 28.24, 29.24, 30.24, 31.24, 32.24, 33.24, 34.24 ], "future_video_ticks": [ 860, 864, 868, 872, 876, 880, 884, 888 ], "future_video_seconds": [ 34.4, 34.56, 34.72, 34.88, 35.04, 35.2, 35.36, 35.52 ], "action_target_tick_range_inclusive": [ 857, 888 ], "action_target_seconds_inclusive": [ 34.28, 35.52 ], "seed": 845, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table. right arm: Grasp the battery cover on the table.", "cameras": { "head": { "requested_history_video_seconds": [ 1882.4333333333332, 1909.6733333333332, 1910.6733333333332, 1911.6733333333332, 1912.6733333333332, 1913.6733333333332, 1914.6733333333332, 1915.6733333333332, 1916.6733333333332 ], "requested_history_native_frame_indices": [ 56473, 57290, 57320, 57350, 57380, 57410, 57440, 57470, 57500 ] }, "wrist_left": { "requested_history_video_seconds": [ 1882.4333333333332, 1909.6733333333332, 1910.6733333333332, 1911.6733333333332, 1912.6733333333332, 1913.6733333333332, 1914.6733333333332, 1915.6733333333332, 1916.6733333333332 ], "requested_history_native_frame_indices": [ 56473, 57290, 57320, 57350, 57380, 57410, 57440, 57470, 57500 ] }, "wrist_right": { "requested_history_video_seconds": [ 1882.4333333333332, 1909.6733333333332, 1910.6733333333332, 1911.6733333333332, 1912.6733333333332, 1913.6733333333332, 1914.6733333333332, 1915.6733333333332, 1916.6733333333332 ], "requested_history_native_frame_indices": [ 56473, 57290, 57320, 57350, 57380, 57410, 57440, 57470, 57500 ] } } }, { "chunk_index": 4, "current_tick": 888, "current_seconds": 35.52, "history_ticks": [ 0, 713, 738, 763, 788, 813, 838, 863, 888 ], "history_seconds": [ 0.0, 28.52, 29.52, 30.52, 31.52, 32.52, 33.52, 34.52, 35.52 ], "future_video_ticks": [ 892, 896, 900, 904, 908, 912, 916, 920 ], "future_video_seconds": [ 35.68, 35.84, 36.0, 36.16, 36.32, 36.48, 36.64, 36.8 ], "action_target_tick_range_inclusive": [ 889, 920 ], "action_target_seconds_inclusive": [ 35.56, 36.8 ], "seed": 846, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "cameras": { "head": { "requested_history_video_seconds": [ 1882.4333333333332, 1910.9533333333331, 1911.9533333333331, 1912.9533333333331, 1913.9533333333331, 1914.9533333333331, 1915.9533333333331, 1916.9533333333331, 1917.9533333333331 ], "requested_history_native_frame_indices": [ 56473, 57329, 57359, 57389, 57419, 57449, 57479, 57509, 57539 ] }, "wrist_left": { "requested_history_video_seconds": [ 1882.4333333333332, 1910.9533333333331, 1911.9533333333331, 1912.9533333333331, 1913.9533333333331, 1914.9533333333331, 1915.9533333333331, 1916.9533333333331, 1917.9533333333331 ], "requested_history_native_frame_indices": [ 56473, 57329, 57359, 57389, 57419, 57449, 57479, 57509, 57539 ] }, "wrist_right": { "requested_history_video_seconds": [ 1882.4333333333332, 1910.9533333333331, 1911.9533333333331, 1912.9533333333331, 1913.9533333333331, 1914.9533333333331, 1915.9533333333331, 1916.9533333333331, 1917.9533333333331 ], "requested_history_native_frame_indices": [ 56473, 57329, 57359, 57389, 57419, 57449, 57479, 57509, 57539 ] } } }, { "chunk_index": 5, "current_tick": 920, "current_seconds": 36.8, "history_ticks": [ 0, 745, 770, 795, 820, 845, 870, 895, 920 ], "history_seconds": [ 0.0, 29.8, 30.8, 31.8, 32.8, 33.8, 34.8, 35.8, 36.8 ], "future_video_ticks": [ 924, 928, 932, 936, 940, 944, 948, 952 ], "future_video_seconds": [ 36.96, 37.12, 37.28, 37.44, 37.6, 37.76, 37.92, 38.08 ], "action_target_tick_range_inclusive": [ 921, 952 ], "action_target_seconds_inclusive": [ 36.84, 38.08 ], "seed": 847, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "cameras": { "head": { "requested_history_video_seconds": [ 1882.4333333333332, 1912.2333333333331, 1913.2333333333331, 1914.2333333333331, 1915.2333333333331, 1916.2333333333331, 1917.2333333333331, 1918.2333333333331, 1919.2333333333331 ], "requested_history_native_frame_indices": [ 56473, 57367, 57397, 57427, 57457, 57487, 57517, 57547, 57577 ] }, "wrist_left": { "requested_history_video_seconds": [ 1882.4333333333332, 1912.2333333333331, 1913.2333333333331, 1914.2333333333331, 1915.2333333333331, 1916.2333333333331, 1917.2333333333331, 1918.2333333333331, 1919.2333333333331 ], "requested_history_native_frame_indices": [ 56473, 57367, 57397, 57427, 57457, 57487, 57517, 57547, 57577 ] }, "wrist_right": { "requested_history_video_seconds": [ 1882.4333333333332, 1912.2333333333331, 1913.2333333333331, 1914.2333333333331, 1915.2333333333331, 1916.2333333333331, 1917.2333333333331, 1918.2333333333331, 1919.2333333333331 ], "requested_history_native_frame_indices": [ 56473, 57367, 57397, 57427, 57457, 57487, 57517, 57547, 57577 ] } } }, { "chunk_index": 6, "current_tick": 952, "current_seconds": 38.08, "history_ticks": [ 0, 777, 802, 827, 852, 877, 902, 927, 952 ], "history_seconds": [ 0.0, 31.08, 32.08, 33.08, 34.08, 35.08, 36.08, 37.08, 38.08 ], "future_video_ticks": [ 956, 960, 964, 968, 972, 976, 980, 984 ], "future_video_seconds": [ 38.24, 38.4, 38.56, 38.72, 38.88, 39.04, 39.2, 39.36 ], "action_target_tick_range_inclusive": [ 953, 984 ], "action_target_seconds_inclusive": [ 38.12, 39.36 ], "seed": 848, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "cameras": { "head": { "requested_history_video_seconds": [ 1882.4333333333332, 1913.513333333333, 1914.513333333333, 1915.513333333333, 1916.513333333333, 1917.513333333333, 1918.513333333333, 1919.513333333333, 1920.513333333333 ], "requested_history_native_frame_indices": [ 56473, 57405, 57435, 57465, 57495, 57525, 57555, 57585, 57615 ] }, "wrist_left": { "requested_history_video_seconds": [ 1882.4333333333332, 1913.513333333333, 1914.513333333333, 1915.513333333333, 1916.513333333333, 1917.513333333333, 1918.513333333333, 1919.513333333333, 1920.513333333333 ], "requested_history_native_frame_indices": [ 56473, 57405, 57435, 57465, 57495, 57525, 57555, 57585, 57615 ] }, "wrist_right": { "requested_history_video_seconds": [ 1882.4333333333332, 1913.513333333333, 1914.513333333333, 1915.513333333333, 1916.513333333333, 1917.513333333333, 1918.513333333333, 1919.513333333333, 1920.513333333333 ], "requested_history_native_frame_indices": [ 56473, 57405, 57435, 57465, 57495, 57525, 57555, 57585, 57615 ] } } }, { "chunk_index": 7, "current_tick": 984, "current_seconds": 39.36, "history_ticks": [ 0, 809, 834, 859, 884, 909, 934, 959, 984 ], "history_seconds": [ 0.0, 32.36, 33.36, 34.36, 35.36, 36.36, 37.36, 38.36, 39.36 ], "future_video_ticks": [ 988, 992, 996, 1000, 1004, 1008, 1012, 1016 ], "future_video_seconds": [ 39.52, 39.68, 39.84, 40.0, 40.16, 40.32, 40.48, 40.64 ], "action_target_tick_range_inclusive": [ 985, 1016 ], "action_target_seconds_inclusive": [ 39.4, 40.64 ], "seed": 849, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "cameras": { "head": { "requested_history_video_seconds": [ 1882.4333333333332, 1914.793333333333, 1915.793333333333, 1916.793333333333, 1917.793333333333, 1918.793333333333, 1919.793333333333, 1920.793333333333, 1921.793333333333 ], "requested_history_native_frame_indices": [ 56473, 57444, 57474, 57504, 57534, 57564, 57594, 57624, 57654 ] }, "wrist_left": { "requested_history_video_seconds": [ 1882.4333333333332, 1914.793333333333, 1915.793333333333, 1916.793333333333, 1917.793333333333, 1918.793333333333, 1919.793333333333, 1920.793333333333, 1921.793333333333 ], "requested_history_native_frame_indices": [ 56473, 57444, 57474, 57504, 57534, 57564, 57594, 57624, 57654 ] }, "wrist_right": { "requested_history_video_seconds": [ 1882.4333333333332, 1914.793333333333, 1915.793333333333, 1916.793333333333, 1917.793333333333, 1918.793333333333, 1919.793333333333, 1920.793333333333, 1921.793333333333 ], "requested_history_native_frame_indices": [ 56473, 57444, 57474, 57504, 57534, 57564, 57594, 57624, 57654 ] } } } ], "diagnostics": [ { "history": "current_repeat", "variant": "full_original", "seed": 314, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "context": "5cfa52c07e73a32853bee30f5ee37840c5561ef51ea5792e2021d52fd1b7a63f" }, { "history": "current_repeat", "variant": "full_original", "seed": 42, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "context": "5cfa52c07e73a32853bee30f5ee37840c5561ef51ea5792e2021d52fd1b7a63f" }, { "history": "current_repeat", "variant": "full_stop", "seed": 314, "prompt": "Robot: s216a44_rl. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "148a7203e884ca1ffe2af7ef6114171c9b40fb472853dea18908f15665e3c130" }, { "history": "current_repeat", "variant": "full_stop", "seed": 42, "prompt": "Robot: s216a44_rl. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "148a7203e884ca1ffe2af7ef6114171c9b40fb472853dea18908f15665e3c130" }, { "history": "current_repeat", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: right arm: Hold the remote control steady on the table.", "context": "cf4d1da7eaafe54aafb00d18ee5ac4927e8d1e265e8e1997d8eaeead39a313f2" }, { "history": "current_repeat", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: right arm: Hold the remote control steady on the table.", "context": "cf4d1da7eaafe54aafb00d18ee5ac4927e8d1e265e8e1997d8eaeead39a313f2" }, { "history": "current_repeat", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: s216a44_rl. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "context": "03086d8b3b2d2180a9e5f4e30b4d5121b0fe9d26afa9a22b55a14b80fec0387d" }, { "history": "current_repeat", "variant": "l3_conflict", "seed": 42, "prompt": "Robot: s216a44_rl. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "context": "03086d8b3b2d2180a9e5f4e30b4d5121b0fe9d26afa9a22b55a14b80fec0387d" }, { "history": "reverse_past", "variant": "full_original", "seed": 314, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "context": "5cfa52c07e73a32853bee30f5ee37840c5561ef51ea5792e2021d52fd1b7a63f" }, { "history": "reverse_past", "variant": "full_original", "seed": 42, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "context": "5cfa52c07e73a32853bee30f5ee37840c5561ef51ea5792e2021d52fd1b7a63f" }, { "history": "reverse_past", "variant": "full_stop", "seed": 314, "prompt": "Robot: s216a44_rl. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "148a7203e884ca1ffe2af7ef6114171c9b40fb472853dea18908f15665e3c130" }, { "history": "reverse_past", "variant": "full_stop", "seed": 42, "prompt": "Robot: s216a44_rl. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "148a7203e884ca1ffe2af7ef6114171c9b40fb472853dea18908f15665e3c130" }, { "history": "reverse_past", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: right arm: Hold the remote control steady on the table.", "context": "cf4d1da7eaafe54aafb00d18ee5ac4927e8d1e265e8e1997d8eaeead39a313f2" }, { "history": "reverse_past", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: right arm: Hold the remote control steady on the table.", "context": "cf4d1da7eaafe54aafb00d18ee5ac4927e8d1e265e8e1997d8eaeead39a313f2" }, { "history": "reverse_past", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: s216a44_rl. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "context": "03086d8b3b2d2180a9e5f4e30b4d5121b0fe9d26afa9a22b55a14b80fec0387d" }, { "history": "reverse_past", "variant": "l3_conflict", "seed": 42, "prompt": "Robot: s216a44_rl. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "context": "03086d8b3b2d2180a9e5f4e30b4d5121b0fe9d26afa9a22b55a14b80fec0387d" }, { "history": "true_history", "variant": "full_original", "seed": 314, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "context": "5cfa52c07e73a32853bee30f5ee37840c5561ef51ea5792e2021d52fd1b7a63f" }, { "history": "true_history", "variant": "full_original", "seed": 42, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "context": "5cfa52c07e73a32853bee30f5ee37840c5561ef51ea5792e2021d52fd1b7a63f" }, { "history": "true_history", "variant": "full_stop", "seed": 314, "prompt": "Robot: s216a44_rl. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "148a7203e884ca1ffe2af7ef6114171c9b40fb472853dea18908f15665e3c130" }, { "history": "true_history", "variant": "full_stop", "seed": 42, "prompt": "Robot: s216a44_rl. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "148a7203e884ca1ffe2af7ef6114171c9b40fb472853dea18908f15665e3c130" }, { "history": "true_history", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: right arm: Hold the remote control steady on the table.", "context": "cf4d1da7eaafe54aafb00d18ee5ac4927e8d1e265e8e1997d8eaeead39a313f2" }, { "history": "true_history", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: right arm: Hold the remote control steady on the table.", "context": "cf4d1da7eaafe54aafb00d18ee5ac4927e8d1e265e8e1997d8eaeead39a313f2" }, { "history": "true_history", "variant": "l1_conflict", "seed": 314, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "3afb2bc801e8798921ef129f37cb744057da4a00c0b7a7b042be116ccdb45e07" }, { "history": "true_history", "variant": "l1_conflict", "seed": 42, "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "3afb2bc801e8798921ef129f37cb744057da4a00c0b7a7b042be116ccdb45e07" }, { "history": "true_history", "variant": "l1_only_original", "seed": 314, "prompt": "Robot: s216a44_rl\nAtomic instruction: left arm: Hold the remote control steady on the table.", "context": "1ecdfcd4aa90913fa67c8facfdb85c0bcff57b37f2baa016e3c9350b04ff307b" }, { "history": "true_history", "variant": "l1_only_original", "seed": 42, "prompt": "Robot: s216a44_rl\nAtomic instruction: left arm: Hold the remote control steady on the table.", "context": "1ecdfcd4aa90913fa67c8facfdb85c0bcff57b37f2baa016e3c9350b04ff307b" }, { "history": "true_history", "variant": "l1_only_stop", "seed": 314, "prompt": "Robot: s216a44_rl\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "e0593ffec56fcc0d7c8d4b58d16dac30e892e63baf76d7e27fbb8879bce0a0bd" }, { "history": "true_history", "variant": "l1_only_stop", "seed": 42, "prompt": "Robot: s216a44_rl\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "e0593ffec56fcc0d7c8d4b58d16dac30e892e63baf76d7e27fbb8879bce0a0bd" }, { "history": "true_history", "variant": "l1_only_swap", "seed": 314, "prompt": "Robot: s216a44_rl\nAtomic instruction: right arm: Hold the remote control steady on the table.", "context": "3172be16b0be71899ff095f3bac5ef8dfb7f310e55d852cd629fe8d83bd533de" }, { "history": "true_history", "variant": "l1_only_swap", "seed": 42, "prompt": "Robot: s216a44_rl\nAtomic instruction: right arm: Hold the remote control steady on the table.", "context": "3172be16b0be71899ff095f3bac5ef8dfb7f310e55d852cd629fe8d83bd533de" }, { "history": "true_history", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: s216a44_rl. 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Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: right arm: Move the tea bag towards the mug.", "cameras": { "head": { "requested_history_video_seconds": [ 176.46666666666667, 199.82666666666665, 200.82666666666665, 201.82666666666665, 202.82666666666665, 203.82666666666665, 204.82666666666665, 205.82666666666665, 206.82666666666665 ], "requested_history_native_frame_indices": [ 5294, 5995, 6025, 6055, 6085, 6115, 6145, 6175, 6205 ] }, "wrist_left": { "requested_history_video_seconds": [ 2291.966666666666, 2315.326666666666, 2316.326666666666, 2317.326666666666, 2318.326666666666, 2319.326666666666, 2320.326666666666, 2321.326666666666, 2322.326666666666 ], "requested_history_native_frame_indices": [ 68759, 69460, 69490, 69520, 69550, 69580, 69610, 69640, 69670 ] }, "wrist_right": { "requested_history_video_seconds": [ 2291.966666666666, 2315.326666666666, 2316.326666666666, 2317.326666666666, 2318.326666666666, 2319.326666666666, 2320.326666666666, 2321.326666666666, 2322.326666666666 ], "requested_history_native_frame_indices": [ 68759, 69460, 69490, 69520, 69550, 69580, 69610, 69640, 69670 ] } } }, { "chunk_index": 5, "current_tick": 791, "current_seconds": 31.64, "history_ticks": [ 0, 616, 641, 666, 691, 716, 741, 766, 791 ], "history_seconds": [ 0.0, 24.64, 25.64, 26.64, 27.64, 28.64, 29.64, 30.64, 31.64 ], "future_video_ticks": [ 795, 799, 803, 807, 811, 815, 819, 823 ], "future_video_seconds": [ 31.8, 31.96, 32.12, 32.28, 32.44, 32.6, 32.76, 32.92 ], "action_target_tick_range_inclusive": [ 792, 823 ], "action_target_seconds_inclusive": [ 31.68, 32.92 ], "seed": 947, "prompt": "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister; Right arm puts the tea bag into the mug\nAtomic instruction: right arm: Move the tea bag towards the mug.", "cameras": { "head": { "requested_history_video_seconds": [ 176.46666666666667, 201.10666666666668, 202.10666666666668, 203.10666666666668, 204.10666666666668, 205.10666666666668, 206.10666666666668, 207.10666666666668, 208.10666666666668 ], "requested_history_native_frame_indices": [ 5294, 6033, 6063, 6093, 6123, 6153, 6183, 6213, 6243 ] }, "wrist_left": { "requested_history_video_seconds": [ 2291.966666666666, 2316.6066666666657, 2317.6066666666657, 2318.6066666666657, 2319.6066666666657, 2320.6066666666657, 2321.6066666666657, 2322.6066666666657, 2323.6066666666657 ], "requested_history_native_frame_indices": [ 68759, 69498, 69528, 69558, 69588, 69618, 69648, 69678, 69708 ] }, "wrist_right": { "requested_history_video_seconds": [ 2291.966666666666, 2316.6066666666657, 2317.6066666666657, 2318.6066666666657, 2319.6066666666657, 2320.6066666666657, 2321.6066666666657, 2322.6066666666657, 2323.6066666666657 ], "requested_history_native_frame_indices": [ 68759, 69498, 69528, 69558, 69588, 69618, 69648, 69678, 69708 ] } } }, { "chunk_index": 6, "current_tick": 823, "current_seconds": 32.92, "history_ticks": [ 0, 648, 673, 698, 723, 748, 773, 798, 823 ], "history_seconds": [ 0.0, 25.92, 26.92, 27.92, 28.92, 29.92, 30.92, 31.92, 32.92 ], "future_video_ticks": [ 827, 831, 835, 839, 843, 847, 851, 855 ], "future_video_seconds": [ 33.08, 33.24, 33.4, 33.56, 33.72, 33.88, 34.04, 34.2 ], "action_target_tick_range_inclusive": [ 824, 855 ], "action_target_seconds_inclusive": [ 32.96, 34.2 ], "seed": 948, "prompt": "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm puts the tea bag into the mug\nAtomic instruction: left arm: Hold the tea canister steady on the table. right arm: Move the tea bag towards the mug.", "cameras": { "head": { "requested_history_video_seconds": [ 176.46666666666667, 202.38666666666666, 203.38666666666666, 204.38666666666666, 205.38666666666666, 206.38666666666666, 207.38666666666666, 208.38666666666666, 209.38666666666666 ], "requested_history_native_frame_indices": [ 5294, 6072, 6102, 6132, 6162, 6192, 6222, 6252, 6282 ] }, "wrist_left": { "requested_history_video_seconds": [ 2291.966666666666, 2317.886666666666, 2318.886666666666, 2319.886666666666, 2320.886666666666, 2321.886666666666, 2322.886666666666, 2323.886666666666, 2324.886666666666 ], "requested_history_native_frame_indices": [ 68759, 69537, 69567, 69597, 69627, 69657, 69687, 69717, 69747 ] }, "wrist_right": { "requested_history_video_seconds": [ 2291.966666666666, 2317.886666666666, 2318.886666666666, 2319.886666666666, 2320.886666666666, 2321.886666666666, 2322.886666666666, 2323.886666666666, 2324.886666666666 ], "requested_history_native_frame_indices": [ 68759, 69537, 69567, 69597, 69627, 69657, 69687, 69717, 69747 ] } } }, { "chunk_index": 7, "current_tick": 855, "current_seconds": 34.2, "history_ticks": [ 0, 680, 705, 730, 755, 780, 805, 830, 855 ], "history_seconds": [ 0.0, 27.2, 28.2, 29.2, 30.2, 31.2, 32.2, 33.2, 34.2 ], "future_video_ticks": [ 859, 863, 867, 871, 875, 879, 883, 887 ], "future_video_seconds": [ 34.36, 34.52, 34.68, 34.84, 35.0, 35.16, 35.32, 35.48 ], "action_target_tick_range_inclusive": [ 856, 887 ], "action_target_seconds_inclusive": [ 34.24, 35.48 ], "seed": 949, "prompt": "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm puts the tea bag into the mug\nAtomic instruction: left arm: Hold the tea canister steady on the table. right arm: Move the tea bag towards the mug.", "cameras": { "head": { "requested_history_video_seconds": [ 176.46666666666667, 203.66666666666666, 204.66666666666666, 205.66666666666666, 206.66666666666666, 207.66666666666666, 208.66666666666669, 209.66666666666669, 210.66666666666669 ], "requested_history_native_frame_indices": [ 5294, 6110, 6140, 6170, 6200, 6230, 6260, 6290, 6320 ] }, "wrist_left": { "requested_history_video_seconds": [ 2291.966666666666, 2319.1666666666656, 2320.1666666666656, 2321.1666666666656, 2322.1666666666656, 2323.1666666666656, 2324.1666666666656, 2325.1666666666656, 2326.1666666666656 ], "requested_history_native_frame_indices": [ 68759, 69575, 69605, 69635, 69665, 69695, 69725, 69755, 69785 ] }, "wrist_right": { "requested_history_video_seconds": [ 2291.966666666666, 2319.1666666666656, 2320.1666666666656, 2321.1666666666656, 2322.1666666666656, 2323.1666666666656, 2324.1666666666656, 2325.1666666666656, 2326.1666666666656 ], "requested_history_native_frame_indices": [ 68759, 69575, 69605, 69635, 69665, 69695, 69725, 69755, 69785 ] } } } ], "diagnostics": [], "initial_state_raw": [ 0.47628799080848694, 0.10443035513162613, 0.23386268317699432, 0.0, 0.0, 0.0, 0.0, 0.6150000095367432, 0.39472123980522156, 0.05984405055642128, -0.11522560566663742, 0.0, 0.0, 0.0, 0.0, 0.19099996984004974 ], "initial_state_valid": [ true, true, true, false, false, false, false, true, true, true, true, false, false, false, false, true ], "initial_state_normalized": [ 0.7685682773590088, -1.775480031967163, 0.04047638550400734, 0.0, 0.0, 0.0, 0.0, 0.08602425456047058, -0.31805047392845154, -1.3463839292526245, 1.51349937915802, 0.0, 0.0, 0.0, 0.0, -0.6295728087425232 ], "assets": { "initial_input": { "path": "reproduction/case04/initial-input.npz", "bytes": 1762914, "sha256": "a4d8033d12ef90934daf7141482ba2ae8edf7b8625d329f064545a24766f4745" }, "state_arrays": { "path": "reproduction/case04/arrays.npz", "bytes": 7203, "sha256": "685faa587b9b9cbb5dc7b32ee886a5a1b05a0b9413563f9bfe96aad1f70300a8" }, "frame_parts": [ { "path": "reproduction/case04/frames-00.npz", "bytes": 6272547, "sha256": "accf37aea427cc9441d6929575a674aabf40a4ec0a394a59f0c237822ff682d1" }, { "path": "reproduction/case04/frames-01.npz", "bytes": 6316895, "sha256": "37499faa9ae2a9ea33abcc3a15f8beb3d367c53a536204e86259d9f01b295056" }, { "path": "reproduction/case04/frames-02.npz", "bytes": 6322823, "sha256": "7b7b78c3d46a1ba0f65dc6ad41ee079b6df8fffbf64d6a727a374a8d7270ef07" }, { "path": "reproduction/case04/frames-03.npz", "bytes": 4328044, "sha256": "23c047f5f6146aa8355d91d5e603222862ee9b816ae7977d4dc7f22c1a9512b2" } ] }, "original_case_npz_sha256": "db7354d5514f7e298b86ffa564f02ba0f194eebb33ba96e423d7204408409a99", "frame_pixels_sha256": "4c39886cbeaca56048daccb178a5debf02020214b3e8ac33893d262580e27644", "protocol": "reproduction/protocol.json" } }, { "id": "case01", "tree": "agibotworld_2026_lerobot_v3/s169a40", "shard": "c000-f000", "episode": 11, "start": 438, "starts": [ 438, 470, 502, 534, 566, 598, 630, 662 ], "prompts": [ "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Lift the yellow boxed yogurt off the shelf. right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.; Waist rotation.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend at the waist while lowering the body.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." ], "split": "validation", "file": "case01.npz", "motion_score": 0.0376061350107193, "complexity_score": 0.12862672913877732, "difficulty_proxy": "high", "reproduction": { "case_id": "case01", "case_ordinal": 10, "dataset_tree": "agibotworld_2026_lerobot_v3/s169a40", "dataset_family": "agibotworld_2026_lerobot_v3", "processed_shard": "c000-f000", "processed_episode": 11, "original_source_id": "agibotworld_2026_lerobot_v3:ImitationLearning__CommercialSpaces__task_3400__313498_314085#11", "split": "validation", "episode_length_ticks": 1110, "prediction_start_tick": 438, "prediction_start_seconds": 17.52, "history_past_start_seconds": 10.52, "episode_anchor_seconds": 0, "cameras": { "head": { "source_relative_path": "datasets_train/agibotworld_2026_lerobot_v3/s169a40/videos/observation.images.top_head/chunk-000/file-000.mp4", "episode_start_in_video_s": 637.7666666666667, "episode_end_in_video_s": 682.1666666666666, "native_fps": 30.0, "used_in_composite": true }, "wrist_left": { "source_relative_path": "datasets_train/agibotworld_2026_lerobot_v3/s169a40/videos/observation.images.hand_left/chunk-000/file-000.mp4", "episode_start_in_video_s": 637.7666666666667, "episode_end_in_video_s": 682.1666666666666, "native_fps": 30.0, "used_in_composite": true }, "wrist_right": { "source_relative_path": "datasets_train/agibotworld_2026_lerobot_v3/s169a40/videos/observation.images.hand_right/chunk-000/file-000.mp4", "episode_start_in_video_s": 637.7666666666667, "episode_end_in_video_s": 682.1666666666666, "native_fps": 30.0, "used_in_composite": true } }, "primary_view": "head", "composite_views": [ "head", "wrist_left", "wrist_right" ], "initial_observations": [ { "slot": 0, "role": "episode anchor", "tick": 0, "seconds": 0.0, "png": { "path": "reproduction/case01/observation-00.png", "bytes": 183817, "sha256": "094d1a032ad16d9c4fbdee18a72ccde550547f5c2a014f2178880a6e4c689223" } }, { "slot": 1, "role": "past", "tick": 263, "seconds": 10.52, "png": { "path": "reproduction/case01/observation-01.png", "bytes": 182516, "sha256": "7bf6113c51a13510e1f02f8135a84f1fe907582707feaf5cb4a570dbd0a78fc7" } }, { "slot": 2, "role": "past", "tick": 288, "seconds": 11.52, "png": { "path": "reproduction/case01/observation-02.png", "bytes": 183501, "sha256": "ec83c6f341e52e4a91b9234c37594ff578e2248f6944f0b1187789f59f85ea2c" } }, { "slot": 3, "role": "past", "tick": 313, "seconds": 12.52, "png": { "path": "reproduction/case01/observation-03.png", "bytes": 186205, "sha256": "0046c7b5a28db1f396e4387508c77133e2c8b9183da18b93d1e9ea73aedf7878" } }, { "slot": 4, "role": "past", "tick": 338, "seconds": 13.52, "png": { "path": "reproduction/case01/observation-04.png", "bytes": 185187, "sha256": "93d4e857aa4999d3a2eb542b10b3125f55144476fed09865fcff07e425259866" } }, { "slot": 5, "role": "past", "tick": 363, "seconds": 14.52, "png": { "path": "reproduction/case01/observation-05.png", "bytes": 185399, "sha256": "653373e308c6bc40c1ff5df2f06b1091bca69086f94dd53264f79d6715deac9e" } }, { "slot": 6, "role": "past", "tick": 388, "seconds": 15.52, "png": { "path": "reproduction/case01/observation-06.png", "bytes": 184145, "sha256": "4111f4b09801b043d821eebed469460e2870fc1914ef1ce867c3c1106f771f01" } }, { "slot": 7, "role": "past", "tick": 413, "seconds": 16.52, "png": { "path": "reproduction/case01/observation-07.png", "bytes": 183669, "sha256": "d284891edc66516863a8aad7ac0c5c8ca528a40eb2151b39617df882af5fe985" } }, { "slot": 8, "role": "current", "tick": 438, "seconds": 17.52, "png": { "path": "reproduction/case01/observation-08.png", "bytes": 182453, "sha256": "5b1ea5825bc256911e3e99fd1e090d1e6974199448c298a3d07fbcd6794ad74f" } } ], "chunks": [ { "chunk_index": 0, "current_tick": 438, "current_seconds": 17.52, "history_ticks": [ 0, 263, 288, 313, 338, 363, 388, 413, 438 ], "history_seconds": [ 0.0, 10.52, 11.52, 12.52, 13.52, 14.52, 15.52, 16.52, 17.52 ], "future_video_ticks": [ 442, 446, 450, 454, 458, 462, 466, 470 ], "future_video_seconds": [ 17.68, 17.84, 18.0, 18.16, 18.32, 18.48, 18.64, 18.8 ], "action_target_tick_range_inclusive": [ 439, 470 ], "action_target_seconds_inclusive": [ 17.56, 18.8 ], "seed": 1042, "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Lift the yellow boxed yogurt off the shelf. right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "cameras": { "head": { "requested_history_video_seconds": [ 637.7666666666667, 648.2866666666666, 649.2866666666666, 650.2866666666666, 651.2866666666666, 652.2866666666666, 653.2866666666666, 654.2866666666666, 655.2866666666666 ], "requested_history_native_frame_indices": [ 19133, 19449, 19479, 19509, 19539, 19569, 19599, 19629, 19659 ] }, "wrist_left": { "requested_history_video_seconds": [ 637.7666666666667, 648.2866666666666, 649.2866666666666, 650.2866666666666, 651.2866666666666, 652.2866666666666, 653.2866666666666, 654.2866666666666, 655.2866666666666 ], "requested_history_native_frame_indices": [ 19133, 19449, 19479, 19509, 19539, 19569, 19599, 19629, 19659 ] }, "wrist_right": { "requested_history_video_seconds": [ 637.7666666666667, 648.2866666666666, 649.2866666666666, 650.2866666666666, 651.2866666666666, 652.2866666666666, 653.2866666666666, 654.2866666666666, 655.2866666666666 ], "requested_history_native_frame_indices": [ 19133, 19449, 19479, 19509, 19539, 19569, 19599, 19629, 19659 ] } } }, { "chunk_index": 1, "current_tick": 470, "current_seconds": 18.8, "history_ticks": [ 0, 295, 320, 345, 370, 395, 420, 445, 470 ], "history_seconds": [ 0.0, 11.8, 12.8, 13.8, 14.8, 15.8, 16.8, 17.8, 18.8 ], "future_video_ticks": [ 474, 478, 482, 486, 490, 494, 498, 502 ], "future_video_seconds": [ 18.96, 19.12, 19.28, 19.44, 19.6, 19.76, 19.92, 20.08 ], "action_target_tick_range_inclusive": [ 471, 502 ], "action_target_seconds_inclusive": [ 18.84, 20.08 ], "seed": 1043, "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "cameras": { "head": { "requested_history_video_seconds": [ 637.7666666666667, 649.5666666666666, 650.5666666666666, 651.5666666666666, 652.5666666666666, 653.5666666666666, 654.5666666666666, 655.5666666666666, 656.5666666666666 ], "requested_history_native_frame_indices": [ 19133, 19487, 19517, 19547, 19577, 19607, 19637, 19667, 19697 ] }, "wrist_left": { "requested_history_video_seconds": [ 637.7666666666667, 649.5666666666666, 650.5666666666666, 651.5666666666666, 652.5666666666666, 653.5666666666666, 654.5666666666666, 655.5666666666666, 656.5666666666666 ], "requested_history_native_frame_indices": [ 19133, 19487, 19517, 19547, 19577, 19607, 19637, 19667, 19697 ] }, "wrist_right": { "requested_history_video_seconds": [ 637.7666666666667, 649.5666666666666, 650.5666666666666, 651.5666666666666, 652.5666666666666, 653.5666666666666, 654.5666666666666, 655.5666666666666, 656.5666666666666 ], "requested_history_native_frame_indices": [ 19133, 19487, 19517, 19547, 19577, 19607, 19637, 19667, 19697 ] } } }, { "chunk_index": 2, "current_tick": 502, "current_seconds": 20.08, "history_ticks": [ 0, 327, 352, 377, 402, 427, 452, 477, 502 ], "history_seconds": [ 0.0, 13.08, 14.08, 15.08, 16.08, 17.08, 18.08, 19.08, 20.08 ], "future_video_ticks": [ 506, 510, 514, 518, 522, 526, 530, 534 ], "future_video_seconds": [ 20.24, 20.4, 20.56, 20.72, 20.88, 21.04, 21.2, 21.36 ], "action_target_tick_range_inclusive": [ 503, 534 ], "action_target_seconds_inclusive": [ 20.12, 21.36 ], "seed": 1044, "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "cameras": { "head": { "requested_history_video_seconds": [ 637.7666666666667, 650.8466666666667, 651.8466666666667, 652.8466666666667, 653.8466666666667, 654.8466666666667, 655.8466666666667, 656.8466666666667, 657.8466666666667 ], "requested_history_native_frame_indices": [ 19133, 19525, 19555, 19585, 19615, 19645, 19675, 19705, 19735 ] }, "wrist_left": { "requested_history_video_seconds": [ 637.7666666666667, 650.8466666666667, 651.8466666666667, 652.8466666666667, 653.8466666666667, 654.8466666666667, 655.8466666666667, 656.8466666666667, 657.8466666666667 ], "requested_history_native_frame_indices": [ 19133, 19525, 19555, 19585, 19615, 19645, 19675, 19705, 19735 ] }, "wrist_right": { "requested_history_video_seconds": [ 637.7666666666667, 650.8466666666667, 651.8466666666667, 652.8466666666667, 653.8466666666667, 654.8466666666667, 655.8466666666667, 656.8466666666667, 657.8466666666667 ], "requested_history_native_frame_indices": [ 19133, 19525, 19555, 19585, 19615, 19645, 19675, 19705, 19735 ] } } }, { "chunk_index": 3, "current_tick": 534, "current_seconds": 21.36, "history_ticks": [ 0, 359, 384, 409, 434, 459, 484, 509, 534 ], "history_seconds": [ 0.0, 14.36, 15.36, 16.36, 17.36, 18.36, 19.36, 20.36, 21.36 ], "future_video_ticks": [ 538, 542, 546, 550, 554, 558, 562, 566 ], "future_video_seconds": [ 21.52, 21.68, 21.84, 22.0, 22.16, 22.32, 22.48, 22.64 ], "action_target_tick_range_inclusive": [ 535, 566 ], "action_target_seconds_inclusive": [ 21.4, 22.64 ], "seed": 1045, "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "cameras": { "head": { "requested_history_video_seconds": [ 637.7666666666667, 652.1266666666667, 653.1266666666667, 654.1266666666667, 655.1266666666667, 656.1266666666667, 657.1266666666667, 658.1266666666667, 659.1266666666667 ], "requested_history_native_frame_indices": [ 19133, 19564, 19594, 19624, 19654, 19684, 19714, 19744, 19774 ] }, "wrist_left": { "requested_history_video_seconds": [ 637.7666666666667, 652.1266666666667, 653.1266666666667, 654.1266666666667, 655.1266666666667, 656.1266666666667, 657.1266666666667, 658.1266666666667, 659.1266666666667 ], "requested_history_native_frame_indices": [ 19133, 19564, 19594, 19624, 19654, 19684, 19714, 19744, 19774 ] }, "wrist_right": { "requested_history_video_seconds": [ 637.7666666666667, 652.1266666666667, 653.1266666666667, 654.1266666666667, 655.1266666666667, 656.1266666666667, 657.1266666666667, 658.1266666666667, 659.1266666666667 ], "requested_history_native_frame_indices": [ 19133, 19564, 19594, 19624, 19654, 19684, 19714, 19744, 19774 ] } } }, { "chunk_index": 4, "current_tick": 566, "current_seconds": 22.64, "history_ticks": [ 0, 391, 416, 441, 466, 491, 516, 541, 566 ], "history_seconds": [ 0.0, 15.64, 16.64, 17.64, 18.64, 19.64, 20.64, 21.64, 22.64 ], "future_video_ticks": [ 570, 574, 578, 582, 586, 590, 594, 598 ], "future_video_seconds": [ 22.8, 22.96, 23.12, 23.28, 23.44, 23.6, 23.76, 23.92 ], "action_target_tick_range_inclusive": [ 567, 598 ], "action_target_seconds_inclusive": [ 22.68, 23.92 ], "seed": 1046, "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.; Waist rotation.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "cameras": { "head": { "requested_history_video_seconds": [ 637.7666666666667, 653.4066666666666, 654.4066666666666, 655.4066666666666, 656.4066666666666, 657.4066666666666, 658.4066666666666, 659.4066666666666, 660.4066666666666 ], "requested_history_native_frame_indices": [ 19133, 19602, 19632, 19662, 19692, 19722, 19752, 19782, 19812 ] }, "wrist_left": { "requested_history_video_seconds": [ 637.7666666666667, 653.4066666666666, 654.4066666666666, 655.4066666666666, 656.4066666666666, 657.4066666666666, 658.4066666666666, 659.4066666666666, 660.4066666666666 ], "requested_history_native_frame_indices": [ 19133, 19602, 19632, 19662, 19692, 19722, 19752, 19782, 19812 ] }, "wrist_right": { "requested_history_video_seconds": [ 637.7666666666667, 653.4066666666666, 654.4066666666666, 655.4066666666666, 656.4066666666666, 657.4066666666666, 658.4066666666666, 659.4066666666666, 660.4066666666666 ], "requested_history_native_frame_indices": [ 19133, 19602, 19632, 19662, 19692, 19722, 19752, 19782, 19812 ] } } }, { "chunk_index": 5, "current_tick": 598, "current_seconds": 23.92, "history_ticks": [ 0, 423, 448, 473, 498, 523, 548, 573, 598 ], "history_seconds": [ 0.0, 16.92, 17.92, 18.92, 19.92, 20.92, 21.92, 22.92, 23.92 ], "future_video_ticks": [ 602, 606, 610, 614, 618, 622, 626, 630 ], "future_video_seconds": [ 24.08, 24.24, 24.4, 24.56, 24.72, 24.88, 25.04, 25.2 ], "action_target_tick_range_inclusive": [ 599, 630 ], "action_target_seconds_inclusive": [ 23.96, 25.2 ], "seed": 1047, "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "cameras": { "head": { "requested_history_video_seconds": [ 637.7666666666667, 654.6866666666666, 655.6866666666666, 656.6866666666666, 657.6866666666666, 658.6866666666666, 659.6866666666666, 660.6866666666666, 661.6866666666666 ], "requested_history_native_frame_indices": [ 19133, 19641, 19671, 19701, 19731, 19761, 19791, 19821, 19851 ] }, "wrist_left": { "requested_history_video_seconds": [ 637.7666666666667, 654.6866666666666, 655.6866666666666, 656.6866666666666, 657.6866666666666, 658.6866666666666, 659.6866666666666, 660.6866666666666, 661.6866666666666 ], "requested_history_native_frame_indices": [ 19133, 19641, 19671, 19701, 19731, 19761, 19791, 19821, 19851 ] }, "wrist_right": { "requested_history_video_seconds": [ 637.7666666666667, 654.6866666666666, 655.6866666666666, 656.6866666666666, 657.6866666666666, 658.6866666666666, 659.6866666666666, 660.6866666666666, 661.6866666666666 ], "requested_history_native_frame_indices": [ 19133, 19641, 19671, 19701, 19731, 19761, 19791, 19821, 19851 ] } } }, { "chunk_index": 6, "current_tick": 630, "current_seconds": 25.2, "history_ticks": [ 0, 455, 480, 505, 530, 555, 580, 605, 630 ], "history_seconds": [ 0.0, 18.2, 19.2, 20.2, 21.2, 22.2, 23.2, 24.2, 25.2 ], "future_video_ticks": [ 634, 638, 642, 646, 650, 654, 658, 662 ], "future_video_seconds": [ 25.36, 25.52, 25.68, 25.84, 26.0, 26.16, 26.32, 26.48 ], "action_target_tick_range_inclusive": [ 631, 662 ], "action_target_seconds_inclusive": [ 25.24, 26.48 ], "seed": 1048, "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "cameras": { "head": { "requested_history_video_seconds": [ 637.7666666666667, 655.9666666666667, 656.9666666666667, 657.9666666666667, 658.9666666666667, 659.9666666666667, 660.9666666666667, 661.9666666666667, 662.9666666666667 ], "requested_history_native_frame_indices": [ 19133, 19679, 19709, 19739, 19769, 19799, 19829, 19859, 19889 ] }, "wrist_left": { "requested_history_video_seconds": [ 637.7666666666667, 655.9666666666667, 656.9666666666667, 657.9666666666667, 658.9666666666667, 659.9666666666667, 660.9666666666667, 661.9666666666667, 662.9666666666667 ], "requested_history_native_frame_indices": [ 19133, 19679, 19709, 19739, 19769, 19799, 19829, 19859, 19889 ] }, "wrist_right": { "requested_history_video_seconds": [ 637.7666666666667, 655.9666666666667, 656.9666666666667, 657.9666666666667, 658.9666666666667, 659.9666666666667, 660.9666666666667, 661.9666666666667, 662.9666666666667 ], "requested_history_native_frame_indices": [ 19133, 19679, 19709, 19739, 19769, 19799, 19829, 19859, 19889 ] } } }, { "chunk_index": 7, "current_tick": 662, "current_seconds": 26.48, "history_ticks": [ 0, 487, 512, 537, 562, 587, 612, 637, 662 ], "history_seconds": [ 0.0, 19.48, 20.48, 21.48, 22.48, 23.48, 24.48, 25.48, 26.48 ], "future_video_ticks": [ 666, 670, 674, 678, 682, 686, 690, 694 ], "future_video_seconds": [ 26.64, 26.8, 26.96, 27.12, 27.28, 27.44, 27.6, 27.76 ], "action_target_tick_range_inclusive": [ 663, 694 ], "action_target_seconds_inclusive": [ 26.52, 27.76 ], "seed": 1049, "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend at the waist while lowering the body.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "cameras": { "head": { "requested_history_video_seconds": [ 637.7666666666667, 657.2466666666667, 658.2466666666667, 659.2466666666667, 660.2466666666667, 661.2466666666667, 662.2466666666667, 663.2466666666667, 664.2466666666667 ], "requested_history_native_frame_indices": [ 19133, 19717, 19747, 19777, 19807, 19837, 19867, 19897, 19927 ] }, "wrist_left": { "requested_history_video_seconds": [ 637.7666666666667, 657.2466666666667, 658.2466666666667, 659.2466666666667, 660.2466666666667, 661.2466666666667, 662.2466666666667, 663.2466666666667, 664.2466666666667 ], "requested_history_native_frame_indices": [ 19133, 19717, 19747, 19777, 19807, 19837, 19867, 19897, 19927 ] }, "wrist_right": { "requested_history_video_seconds": [ 637.7666666666667, 657.2466666666667, 658.2466666666667, 659.2466666666667, 660.2466666666667, 661.2466666666667, 662.2466666666667, 663.2466666666667, 664.2466666666667 ], "requested_history_native_frame_indices": [ 19133, 19717, 19747, 19777, 19807, 19837, 19867, 19897, 19927 ] } } } ], "diagnostics": [], "initial_state_raw": [ 0.4707866907119751, -0.1335272639989853, 0.45136138796806335, 0.0, 0.0, 0.0, 0.0, 0.6119999885559082, 0.36780473589897156, -0.08937340974807739, -0.31677234172821045, 0.0, 0.0, 0.0, 0.0, 0.3819999694824219 ], "initial_state_valid": [ true, true, true, false, false, false, false, true, true, true, true, false, false, false, false, true ], "initial_state_normalized": [ 1.0537296533584595, -0.9084216356277466, 1.430083990097046, 0.0, 0.0, 0.0, 0.0, 0.035857487469911575, -0.6009295582771301, -0.6052842736244202, -0.2780520021915436, 0.0, 0.0, 0.0, 0.0, -0.4116564989089966 ], "assets": { "initial_input": { "path": "reproduction/case01/initial-input.npz", "bytes": 2341674, "sha256": "2c9b4182946824cf5867bb3c711c29bf8c43004cf02aa503b26ff237664f2eea" }, "state_arrays": { "path": "reproduction/case01/arrays.npz", "bytes": 5532, "sha256": "fb10d4266c06676a4797b87a9d0a71d96de7d2d90eadfc4cfa11f0f166eeba7f" }, "frame_parts": [ { "path": "reproduction/case01/frames-00.npz", "bytes": 8336581, "sha256": "27e6dea27deba011bdb071df9b3d1263abfd9ba0ec4e7f557137bf4b604455ea" }, { "path": "reproduction/case01/frames-01.npz", "bytes": 8296151, "sha256": "c266effad9ae2df04031b899130511d84d8f95457014104d74c57fbf3e4f913f" }, { "path": "reproduction/case01/frames-02.npz", "bytes": 8298346, "sha256": "371d0f54bf924d8914f159516fd72f43b997deb443804970d8a7c4c07f0ef866" }, { "path": "reproduction/case01/frames-03.npz", "bytes": 5576776, "sha256": "ffc07ebc0dda9508d99065f182f28455a0ffa95b06a1899c2ac8103224944ba0" } ] }, "original_case_npz_sha256": "43fdaec64074527032eb672bde6872064e3f427ed97436f924390e55f5722c60", "frame_pixels_sha256": "704cfa25efb418b7d71d2bf240172a4a7d8258675fbe032bb7f8ea9c7d910589", "protocol": "reproduction/protocol.json" } }, { "id": "case02", "tree": "agibotworld_2026_lerobot_v3/s169a40_hires", "shard": "c000-f000", "episode": 10, "start": 344, "starts": [ 344, 376, 408, 440, 472, 504, 536, 568 ], "prompts": [ "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Bend the waist downward while lowering the body.; The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body.", "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart.", "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart.", "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart." ], "split": "validation", "file": "case02.npz", "motion_score": 0.05701672285795212, "complexity_score": 0.14353525211958948, "difficulty_proxy": "high", "reproduction": { "case_id": "case02", "case_ordinal": 11, "dataset_tree": "agibotworld_2026_lerobot_v3/s169a40_hires", "dataset_family": "agibotworld_2026_lerobot_v3", "processed_shard": "c000-f000", "processed_episode": 10, "original_source_id": "agibotworld_2026_lerobot_v3:ImitationLearning__CommercialSpaces__task_3477__250434_252697#10", "split": "validation", "episode_length_ticks": 901, "prediction_start_tick": 344, "prediction_start_seconds": 13.76, "history_past_start_seconds": 6.76, "episode_anchor_seconds": 0, "cameras": { "head": { "source_relative_path": "datasets_train/agibotworld_2026_lerobot_v3/s169a40_hires/videos/observation.images.top_head/chunk-000/file-000.mp4", "episode_start_in_video_s": 516.2333333333333, "episode_end_in_video_s": 552.3000000000001, "native_fps": 30.0, "used_in_composite": true }, "wrist_left": { "source_relative_path": "datasets_train/agibotworld_2026_lerobot_v3/s169a40_hires/videos/observation.images.hand_left/chunk-000/file-000.mp4", "episode_start_in_video_s": 516.2333333333333, "episode_end_in_video_s": 552.3000000000001, "native_fps": 30.0, "used_in_composite": true }, "wrist_right": { "source_relative_path": "datasets_train/agibotworld_2026_lerobot_v3/s169a40_hires/videos/observation.images.hand_right/chunk-000/file-000.mp4", "episode_start_in_video_s": 516.2333333333333, "episode_end_in_video_s": 552.3000000000001, "native_fps": 30.0, "used_in_composite": true } }, "primary_view": "head", "composite_views": [ "head", "wrist_left", "wrist_right" ], "initial_observations": [ { "slot": 0, "role": "episode anchor", "tick": 0, "seconds": 0.0, "png": { "path": "reproduction/case02/observation-00.png", "bytes": 199142, "sha256": "2690266ba004a2fb3fb63d858013994a562a56951723c550596ab0ac6ad1be25" } }, { "slot": 1, "role": "past", "tick": 169, "seconds": 6.76, "png": { "path": "reproduction/case02/observation-01.png", "bytes": 198645, "sha256": "145ca3734fde19f25289487fa2ca7725472fe5a4a4c98371c12df77d7040faf0" } }, { "slot": 2, "role": "past", "tick": 194, "seconds": 7.76, "png": { "path": "reproduction/case02/observation-02.png", "bytes": 198441, "sha256": "40f41304a0b89087440407f1907b52e0eb252620d80c3f47fa6b202c61559e0b" } }, { "slot": 3, "role": "past", "tick": 219, "seconds": 8.76, "png": { "path": "reproduction/case02/observation-03.png", "bytes": 198162, "sha256": "d6f9d31505ae8f5699f0ff525c0f15149f6a05c2e712cfb7b805d5e6ef30fd24" } }, { "slot": 4, "role": "past", "tick": 244, "seconds": 9.76, "png": { "path": "reproduction/case02/observation-04.png", "bytes": 197846, "sha256": "fe94c35ed332f4db4123e80bf769cc9c088ad01c390bf80826134816b6407c52" } }, { "slot": 5, "role": "past", "tick": 269, "seconds": 10.76, "png": { "path": "reproduction/case02/observation-05.png", "bytes": 196100, "sha256": "befa5e11dae583c82dea506372f256519738c03ee7c7d09ecbfef3d4b7fdcd4d" } }, { "slot": 6, "role": "past", "tick": 294, "seconds": 11.76, "png": { "path": "reproduction/case02/observation-06.png", "bytes": 193856, "sha256": "f93dff6dc218ce36eaef48eab32b35f04a82ff2097ce1d874ca50d2c37440ebe" } }, { "slot": 7, "role": "past", "tick": 319, "seconds": 12.76, "png": { "path": "reproduction/case02/observation-07.png", "bytes": 196175, "sha256": "4d7e7467c7315e789c48104c76bf00e8613cab07a27f07a526b76d99c3eea497" } }, { "slot": 8, "role": "current", "tick": 344, "seconds": 13.76, "png": { "path": "reproduction/case02/observation-08.png", "bytes": 197185, "sha256": "2f25777cad3f328a336000ed0bdb43173cdf8a3ca1f605016f2e263cfc4100a8" } } ], "chunks": [ { "chunk_index": 0, "current_tick": 344, "current_seconds": 13.76, "history_ticks": [ 0, 169, 194, 219, 244, 269, 294, 319, 344 ], "history_seconds": [ 0.0, 6.76, 7.76, 8.76, 9.76, 10.76, 11.76, 12.76, 13.76 ], "future_video_ticks": [ 348, 352, 356, 360, 364, 368, 372, 376 ], "future_video_seconds": [ 13.92, 14.08, 14.24, 14.4, 14.56, 14.72, 14.88, 15.04 ], "action_target_tick_range_inclusive": [ 345, 376 ], "action_target_seconds_inclusive": [ 13.8, 15.04 ], "seed": 1142, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "cameras": { "head": { "requested_history_video_seconds": [ 516.2333333333333, 522.9933333333333, 523.9933333333333, 524.9933333333333, 525.9933333333333, 526.9933333333333, 527.9933333333333, 528.9933333333333, 529.9933333333333 ], "requested_history_native_frame_indices": [ 15487, 15690, 15720, 15750, 15780, 15810, 15840, 15870, 15900 ] }, "wrist_left": { "requested_history_video_seconds": [ 516.2333333333333, 522.9933333333333, 523.9933333333333, 524.9933333333333, 525.9933333333333, 526.9933333333333, 527.9933333333333, 528.9933333333333, 529.9933333333333 ], "requested_history_native_frame_indices": [ 15487, 15690, 15720, 15750, 15780, 15810, 15840, 15870, 15900 ] }, "wrist_right": { "requested_history_video_seconds": [ 516.2333333333333, 522.9933333333333, 523.9933333333333, 524.9933333333333, 525.9933333333333, 526.9933333333333, 527.9933333333333, 528.9933333333333, 529.9933333333333 ], "requested_history_native_frame_indices": [ 15487, 15690, 15720, 15750, 15780, 15810, 15840, 15870, 15900 ] } } }, { "chunk_index": 1, "current_tick": 376, "current_seconds": 15.04, "history_ticks": [ 0, 201, 226, 251, 276, 301, 326, 351, 376 ], "history_seconds": [ 0.0, 8.04, 9.04, 10.04, 11.04, 12.04, 13.04, 14.04, 15.04 ], "future_video_ticks": [ 380, 384, 388, 392, 396, 400, 404, 408 ], "future_video_seconds": [ 15.2, 15.36, 15.52, 15.68, 15.84, 16.0, 16.16, 16.32 ], "action_target_tick_range_inclusive": [ 377, 408 ], "action_target_seconds_inclusive": [ 15.08, 16.32 ], "seed": 1143, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "cameras": { "head": { "requested_history_video_seconds": [ 516.2333333333333, 524.2733333333333, 525.2733333333333, 526.2733333333333, 527.2733333333333, 528.2733333333333, 529.2733333333333, 530.2733333333333, 531.2733333333333 ], "requested_history_native_frame_indices": [ 15487, 15728, 15758, 15788, 15818, 15848, 15878, 15908, 15938 ] }, "wrist_left": { "requested_history_video_seconds": [ 516.2333333333333, 524.2733333333333, 525.2733333333333, 526.2733333333333, 527.2733333333333, 528.2733333333333, 529.2733333333333, 530.2733333333333, 531.2733333333333 ], "requested_history_native_frame_indices": [ 15487, 15728, 15758, 15788, 15818, 15848, 15878, 15908, 15938 ] }, "wrist_right": { "requested_history_video_seconds": [ 516.2333333333333, 524.2733333333333, 525.2733333333333, 526.2733333333333, 527.2733333333333, 528.2733333333333, 529.2733333333333, 530.2733333333333, 531.2733333333333 ], "requested_history_native_frame_indices": [ 15487, 15728, 15758, 15788, 15818, 15848, 15878, 15908, 15938 ] } } }, { "chunk_index": 2, "current_tick": 408, "current_seconds": 16.32, "history_ticks": [ 0, 233, 258, 283, 308, 333, 358, 383, 408 ], "history_seconds": [ 0.0, 9.32, 10.32, 11.32, 12.32, 13.32, 14.32, 15.32, 16.32 ], "future_video_ticks": [ 412, 416, 420, 424, 428, 432, 436, 440 ], "future_video_seconds": [ 16.48, 16.64, 16.8, 16.96, 17.12, 17.28, 17.44, 17.6 ], "action_target_tick_range_inclusive": [ 409, 440 ], "action_target_seconds_inclusive": [ 16.36, 17.6 ], "seed": 1144, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "cameras": { "head": { "requested_history_video_seconds": [ 516.2333333333333, 525.5533333333334, 526.5533333333334, 527.5533333333334, 528.5533333333334, 529.5533333333334, 530.5533333333334, 531.5533333333334, 532.5533333333334 ], "requested_history_native_frame_indices": [ 15487, 15767, 15797, 15827, 15857, 15887, 15917, 15947, 15977 ] }, "wrist_left": { "requested_history_video_seconds": [ 516.2333333333333, 525.5533333333334, 526.5533333333334, 527.5533333333334, 528.5533333333334, 529.5533333333334, 530.5533333333334, 531.5533333333334, 532.5533333333334 ], "requested_history_native_frame_indices": [ 15487, 15767, 15797, 15827, 15857, 15887, 15917, 15947, 15977 ] }, "wrist_right": { "requested_history_video_seconds": [ 516.2333333333333, 525.5533333333334, 526.5533333333334, 527.5533333333334, 528.5533333333334, 529.5533333333334, 530.5533333333334, 531.5533333333334, 532.5533333333334 ], "requested_history_native_frame_indices": [ 15487, 15767, 15797, 15827, 15857, 15887, 15917, 15947, 15977 ] } } }, { "chunk_index": 3, "current_tick": 440, "current_seconds": 17.6, "history_ticks": [ 0, 265, 290, 315, 340, 365, 390, 415, 440 ], "history_seconds": [ 0.0, 10.6, 11.6, 12.6, 13.6, 14.6, 15.6, 16.6, 17.6 ], "future_video_ticks": [ 444, 448, 452, 456, 460, 464, 468, 472 ], "future_video_seconds": [ 17.76, 17.92, 18.08, 18.24, 18.4, 18.56, 18.72, 18.88 ], "action_target_tick_range_inclusive": [ 441, 472 ], "action_target_seconds_inclusive": [ 17.64, 18.88 ], "seed": 1145, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "cameras": { "head": { "requested_history_video_seconds": [ 516.2333333333333, 526.8333333333334, 527.8333333333334, 528.8333333333334, 529.8333333333334, 530.8333333333334, 531.8333333333334, 532.8333333333334, 533.8333333333334 ], "requested_history_native_frame_indices": [ 15487, 15805, 15835, 15865, 15895, 15925, 15955, 15985, 16015 ] }, "wrist_left": { "requested_history_video_seconds": [ 516.2333333333333, 526.8333333333334, 527.8333333333334, 528.8333333333334, 529.8333333333334, 530.8333333333334, 531.8333333333334, 532.8333333333334, 533.8333333333334 ], "requested_history_native_frame_indices": [ 15487, 15805, 15835, 15865, 15895, 15925, 15955, 15985, 16015 ] }, "wrist_right": { "requested_history_video_seconds": [ 516.2333333333333, 526.8333333333334, 527.8333333333334, 528.8333333333334, 529.8333333333334, 530.8333333333334, 531.8333333333334, 532.8333333333334, 533.8333333333334 ], "requested_history_native_frame_indices": [ 15487, 15805, 15835, 15865, 15895, 15925, 15955, 15985, 16015 ] } } }, { "chunk_index": 4, "current_tick": 472, "current_seconds": 18.88, "history_ticks": [ 0, 297, 322, 347, 372, 397, 422, 447, 472 ], "history_seconds": [ 0.0, 11.88, 12.88, 13.88, 14.88, 15.88, 16.88, 17.88, 18.88 ], "future_video_ticks": [ 476, 480, 484, 488, 492, 496, 500, 504 ], "future_video_seconds": [ 19.04, 19.2, 19.36, 19.52, 19.68, 19.84, 20.0, 20.16 ], "action_target_tick_range_inclusive": [ 473, 504 ], "action_target_seconds_inclusive": [ 18.92, 20.16 ], "seed": 1146, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Bend the waist downward while lowering the body.; The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body.", "cameras": { "head": { "requested_history_video_seconds": [ 516.2333333333333, 528.1133333333333, 529.1133333333333, 530.1133333333333, 531.1133333333333, 532.1133333333333, 533.1133333333333, 534.1133333333333, 535.1133333333333 ], "requested_history_native_frame_indices": [ 15487, 15843, 15873, 15903, 15933, 15963, 15993, 16023, 16053 ] }, "wrist_left": { "requested_history_video_seconds": [ 516.2333333333333, 528.1133333333333, 529.1133333333333, 530.1133333333333, 531.1133333333333, 532.1133333333333, 533.1133333333333, 534.1133333333333, 535.1133333333333 ], "requested_history_native_frame_indices": [ 15487, 15843, 15873, 15903, 15933, 15963, 15993, 16023, 16053 ] }, "wrist_right": { "requested_history_video_seconds": [ 516.2333333333333, 528.1133333333333, 529.1133333333333, 530.1133333333333, 531.1133333333333, 532.1133333333333, 533.1133333333333, 534.1133333333333, 535.1133333333333 ], "requested_history_native_frame_indices": [ 15487, 15843, 15873, 15903, 15933, 15963, 15993, 16023, 16053 ] } } }, { "chunk_index": 5, "current_tick": 504, "current_seconds": 20.16, "history_ticks": [ 0, 329, 354, 379, 404, 429, 454, 479, 504 ], "history_seconds": [ 0.0, 13.16, 14.16, 15.16, 16.16, 17.16, 18.16, 19.16, 20.16 ], "future_video_ticks": [ 508, 512, 516, 520, 524, 528, 532, 536 ], "future_video_seconds": [ 20.32, 20.48, 20.64, 20.8, 20.96, 21.12, 21.28, 21.44 ], "action_target_tick_range_inclusive": [ 505, 536 ], "action_target_seconds_inclusive": [ 20.2, 21.44 ], "seed": 1147, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart.", "cameras": { "head": { "requested_history_video_seconds": [ 516.2333333333333, 529.3933333333333, 530.3933333333333, 531.3933333333333, 532.3933333333333, 533.3933333333333, 534.3933333333333, 535.3933333333333, 536.3933333333333 ], "requested_history_native_frame_indices": [ 15487, 15882, 15912, 15942, 15972, 16002, 16032, 16062, 16092 ] }, "wrist_left": { "requested_history_video_seconds": [ 516.2333333333333, 529.3933333333333, 530.3933333333333, 531.3933333333333, 532.3933333333333, 533.3933333333333, 534.3933333333333, 535.3933333333333, 536.3933333333333 ], "requested_history_native_frame_indices": [ 15487, 15882, 15912, 15942, 15972, 16002, 16032, 16062, 16092 ] }, "wrist_right": { "requested_history_video_seconds": [ 516.2333333333333, 529.3933333333333, 530.3933333333333, 531.3933333333333, 532.3933333333333, 533.3933333333333, 534.3933333333333, 535.3933333333333, 536.3933333333333 ], "requested_history_native_frame_indices": [ 15487, 15882, 15912, 15942, 15972, 16002, 16032, 16062, 16092 ] } } }, { "chunk_index": 6, "current_tick": 536, "current_seconds": 21.44, "history_ticks": [ 0, 361, 386, 411, 436, 461, 486, 511, 536 ], "history_seconds": [ 0.0, 14.44, 15.44, 16.44, 17.44, 18.44, 19.44, 20.44, 21.44 ], "future_video_ticks": [ 540, 544, 548, 552, 556, 560, 564, 568 ], "future_video_seconds": [ 21.6, 21.76, 21.92, 22.08, 22.24, 22.4, 22.56, 22.72 ], "action_target_tick_range_inclusive": [ 537, 568 ], "action_target_seconds_inclusive": [ 21.48, 22.72 ], "seed": 1148, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart.", "cameras": { "head": { "requested_history_video_seconds": [ 516.2333333333333, 530.6733333333334, 531.6733333333334, 532.6733333333334, 533.6733333333334, 534.6733333333334, 535.6733333333334, 536.6733333333334, 537.6733333333334 ], "requested_history_native_frame_indices": [ 15487, 15920, 15950, 15980, 16010, 16040, 16070, 16100, 16130 ] }, "wrist_left": { "requested_history_video_seconds": [ 516.2333333333333, 530.6733333333334, 531.6733333333334, 532.6733333333334, 533.6733333333334, 534.6733333333334, 535.6733333333334, 536.6733333333334, 537.6733333333334 ], "requested_history_native_frame_indices": [ 15487, 15920, 15950, 15980, 16010, 16040, 16070, 16100, 16130 ] }, "wrist_right": { "requested_history_video_seconds": [ 516.2333333333333, 530.6733333333334, 531.6733333333334, 532.6733333333334, 533.6733333333334, 534.6733333333334, 535.6733333333334, 536.6733333333334, 537.6733333333334 ], "requested_history_native_frame_indices": [ 15487, 15920, 15950, 15980, 16010, 16040, 16070, 16100, 16130 ] } } }, { "chunk_index": 7, "current_tick": 568, "current_seconds": 22.72, "history_ticks": [ 0, 393, 418, 443, 468, 493, 518, 543, 568 ], "history_seconds": [ 0.0, 15.72, 16.72, 17.72, 18.72, 19.72, 20.72, 21.72, 22.72 ], "future_video_ticks": [ 572, 576, 580, 584, 588, 592, 596, 600 ], "future_video_seconds": [ 22.88, 23.04, 23.2, 23.36, 23.52, 23.68, 23.84, 24.0 ], "action_target_tick_range_inclusive": [ 569, 600 ], "action_target_seconds_inclusive": [ 22.76, 24.0 ], "seed": 1149, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart.", "cameras": { "head": { "requested_history_video_seconds": [ 516.2333333333333, 531.9533333333334, 532.9533333333334, 533.9533333333334, 534.9533333333334, 535.9533333333334, 536.9533333333334, 537.9533333333334, 538.9533333333334 ], "requested_history_native_frame_indices": [ 15487, 15959, 15989, 16019, 16049, 16079, 16109, 16139, 16169 ] }, "wrist_left": { "requested_history_video_seconds": [ 516.2333333333333, 531.9533333333334, 532.9533333333334, 533.9533333333334, 534.9533333333334, 535.9533333333334, 536.9533333333334, 537.9533333333334, 538.9533333333334 ], "requested_history_native_frame_indices": [ 15487, 15959, 15989, 16019, 16049, 16079, 16109, 16139, 16169 ] }, "wrist_right": { "requested_history_video_seconds": [ 516.2333333333333, 531.9533333333334, 532.9533333333334, 533.9533333333334, 534.9533333333334, 535.9533333333334, 536.9533333333334, 537.9533333333334, 538.9533333333334 ], "requested_history_native_frame_indices": [ 15487, 15959, 15989, 16019, 16049, 16079, 16109, 16139, 16169 ] } } } ], "diagnostics": [ { "history": "current_repeat", "variant": "full_original", "seed": 314, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39" }, { "history": "current_repeat", "variant": "full_original", "seed": 42, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39" }, { "history": "current_repeat", "variant": "full_stop", "seed": 314, "prompt": "Robot: s169a40_hires. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "fbce171c1da9cfeca9d20ec5f57db4f381cd9da1da2e6982dd2485f00be0da91" }, { "history": "current_repeat", "variant": "full_stop", "seed": 42, "prompt": "Robot: s169a40_hires. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "fbce171c1da9cfeca9d20ec5f57db4f381cd9da1da2e6982dd2485f00be0da91" }, { "history": "current_repeat", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826" }, { "history": "current_repeat", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826" }, { "history": "current_repeat", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: s169a40_hires. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0" }, { "history": "current_repeat", "variant": "l3_conflict", "seed": 42, "prompt": "Robot: s169a40_hires. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0" }, { "history": "reverse_past", "variant": "full_original", "seed": 314, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39" }, { "history": "reverse_past", "variant": "full_original", "seed": 42, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39" }, { "history": "reverse_past", "variant": "full_stop", "seed": 314, "prompt": "Robot: s169a40_hires. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "fbce171c1da9cfeca9d20ec5f57db4f381cd9da1da2e6982dd2485f00be0da91" }, { "history": "reverse_past", "variant": "full_stop", "seed": 42, "prompt": "Robot: s169a40_hires. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "fbce171c1da9cfeca9d20ec5f57db4f381cd9da1da2e6982dd2485f00be0da91" }, { "history": "reverse_past", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826" }, { "history": "reverse_past", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826" }, { "history": "reverse_past", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: s169a40_hires. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0" }, { "history": "reverse_past", "variant": "l3_conflict", "seed": 42, "prompt": "Robot: s169a40_hires. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0" }, { "history": "true_history", "variant": "full_original", "seed": 314, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39" }, { "history": "true_history", "variant": "full_original", "seed": 42, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39" }, { "history": "true_history", "variant": "full_stop", "seed": 314, "prompt": "Robot: s169a40_hires. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "fbce171c1da9cfeca9d20ec5f57db4f381cd9da1da2e6982dd2485f00be0da91" }, { "history": "true_history", "variant": "full_stop", "seed": 42, "prompt": "Robot: s169a40_hires. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "fbce171c1da9cfeca9d20ec5f57db4f381cd9da1da2e6982dd2485f00be0da91" }, { "history": "true_history", "variant": "full_swap_l1", "seed": 314, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826" }, { "history": "true_history", "variant": "full_swap_l1", "seed": 42, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826" }, { "history": "true_history", "variant": "l1_conflict", "seed": 314, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "ab0337bfd044ebc07b946c33b2b13b6f8a437b28ed58e43b65fb8483f7c19204" }, { "history": "true_history", "variant": "l1_conflict", "seed": 42, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "ab0337bfd044ebc07b946c33b2b13b6f8a437b28ed58e43b65fb8483f7c19204" }, { "history": "true_history", "variant": "l1_only_original", "seed": 314, "prompt": "Robot: s169a40_hires\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "3978e7da65a8f43c5a470b9f537b59880597dc5ee954b059a5c07a48504adf7f" }, { "history": "true_history", "variant": "l1_only_original", "seed": 42, "prompt": "Robot: s169a40_hires\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "3978e7da65a8f43c5a470b9f537b59880597dc5ee954b059a5c07a48504adf7f" }, { "history": "true_history", "variant": "l1_only_stop", "seed": 314, "prompt": "Robot: s169a40_hires\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "8f6351c59e2caa52aca6c3ec8ae4d8b82f1fd39fa1b6ae256b21024f3ba1fc26" }, { "history": "true_history", "variant": "l1_only_stop", "seed": 42, "prompt": "Robot: s169a40_hires\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "8f6351c59e2caa52aca6c3ec8ae4d8b82f1fd39fa1b6ae256b21024f3ba1fc26" }, { "history": "true_history", "variant": "l1_only_swap", "seed": 314, "prompt": "Robot: s169a40_hires\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "74b0056917cb37f5f9f3ae2abfa108caf8525d38ac14910b1f58312876c12b7c" }, { "history": "true_history", "variant": "l1_only_swap", "seed": 42, "prompt": "Robot: s169a40_hires\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "74b0056917cb37f5f9f3ae2abfa108caf8525d38ac14910b1f58312876c12b7c" }, { "history": "true_history", "variant": "l3_conflict", "seed": 314, "prompt": "Robot: s169a40_hires. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0" }, { "history": "true_history", "variant": "l3_conflict", "seed": 42, "prompt": "Robot: s169a40_hires. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0" }, { "history": "true_history", "variant": "l3_only_edit", "seed": 314, "prompt": "Robot: s169a40_hires. Task: Raise the left arm; keep the right arm still.", "context": "aa5a7ae0fd984e3d21940ee62912d5d82fc3f0abbb9cead551941cddeb9d774d" }, { "history": "true_history", "variant": "l3_only_edit", "seed": 42, "prompt": "Robot: s169a40_hires. Task: Raise the left arm; keep the right arm still.", "context": "aa5a7ae0fd984e3d21940ee62912d5d82fc3f0abbb9cead551941cddeb9d774d" }, { "history": "true_history", "variant": "l3_only_original", "seed": 314, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.", "context": "e3b3fe3a22dd396902c03adb1ba9b0ac3ea6d1fe93eaf3083881a2b4410cb239" }, { "history": "true_history", "variant": "l3_only_original", "seed": 42, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.", "context": "e3b3fe3a22dd396902c03adb1ba9b0ac3ea6d1fe93eaf3083881a2b4410cb239" }, { "history": "true_history", "variant": "repeat", "seed": 314, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39" }, { "history": "true_history", "variant": "repeat", "seed": 42, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39" } ], "initial_state_raw": [ 0.2920875549316406, -0.11252525448799133, 0.3858775794506073, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3338485360145569, -0.06611640751361847, -0.3189042806625366, 0.0, 0.0, 0.0, 0.0, 0.001999974250793457 ], "initial_state_valid": [ true, true, true, false, false, false, false, true, true, true, true, false, false, false, false, true ], "initial_state_normalized": [ -1.313491702079773, -0.5019628405570984, 0.6248102188110352, 0.0, 0.0, 0.0, 0.0, -1.40423583984375, -0.9011151790618896, -0.3221907913684845, -0.3060665726661682, 0.0, 0.0, 0.0, 0.0, -1.3403761386871338 ], "assets": { "initial_input": { "path": "reproduction/case02/initial-input.npz", "bytes": 2380537, "sha256": "aee94ea4175cc6773d60dd409cf114b4b4792fd1dce6a36cc3bf2835d27b13ea" }, "state_arrays": { "path": "reproduction/case02/arrays.npz", "bytes": 5529, "sha256": "ac73fa6fa117da0161bc2450f8daa2204827476e09972c58006e2e18af834fa1" }, "frame_parts": [ { "path": "reproduction/case02/frames-00.npz", "bytes": 8451702, "sha256": "4182f75ac0affca9ae6d231922d483c83ee811b22affd05b23c49d1ceac9d394" }, { "path": "reproduction/case02/frames-01.npz", "bytes": 8541693, "sha256": "b42e6072fa2ec8632923f27a4258fd9d650894c2c68b1ac30c4bbaa0719869be" }, { "path": "reproduction/case02/frames-02.npz", "bytes": 8235566, "sha256": "dfeaf48f89da4e5f2c332f868a7e08414d3b5d98341cb27223d426224e2ea152" }, { "path": "reproduction/case02/frames-03.npz", "bytes": 5730956, "sha256": "9db4cb5a34bdce58801127061752e24bc80046236307e8037467060427042ea2" } ] }, "original_case_npz_sha256": "0294b2dea99cfcfee37609be25aa88877e93a81f327aed15aaa4423d7dc39afa", "frame_pixels_sha256": "b8afd350ca9bbd5ccac25ae1cd4fa22846e47207194ccaf851ed7541200e3782", "protocol": "reproduction/protocol.json" } } ], "selection": "First eligible held-out episodes across robot trees, deterministic 24-candidate cap; 4 evenly spaced candidates from each GT image edge-density tertile; no model-output selection.", "difficulty_definition": "Spatial RGB edge-density proxy for scene complexity; not manual object-count or semantic difficulty labels.", "rollouts": [ { "case": "case01", "mode": "generated_feedback", "chunks": 1, "seconds": 1.28, "video_steps": 10, "action_steps": 10, "shift": 3, "psnr": 23.101513599211803, "xyz_rmse_mm": 2.8910492546856403, "xyz_valid_components": 192, "motion": { "left": { "rms_displacement_mm": 4.84933378174901, "endpoint_mm": 5.791308358311653, "gripper_change": 0.004169367253780365 }, "right": { "rms_displacement_mm": 1.9979742355644703, "endpoint_mm": 2.050897805020213, "gripper_change": 0.0014355769380927086 } }, "history_trace": [ { "chunk": 0, "start": 438, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 263, "used": 263, "source": "GT" }, { "requested": 288, "used": 288, "source": "GT" }, { "requested": 313, "used": 313, "source": "GT" }, { "requested": 338, "used": 338, "source": "GT" }, { "requested": 363, "used": 363, "source": "GT" }, { "requested": 388, "used": 388, "source": "GT" }, { "requested": 413, "used": 413, "source": "GT" }, { "requested": 438, "used": 438, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Lift the yellow boxed yogurt off the shelf. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." } ], "elapsed": 2.6322638988494873, "path": "ckpt-40000/rollout/case01/generated_feedback", "prediction": { "left_xyz_mm": [ [ 471.4110107421875, -131.78799438476562, 450.64801025390625 ], [ 471.9670104980469, -132.27699279785156, 451.3269958496094 ], [ 472.52398681640625, -132.27699279785156, 452.0060119628906 ], [ 472.52398681640625, -131.2989959716797, 450.64801025390625 ], [ 473.0799865722656, -131.2989959716797, 450.64801025390625 ], [ 473.0799865722656, -132.27699279785156, 450.64801025390625 ], [ 473.635986328125, -132.27699279785156, 450.64801025390625 ], [ 473.0799865722656, 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Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Lift the yellow boxed yogurt off the shelf. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 1, "start": 470, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 295, "used": 295, "source": "GT" }, { "requested": 320, "used": 320, "source": "GT" }, { "requested": 345, "used": 345, "source": "GT" }, { "requested": 370, "used": 370, "source": "GT" }, { "requested": 395, "used": 395, "source": "GT" }, { "requested": 420, "used": 420, "source": "GT" }, { "requested": 445, "used": 442, "source": "prediction" }, { "requested": 470, "used": 470, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 2, "start": 502, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 327, "used": 327, "source": "GT" }, { "requested": 352, "used": 352, "source": "GT" }, { "requested": 377, "used": 377, "source": "GT" }, { "requested": 402, "used": 402, "source": "GT" }, { "requested": 427, "used": 427, "source": "GT" }, { "requested": 452, "used": 450, "source": "prediction" }, { "requested": 477, "used": 474, "source": "prediction" }, { "requested": 502, "used": 502, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." } ], "elapsed": 7.797431945800781, "path": "ckpt-40000/rollout/case01/generated_feedback", "prediction": { "left_xyz_mm": [ [ 471.4110107421875, -131.78799438476562, 450.64801025390625 ], [ 471.9670104980469, -132.27699279785156, 451.3269958496094 ], [ 472.52398681640625, -132.27699279785156, 452.0060119628906 ], [ 472.52398681640625, -131.2989959716797, 450.64801025390625 ], [ 473.0799865722656, -131.2989959716797, 450.64801025390625 ], [ 473.0799865722656, -132.27699279785156, 450.64801025390625 ], [ 473.635986328125, -132.27699279785156, 450.64801025390625 ], [ 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Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Lift the yellow boxed yogurt off the shelf. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 1, "start": 470, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 295, "used": 295, "source": "GT" }, { "requested": 320, "used": 320, "source": "GT" }, { "requested": 345, "used": 345, "source": "GT" }, { "requested": 370, "used": 370, "source": "GT" }, { "requested": 395, "used": 395, "source": "GT" }, { "requested": 420, "used": 420, "source": "GT" }, { "requested": 445, "used": 442, "source": "prediction" }, { "requested": 470, "used": 470, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 2, "start": 502, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 327, "used": 327, "source": "GT" }, { "requested": 352, "used": 352, "source": "GT" }, { "requested": 377, "used": 377, "source": "GT" }, { "requested": 402, "used": 402, "source": "GT" }, { "requested": 427, "used": 427, "source": "GT" }, { "requested": 452, "used": 450, "source": "prediction" }, { "requested": 477, "used": 474, "source": "prediction" }, { "requested": 502, "used": 502, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 3, "start": 534, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 359, "used": 359, "source": "GT" }, { "requested": 384, "used": 384, "source": "GT" }, { "requested": 409, "used": 409, "source": "GT" }, { "requested": 434, "used": 434, "source": "GT" }, { "requested": 459, "used": 458, "source": "prediction" }, { "requested": 484, "used": 482, "source": "prediction" }, { "requested": 509, "used": 506, "source": "prediction" }, { "requested": 534, "used": 534, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 4, "start": 566, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 391, "used": 391, "source": "GT" }, { "requested": 416, "used": 416, "source": "GT" }, { "requested": 441, "used": 438, "source": "initial_GT_hold" }, { "requested": 466, "used": 466, "source": "prediction" }, { "requested": 491, "used": 490, "source": "prediction" }, { "requested": 516, "used": 514, "source": "prediction" }, { "requested": 541, "used": 538, "source": "prediction" }, { "requested": 566, "used": 566, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.; Waist rotation.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 5, "start": 598, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 423, "used": 423, "source": "GT" }, { "requested": 448, "used": 446, "source": "prediction" }, { "requested": 473, "used": 470, "source": "prediction" }, { "requested": 498, "used": 498, "source": "prediction" }, { "requested": 523, "used": 522, "source": "prediction" }, { "requested": 548, "used": 546, "source": "prediction" }, { "requested": 573, "used": 570, "source": "prediction" }, { "requested": 598, "used": 598, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 6, "start": 630, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 455, "used": 454, "source": "prediction" }, { "requested": 480, "used": 478, "source": "prediction" }, { "requested": 505, "used": 502, "source": "prediction" }, { "requested": 530, "used": 530, "source": "prediction" }, { "requested": 555, "used": 554, "source": "prediction" }, { "requested": 580, "used": 578, "source": "prediction" }, { "requested": 605, "used": 602, "source": "prediction" }, { "requested": 630, "used": 630, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 7, "start": 662, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 487, "used": 486, "source": "prediction" }, { "requested": 512, "used": 510, "source": "prediction" }, { "requested": 537, "used": 534, "source": "prediction" }, { "requested": 562, "used": 562, "source": "prediction" }, { "requested": 587, "used": 586, "source": "prediction" }, { "requested": 612, "used": 610, "source": "prediction" }, { "requested": 637, "used": 634, "source": "prediction" }, { "requested": 662, "used": 662, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend at the waist while lowering the body.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." } ], "elapsed": 20.5677547454834, "path": "ckpt-40000/rollout/case01/generated_feedback", "prediction": { "left_xyz_mm": [ [ 471.4110107421875, -131.78799438476562, 450.64801025390625 ], [ 471.9670104980469, -132.27699279785156, 451.3269958496094 ], [ 472.52398681640625, -132.27699279785156, 452.0060119628906 ], [ 472.52398681640625, -131.2989959716797, 450.64801025390625 ], [ 473.0799865722656, -131.2989959716797, 450.64801025390625 ], [ 473.0799865722656, -132.27699279785156, 450.64801025390625 ], [ 473.635986328125, -132.27699279785156, 450.64801025390625 ], [ 473.0799865722656, 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Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Lift the yellow boxed yogurt off the shelf. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." } ], "elapsed": 2.654036521911621, "path": "ckpt-40000/rollout/case01/gt_feedback", "prediction": { "left_xyz_mm": [ [ 471.4110107421875, -131.78799438476562, 450.64801025390625 ], [ 471.9670104980469, -132.27699279785156, 451.3269958496094 ], [ 472.52398681640625, -132.27699279785156, 452.0060119628906 ], [ 472.52398681640625, -131.2989959716797, 450.64801025390625 ], [ 473.0799865722656, -131.2989959716797, 450.64801025390625 ], [ 473.0799865722656, -132.27699279785156, 450.64801025390625 ], [ 473.635986328125, -132.27699279785156, 450.64801025390625 ], [ 473.0799865722656, 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Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Lift the yellow boxed yogurt off the shelf. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 1, "start": 470, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 295, "used": 295, "source": "GT" }, { "requested": 320, "used": 320, "source": "GT" }, { "requested": 345, "used": 345, "source": "GT" }, { "requested": 370, "used": 370, "source": "GT" }, { "requested": 395, "used": 395, "source": "GT" }, { "requested": 420, "used": 420, "source": "GT" }, { "requested": 445, "used": 445, "source": "GT" }, { "requested": 470, "used": 470, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 2, "start": 502, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 327, "used": 327, "source": "GT" }, { "requested": 352, "used": 352, "source": "GT" }, { "requested": 377, "used": 377, "source": "GT" }, { "requested": 402, "used": 402, "source": "GT" }, { "requested": 427, "used": 427, "source": "GT" }, { "requested": 452, "used": 452, "source": "GT" }, { "requested": 477, "used": 477, "source": "GT" }, { "requested": 502, "used": 502, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." } ], "elapsed": 7.851227760314941, "path": "ckpt-40000/rollout/case01/gt_feedback", "prediction": { "left_xyz_mm": [ [ 471.4110107421875, -131.78799438476562, 450.64801025390625 ], [ 471.9670104980469, -132.27699279785156, 451.3269958496094 ], [ 472.52398681640625, -132.27699279785156, 452.0060119628906 ], [ 472.52398681640625, -131.2989959716797, 450.64801025390625 ], [ 473.0799865722656, -131.2989959716797, 450.64801025390625 ], [ 473.0799865722656, -132.27699279785156, 450.64801025390625 ], [ 473.635986328125, -132.27699279785156, 450.64801025390625 ], [ 473.0799865722656, 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2.0352688152343035, "endpoint_mm": 1.5740678645670414, "gripper_change": 0.0016211940674111247 } }, "history_trace": [ { "chunk": 0, "start": 438, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 263, "used": 263, "source": "GT" }, { "requested": 288, "used": 288, "source": "GT" }, { "requested": 313, "used": 313, "source": "GT" }, { "requested": 338, "used": 338, "source": "GT" }, { "requested": 363, "used": 363, "source": "GT" }, { "requested": 388, "used": 388, "source": "GT" }, { "requested": 413, "used": 413, "source": "GT" }, { "requested": 438, "used": 438, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Lift the yellow boxed yogurt off the shelf. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 1, "start": 470, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 295, "used": 295, "source": "GT" }, { "requested": 320, "used": 320, "source": "GT" }, { "requested": 345, "used": 345, "source": "GT" }, { "requested": 370, "used": 370, "source": "GT" }, { "requested": 395, "used": 395, "source": "GT" }, { "requested": 420, "used": 420, "source": "GT" }, { "requested": 445, "used": 445, "source": "GT" }, { "requested": 470, "used": 470, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 2, "start": 502, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 327, "used": 327, "source": "GT" }, { "requested": 352, "used": 352, "source": "GT" }, { "requested": 377, "used": 377, "source": "GT" }, { "requested": 402, "used": 402, "source": "GT" }, { "requested": 427, "used": 427, "source": "GT" }, { "requested": 452, "used": 452, "source": "GT" }, { "requested": 477, "used": 477, "source": "GT" }, { "requested": 502, "used": 502, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 3, "start": 534, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 359, "used": 359, "source": "GT" }, { "requested": 384, "used": 384, "source": "GT" }, { "requested": 409, "used": 409, "source": "GT" }, { "requested": 434, "used": 434, "source": "GT" }, { "requested": 459, "used": 459, "source": "GT" }, { "requested": 484, "used": 484, "source": "GT" }, { "requested": 509, "used": 509, "source": "GT" }, { "requested": 534, "used": 534, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 4, "start": 566, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 391, "used": 391, "source": "GT" }, { "requested": 416, "used": 416, "source": "GT" }, { "requested": 441, "used": 441, "source": "GT" }, { "requested": 466, "used": 466, "source": "GT" }, { "requested": 491, "used": 491, "source": "GT" }, { "requested": 516, "used": 516, "source": "GT" }, { "requested": 541, "used": 541, "source": "GT" }, { "requested": 566, "used": 566, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.; Waist rotation.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 5, "start": 598, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 423, "used": 423, "source": "GT" }, { "requested": 448, "used": 448, "source": "GT" }, { "requested": 473, "used": 473, "source": "GT" }, { "requested": 498, "used": 498, "source": "GT" }, { "requested": 523, "used": 523, "source": "GT" }, { "requested": 548, "used": 548, "source": "GT" }, { "requested": 573, "used": 573, "source": "GT" }, { "requested": 598, "used": 598, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 6, "start": 630, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 455, "used": 455, "source": "GT" }, { "requested": 480, "used": 480, "source": "GT" }, { "requested": 505, "used": 505, "source": "GT" }, { "requested": 530, "used": 530, "source": "GT" }, { "requested": 555, "used": 555, "source": "GT" }, { "requested": 580, "used": 580, "source": "GT" }, { "requested": 605, "used": 605, "source": "GT" }, { "requested": 630, "used": 630, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 7, "start": 662, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 487, "used": 487, "source": "GT" }, { "requested": 512, "used": 512, "source": "GT" }, { "requested": 537, "used": 537, "source": "GT" }, { "requested": 562, "used": 562, "source": "GT" }, { "requested": 587, "used": 587, "source": "GT" }, { "requested": 612, "used": 612, "source": "GT" }, { "requested": 637, "used": 637, "source": "GT" }, { "requested": 662, "used": 662, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend at the waist while lowering the body.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." } ], "elapsed": 20.69169306755066, "path": "ckpt-40000/rollout/case01/gt_feedback", "prediction": { "left_xyz_mm": [ [ 471.4110107421875, -131.78799438476562, 450.64801025390625 ], [ 471.9670104980469, -132.27699279785156, 451.3269958496094 ], [ 472.52398681640625, -132.27699279785156, 452.0060119628906 ], [ 472.52398681640625, -131.2989959716797, 450.64801025390625 ], [ 473.0799865722656, -131.2989959716797, 450.64801025390625 ], [ 473.0799865722656, -132.27699279785156, 450.64801025390625 ], [ 473.635986328125, -132.27699279785156, 450.64801025390625 ], [ 473.0799865722656, 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." } ], "elapsed": 2.649028778076172, "path": "ckpt-40000/rollout/case02/generated_feedback", "prediction": { "left_xyz_mm": [ [ 293.84600830078125, -110.73500061035156, 385.8940124511719 ], [ 293.28399658203125, -111.33100128173828, 385.54901123046875 ], [ 293.28399658203125, -111.33100128173828, 385.54901123046875 ], [ 293.28399658203125, -111.03299713134766, 385.8940124511719 ], [ 293.28399658203125, -111.33100128173828, 385.2040100097656 ], [ 293.28399658203125, -111.927001953125, 385.54901123046875 ], [ 293.28399658203125, -111.62899780273438, 385.2040100097656 ], [ 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333.8380126953125, -66.12300109863281, -318.89898681640625 ], [ 333.8370056152344, -66.12300109863281, -318.89898681640625 ], [ 333.84100341796875, -66.12200164794922, -318.9010009765625 ], [ 333.8429870605469, -66.12000274658203, -318.9020080566406 ], [ 333.8429870605469, -66.12000274658203, -318.9020080566406 ] ], "left_gripper": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "right_gripper": [ 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 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344, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 169, "used": 169, "source": "GT" }, { "requested": 194, "used": 194, "source": "GT" }, { "requested": 219, "used": 219, "source": "GT" }, { "requested": 244, "used": 244, "source": "GT" }, { "requested": 269, "used": 269, "source": "GT" }, { "requested": 294, "used": 294, "source": "GT" }, { "requested": 319, "used": 319, "source": "GT" }, { "requested": 344, "used": 344, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 1, "start": 376, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 201, "used": 201, "source": "GT" }, { "requested": 226, "used": 226, "source": "GT" }, { "requested": 251, "used": 251, "source": "GT" }, { "requested": 276, "used": 276, "source": "GT" }, { "requested": 301, "used": 301, "source": "GT" }, { "requested": 326, "used": 326, "source": "GT" }, { "requested": 351, "used": 348, "source": "prediction" }, { "requested": 376, "used": 376, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 2, "start": 408, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 233, "used": 233, "source": "GT" }, { "requested": 258, "used": 258, "source": "GT" }, { "requested": 283, "used": 283, "source": "GT" }, { "requested": 308, "used": 308, "source": "GT" }, { "requested": 333, "used": 333, "source": "GT" }, { "requested": 358, "used": 356, "source": "prediction" }, { "requested": 383, "used": 380, "source": "prediction" }, { "requested": 408, "used": 408, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." } ], "elapsed": 7.822874069213867, "path": "ckpt-40000/rollout/case02/generated_feedback", "prediction": { "left_xyz_mm": [ [ 293.84600830078125, -110.73500061035156, 385.8940124511719 ], [ 293.28399658203125, -111.33100128173828, 385.54901123046875 ], [ 293.28399658203125, -111.33100128173828, 385.54901123046875 ], [ 293.28399658203125, -111.03299713134766, 385.8940124511719 ], [ 293.28399658203125, -111.33100128173828, 385.2040100097656 ], [ 293.28399658203125, -111.927001953125, 385.54901123046875 ], [ 293.28399658203125, -111.62899780273438, 385.2040100097656 ], [ 293.28399658203125, 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 1, "start": 376, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 201, "used": 201, "source": "GT" }, { "requested": 226, "used": 226, "source": "GT" }, { "requested": 251, "used": 251, "source": "GT" }, { "requested": 276, "used": 276, "source": "GT" }, { "requested": 301, "used": 301, "source": "GT" }, { "requested": 326, "used": 326, "source": "GT" }, { "requested": 351, "used": 348, "source": "prediction" }, { "requested": 376, "used": 376, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 2, "start": 408, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 233, "used": 233, "source": "GT" }, { "requested": 258, "used": 258, "source": "GT" }, { "requested": 283, "used": 283, "source": "GT" }, { "requested": 308, "used": 308, "source": "GT" }, { "requested": 333, "used": 333, "source": "GT" }, { "requested": 358, "used": 356, "source": "prediction" }, { "requested": 383, "used": 380, "source": "prediction" }, { "requested": 408, "used": 408, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 3, "start": 440, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 265, "used": 265, "source": "GT" }, { "requested": 290, "used": 290, "source": "GT" }, { "requested": 315, "used": 315, "source": "GT" }, { "requested": 340, "used": 340, "source": "GT" }, { "requested": 365, "used": 364, "source": "prediction" }, { "requested": 390, "used": 388, "source": "prediction" }, { "requested": 415, "used": 412, "source": "prediction" }, { "requested": 440, "used": 440, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 4, "start": 472, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 297, "used": 297, "source": "GT" }, { "requested": 322, "used": 322, "source": "GT" }, { "requested": 347, "used": 344, "source": "initial_GT_hold" }, { "requested": 372, "used": 372, "source": "prediction" }, { "requested": 397, "used": 396, "source": "prediction" }, { "requested": 422, "used": 420, "source": "prediction" }, { "requested": 447, "used": 444, "source": "prediction" }, { "requested": 472, "used": 472, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Bend the waist downward while lowering the body.; The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body." }, { "chunk": 5, "start": 504, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 329, "used": 329, "source": "GT" }, { "requested": 354, "used": 352, "source": "prediction" }, { "requested": 379, "used": 376, "source": "prediction" }, { "requested": 404, "used": 404, "source": "prediction" }, { "requested": 429, "used": 428, "source": "prediction" }, { "requested": 454, "used": 452, "source": "prediction" }, { "requested": 479, "used": 476, "source": "prediction" }, { "requested": 504, "used": 504, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart." }, { "chunk": 6, "start": 536, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 361, "used": 360, "source": "prediction" }, { "requested": 386, "used": 384, "source": "prediction" }, { "requested": 411, "used": 408, "source": "prediction" }, { "requested": 436, "used": 436, "source": "prediction" }, { "requested": 461, "used": 460, "source": "prediction" }, { "requested": 486, "used": 484, "source": "prediction" }, { "requested": 511, "used": 508, "source": "prediction" }, { "requested": 536, "used": 536, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart." }, { "chunk": 7, "start": 568, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 393, "used": 392, "source": "prediction" }, { "requested": 418, "used": 416, "source": "prediction" }, { "requested": 443, "used": 440, "source": "prediction" }, { "requested": 468, "used": 468, "source": "prediction" }, { "requested": 493, "used": 492, "source": "prediction" }, { "requested": 518, "used": 516, "source": "prediction" }, { "requested": 543, "used": 540, "source": "prediction" }, { "requested": 568, "used": 568, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart." } ], "elapsed": 20.677374601364136, "path": "ckpt-40000/rollout/case02/generated_feedback", "prediction": { "left_xyz_mm": [ [ 293.84600830078125, -110.73500061035156, 385.8940124511719 ], [ 293.28399658203125, -111.33100128173828, 385.54901123046875 ], [ 293.28399658203125, -111.33100128173828, 385.54901123046875 ], [ 293.28399658203125, -111.03299713134766, 385.8940124511719 ], [ 293.28399658203125, -111.33100128173828, 385.2040100097656 ], [ 293.28399658203125, -111.927001953125, 385.54901123046875 ], [ 293.28399658203125, -111.62899780273438, 385.2040100097656 ], [ 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." } ], "elapsed": 2.6304266452789307, "path": "ckpt-40000/rollout/case02/gt_feedback", "prediction": { "left_xyz_mm": [ [ 293.84600830078125, -110.73500061035156, 385.8940124511719 ], [ 293.28399658203125, -111.33100128173828, 385.54901123046875 ], [ 293.28399658203125, -111.33100128173828, 385.54901123046875 ], [ 293.28399658203125, -111.03299713134766, 385.8940124511719 ], [ 293.28399658203125, -111.33100128173828, 385.2040100097656 ], [ 293.28399658203125, -111.927001953125, 385.54901123046875 ], [ 293.28399658203125, -111.62899780273438, 385.2040100097656 ], [ 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 1, "start": 376, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 201, "used": 201, "source": "GT" }, { "requested": 226, "used": 226, "source": "GT" }, { "requested": 251, "used": 251, "source": "GT" }, { "requested": 276, "used": 276, "source": "GT" }, { "requested": 301, "used": 301, "source": "GT" }, { "requested": 326, "used": 326, "source": "GT" }, { "requested": 351, "used": 351, "source": "GT" }, { "requested": 376, "used": 376, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 2, "start": 408, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 233, "used": 233, "source": "GT" }, { "requested": 258, "used": 258, "source": "GT" }, { "requested": 283, "used": 283, "source": "GT" }, { "requested": 308, "used": 308, "source": "GT" }, { "requested": 333, "used": 333, "source": "GT" }, { "requested": 358, "used": 358, "source": "GT" }, { "requested": 383, "used": 383, "source": "GT" }, { "requested": 408, "used": 408, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." } ], "elapsed": 7.806808233261108, "path": "ckpt-40000/rollout/case02/gt_feedback", "prediction": { "left_xyz_mm": [ [ 293.84600830078125, -110.73500061035156, 385.8940124511719 ], [ 293.28399658203125, -111.33100128173828, 385.54901123046875 ], [ 293.28399658203125, -111.33100128173828, 385.54901123046875 ], [ 293.28399658203125, -111.03299713134766, 385.8940124511719 ], [ 293.28399658203125, -111.33100128173828, 385.2040100097656 ], [ 293.28399658203125, -111.927001953125, 385.54901123046875 ], [ 293.28399658203125, -111.62899780273438, 385.2040100097656 ], [ 293.28399658203125, 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"requested": 194, "used": 194, "source": "GT" }, { "requested": 219, "used": 219, "source": "GT" }, { "requested": 244, "used": 244, "source": "GT" }, { "requested": 269, "used": 269, "source": "GT" }, { "requested": 294, "used": 294, "source": "GT" }, { "requested": 319, "used": 319, "source": "GT" }, { "requested": 344, "used": 344, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 1, "start": 376, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 201, "used": 201, "source": "GT" }, { "requested": 226, "used": 226, "source": "GT" }, { "requested": 251, "used": 251, "source": "GT" }, { "requested": 276, "used": 276, "source": "GT" }, { "requested": 301, "used": 301, "source": "GT" }, { "requested": 326, "used": 326, "source": "GT" }, { "requested": 351, "used": 351, "source": "GT" }, { "requested": 376, "used": 376, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 2, "start": 408, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 233, "used": 233, "source": "GT" }, { "requested": 258, "used": 258, "source": "GT" }, { "requested": 283, "used": 283, "source": "GT" }, { "requested": 308, "used": 308, "source": "GT" }, { "requested": 333, "used": 333, "source": "GT" }, { "requested": 358, "used": 358, "source": "GT" }, { "requested": 383, "used": 383, "source": "GT" }, { "requested": 408, "used": 408, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 3, "start": 440, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 265, "used": 265, "source": "GT" }, { "requested": 290, "used": 290, "source": "GT" }, { "requested": 315, "used": 315, "source": "GT" }, { "requested": 340, "used": 340, "source": "GT" }, { "requested": 365, "used": 365, "source": "GT" }, { "requested": 390, "used": 390, "source": "GT" }, { "requested": 415, "used": 415, "source": "GT" }, { "requested": 440, "used": 440, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 4, "start": 472, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 297, "used": 297, "source": "GT" }, { "requested": 322, "used": 322, "source": "GT" }, { "requested": 347, "used": 347, "source": "GT" }, { "requested": 372, "used": 372, "source": "GT" }, { "requested": 397, "used": 397, "source": "GT" }, { "requested": 422, "used": 422, "source": "GT" }, { "requested": 447, "used": 447, "source": "GT" }, { "requested": 472, "used": 472, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Bend the waist downward while lowering the body.; The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body." }, { "chunk": 5, "start": 504, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 329, "used": 329, "source": "GT" }, { "requested": 354, "used": 354, "source": "GT" }, { "requested": 379, "used": 379, "source": "GT" }, { "requested": 404, "used": 404, "source": "GT" }, { "requested": 429, "used": 429, "source": "GT" }, { "requested": 454, "used": 454, "source": "GT" }, { "requested": 479, "used": 479, "source": "GT" }, { "requested": 504, "used": 504, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart." }, { "chunk": 6, "start": 536, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 361, "used": 361, "source": "GT" }, { "requested": 386, "used": 386, "source": "GT" }, { "requested": 411, "used": 411, "source": "GT" }, { "requested": 436, "used": 436, "source": "GT" }, { "requested": 461, "used": 461, "source": "GT" }, { "requested": 486, "used": 486, "source": "GT" }, { "requested": 511, "used": 511, "source": "GT" }, { "requested": 536, "used": 536, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart." }, { "chunk": 7, "start": 568, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 393, "used": 393, "source": "GT" }, { "requested": 418, "used": 418, "source": "GT" }, { "requested": 443, "used": 443, "source": "GT" }, { "requested": 468, "used": 468, "source": "GT" }, { "requested": 493, "used": 493, "source": "GT" }, { "requested": 518, "used": 518, "source": "GT" }, { "requested": 543, "used": 543, "source": "GT" }, { "requested": 568, "used": 568, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart." } ], "elapsed": 20.589568376541138, "path": "ckpt-40000/rollout/case02/gt_feedback", "prediction": { "left_xyz_mm": [ [ 293.84600830078125, -110.73500061035156, 385.8940124511719 ], [ 293.28399658203125, -111.33100128173828, 385.54901123046875 ], [ 293.28399658203125, -111.33100128173828, 385.54901123046875 ], [ 293.28399658203125, -111.03299713134766, 385.8940124511719 ], [ 293.28399658203125, -111.33100128173828, 385.2040100097656 ], [ 293.28399658203125, -111.927001953125, 385.54901123046875 ], [ 293.28399658203125, -111.62899780273438, 385.2040100097656 ], [ 293.28399658203125, 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Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: left arm: Hold the tea canister steady while the right arm takes out the tea bag. right arm: Lift the tea bag out of the canister." } ], "elapsed": 2.6318280696868896, "path": "ckpt-40000/rollout/case04/gt_feedback", "prediction": { "left_xyz_mm": [ [ 476.35101318359375, 104.56500244140625, 234.15899658203125 ], [ 476.6059875488281, 105.0790023803711, 234.98500061035156 ], [ 476.6059875488281, 104.56500244140625, 234.30499267578125 ], [ 477.114990234375, 105.0790023803711, 234.5240020751953 ], [ 477.114990234375, 105.0790023803711, 235.37399291992188 ], [ 476.8599853515625, 104.56500244140625, 235.27699279785156 ], [ 477.114990234375, 104.56500244140625, 234.20799255371094 ], [ 477.114990234375, 104.0510025024414, 233.04200744628906 ], [ 476.35101318359375, 105.0790023803711, 232.24000549316406 ], 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Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: left arm: Hold the tea canister steady while the right arm takes out the tea bag. right arm: Lift the tea bag out of the canister." }, { "chunk": 1, "start": 663, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 488, "used": 488, "source": "GT" }, { "requested": 513, "used": 513, "source": "GT" }, { "requested": 538, "used": 538, "source": "GT" }, { "requested": 563, "used": 563, "source": "GT" }, { "requested": 588, "used": 588, "source": "GT" }, { "requested": 613, "used": 613, "source": "GT" }, { "requested": 638, "used": 638, "source": "GT" }, { "requested": 663, "used": 663, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s216a44. 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Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: left arm: Hold the tea canister steady while the right arm takes out the tea bag. right arm: Move the tea bag towards the mug." }, { "chunk": 4, "start": 759, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 584, "used": 584, "source": "GT" }, { "requested": 609, "used": 609, "source": "GT" }, { "requested": 634, "used": 634, "source": "GT" }, { "requested": 659, "used": 659, "source": "GT" }, { "requested": 684, "used": 684, "source": "GT" }, { "requested": 709, "used": 709, "source": "GT" }, { "requested": 734, "used": 734, "source": "GT" }, { "requested": 759, "used": 759, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s216a44. 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Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister; Right arm puts the tea bag into the mug\nAtomic instruction: right arm: Move the tea bag towards the mug." }, { "chunk": 6, "start": 823, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 648, "used": 648, "source": "GT" }, { "requested": 673, "used": 673, "source": "GT" }, { "requested": 698, "used": 698, "source": "GT" }, { "requested": 723, "used": 723, "source": "GT" }, { "requested": 748, "used": 748, "source": "GT" }, { "requested": 773, "used": 773, "source": "GT" }, { "requested": 798, "used": 798, "source": "GT" }, { "requested": 823, "used": 823, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm puts the tea bag into the mug\nAtomic instruction: left arm: Hold the tea canister steady on the table. right arm: Move the tea bag towards the mug." }, { "chunk": 7, "start": 855, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 680, "used": 680, "source": "GT" }, { "requested": 705, "used": 705, "source": "GT" }, { "requested": 730, "used": 730, "source": "GT" }, { "requested": 755, "used": 755, "source": "GT" }, { "requested": 780, "used": 780, "source": "GT" }, { "requested": 805, "used": 805, "source": "GT" }, { "requested": 830, "used": 830, "source": "GT" }, { "requested": 855, "used": 855, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s216a44. 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Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Grasp the orange build block on the right side of the table." } ], "elapsed": 5.364333152770996, "path": "ckpt-40000/rollout/case13/generated_feedback", "prediction": { "left_xyz_mm": [ [ 235.63699340820312, 290.2149963378906, 1054.751953125 ], [ 236.218994140625, 290.5480041503906, 1054.751953125 ], [ 235.05599975585938, 291.0480041503906, 1054.5439453125 ], [ 235.05599975585938, 290.8810119628906, 1054.43896484375 ], [ 235.63699340820312, 291.3810119628906, 1054.5439453125 ], [ 234.4739990234375, 291.2149963378906, 1054.43896484375 ], [ 235.63699340820312, 290.8810119628906, 1054.43896484375 ], [ 235.63699340820312, 290.7149963378906, 1054.3349609375 ], [ 236.218994140625, 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Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Grasp the orange build block on the right side of the table." }, { "chunk": 1, "start": 289, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 114, "used": 114, "source": "GT" }, { "requested": 139, "used": 139, "source": "GT" }, { "requested": 164, "used": 164, "source": "GT" }, { "requested": 189, "used": 189, "source": "GT" }, { "requested": 214, "used": 214, "source": "GT" }, { "requested": 239, "used": 239, "source": "GT" }, { "requested": 264, "used": 261, "source": "prediction" }, { "requested": 289, "used": 289, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. 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"used": 82, "source": "GT" }, { "requested": 107, "used": 107, "source": "GT" }, { "requested": 132, "used": 132, "source": "GT" }, { "requested": 157, "used": 157, "source": "GT" }, { "requested": 182, "used": 182, "source": "GT" }, { "requested": 207, "used": 207, "source": "GT" }, { "requested": 232, "used": 232, "source": "GT" }, { "requested": 257, "used": 257, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Grasp the orange build block on the right side of the table." }, { "chunk": 1, "start": 289, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 114, "used": 114, "source": "GT" }, { "requested": 139, "used": 139, "source": "GT" }, { "requested": 164, "used": 164, "source": "GT" }, { "requested": 189, "used": 189, "source": "GT" }, { "requested": 214, "used": 214, "source": "GT" }, { "requested": 239, "used": 239, "source": "GT" }, { "requested": 264, "used": 261, "source": "prediction" }, { "requested": 289, "used": 289, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 2, "start": 321, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 146, "used": 146, "source": "GT" }, { "requested": 171, "used": 171, "source": "GT" }, { "requested": 196, "used": 196, "source": "GT" }, { "requested": 221, "used": 221, "source": "GT" }, { "requested": 246, "used": 246, "source": "GT" }, { "requested": 271, "used": 269, "source": "prediction" }, { "requested": 296, "used": 293, "source": "prediction" }, { "requested": 321, "used": 321, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Move the orange build block towards the yellow build block." }, { "chunk": 3, "start": 353, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 178, "used": 178, "source": "GT" }, { "requested": 203, "used": 203, "source": "GT" }, { "requested": 228, "used": 228, "source": "GT" }, { "requested": 253, "used": 253, "source": "GT" }, { "requested": 278, "used": 277, "source": "prediction" }, { "requested": 303, "used": 301, "source": "prediction" }, { "requested": 328, "used": 325, "source": "prediction" }, { "requested": 353, "used": 353, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 4, "start": 385, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 210, "used": 210, "source": "GT" }, { "requested": 235, "used": 235, "source": "GT" }, { "requested": 260, "used": 257, "source": "initial_GT_hold" }, { "requested": 285, "used": 285, "source": "prediction" }, { "requested": 310, "used": 309, "source": "prediction" }, { "requested": 335, "used": 333, "source": "prediction" }, { "requested": 360, "used": 357, "source": "prediction" }, { "requested": 385, "used": 385, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block; Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 5, "start": 417, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 242, "used": 242, "source": "GT" }, { "requested": 267, "used": 265, "source": "prediction" }, { "requested": 292, "used": 289, "source": "prediction" }, { "requested": 317, "used": 317, "source": "prediction" }, { "requested": 342, "used": 341, "source": "prediction" }, { "requested": 367, "used": 365, "source": "prediction" }, { "requested": 392, "used": 389, "source": "prediction" }, { "requested": 417, "used": 417, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 6, "start": 449, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 274, "used": 273, "source": "prediction" }, { "requested": 299, "used": 297, "source": "prediction" }, { "requested": 324, "used": 321, "source": "prediction" }, { "requested": 349, "used": 349, "source": "prediction" }, { "requested": 374, "used": 373, "source": "prediction" }, { "requested": 399, "used": 397, "source": "prediction" }, { "requested": 424, "used": 421, "source": "prediction" }, { "requested": 449, "used": 449, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 7, "start": 481, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 306, "used": 305, "source": "prediction" }, { "requested": 331, "used": 329, "source": "prediction" }, { "requested": 356, "used": 353, "source": "prediction" }, { "requested": 381, "used": 381, "source": "prediction" }, { "requested": 406, "used": 405, "source": "prediction" }, { "requested": 431, "used": 429, "source": "prediction" }, { "requested": 456, "used": 453, "source": "prediction" }, { "requested": 481, "used": 481, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Place the red build block on top of the yellow build block." } ], "elapsed": 23.35893750190735, "path": "ckpt-40000/rollout/case13/generated_feedback", "prediction": { "left_xyz_mm": [ [ 235.63699340820312, 290.2149963378906, 1054.751953125 ], [ 236.218994140625, 290.5480041503906, 1054.751953125 ], [ 235.05599975585938, 291.0480041503906, 1054.5439453125 ], [ 235.05599975585938, 290.8810119628906, 1054.43896484375 ], [ 235.63699340820312, 291.3810119628906, 1054.5439453125 ], [ 234.4739990234375, 291.2149963378906, 1054.43896484375 ], [ 235.63699340820312, 290.8810119628906, 1054.43896484375 ], [ 235.63699340820312, 290.7149963378906, 1054.3349609375 ], [ 236.218994140625, 290.5480041503906, 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Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Grasp the orange build block on the right side of the table." } ], "elapsed": 6.304067134857178, "path": "ckpt-40000/rollout/case13/gt_feedback", "prediction": { "left_xyz_mm": [ [ 235.63699340820312, 290.2149963378906, 1054.751953125 ], [ 236.218994140625, 290.5480041503906, 1054.751953125 ], [ 235.05599975585938, 291.0480041503906, 1054.5439453125 ], [ 235.05599975585938, 290.8810119628906, 1054.43896484375 ], [ 235.63699340820312, 291.3810119628906, 1054.5439453125 ], [ 234.4739990234375, 291.2149963378906, 1054.43896484375 ], [ 235.63699340820312, 290.8810119628906, 1054.43896484375 ], [ 235.63699340820312, 290.7149963378906, 1054.3349609375 ], [ 236.218994140625, 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Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Grasp the orange build block on the right side of the table." }, { "chunk": 1, "start": 289, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 114, "used": 114, "source": "GT" }, { "requested": 139, "used": 139, "source": "GT" }, { "requested": 164, "used": 164, "source": "GT" }, { "requested": 189, "used": 189, "source": "GT" }, { "requested": 214, "used": 214, "source": "GT" }, { "requested": 239, "used": 239, "source": "GT" }, { "requested": 264, "used": 264, "source": "GT" }, { "requested": 289, "used": 289, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 2, "start": 321, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 146, "used": 146, "source": "GT" }, { "requested": 171, "used": 171, "source": "GT" }, { "requested": 196, "used": 196, "source": "GT" }, { "requested": 221, "used": 221, "source": "GT" }, { "requested": 246, "used": 246, "source": "GT" }, { "requested": 271, "used": 271, "source": "GT" }, { "requested": 296, "used": 296, "source": "GT" }, { "requested": 321, "used": 321, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Move the orange build block towards the yellow build block." } ], "elapsed": 11.462954759597778, "path": "ckpt-40000/rollout/case13/gt_feedback", "prediction": { "left_xyz_mm": [ [ 235.63699340820312, 290.2149963378906, 1054.751953125 ], [ 236.218994140625, 290.5480041503906, 1054.751953125 ], [ 235.05599975585938, 291.0480041503906, 1054.5439453125 ], [ 235.05599975585938, 290.8810119628906, 1054.43896484375 ], [ 235.63699340820312, 291.3810119628906, 1054.5439453125 ], [ 234.4739990234375, 291.2149963378906, 1054.43896484375 ], [ 235.63699340820312, 290.8810119628906, 1054.43896484375 ], [ 235.63699340820312, 290.7149963378906, 1054.3349609375 ], [ 236.218994140625, 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"source": "GT" }, { "requested": 82, "used": 82, "source": "GT" }, { "requested": 107, "used": 107, "source": "GT" }, { "requested": 132, "used": 132, "source": "GT" }, { "requested": 157, "used": 157, "source": "GT" }, { "requested": 182, "used": 182, "source": "GT" }, { "requested": 207, "used": 207, "source": "GT" }, { "requested": 232, "used": 232, "source": "GT" }, { "requested": 257, "used": 257, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Grasp the orange build block on the right side of the table." }, { "chunk": 1, "start": 289, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 114, "used": 114, "source": "GT" }, { "requested": 139, "used": 139, "source": "GT" }, { "requested": 164, "used": 164, "source": "GT" }, { "requested": 189, "used": 189, "source": "GT" }, { "requested": 214, "used": 214, "source": "GT" }, { "requested": 239, "used": 239, "source": "GT" }, { "requested": 264, "used": 264, "source": "GT" }, { "requested": 289, "used": 289, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 2, "start": 321, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 146, "used": 146, "source": "GT" }, { "requested": 171, "used": 171, "source": "GT" }, { "requested": 196, "used": 196, "source": "GT" }, { "requested": 221, "used": 221, "source": "GT" }, { "requested": 246, "used": 246, "source": "GT" }, { "requested": 271, "used": 271, "source": "GT" }, { "requested": 296, "used": 296, "source": "GT" }, { "requested": 321, "used": 321, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Move the orange build block towards the yellow build block." }, { "chunk": 3, "start": 353, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 178, "used": 178, "source": "GT" }, { "requested": 203, "used": 203, "source": "GT" }, { "requested": 228, "used": 228, "source": "GT" }, { "requested": 253, "used": 253, "source": "GT" }, { "requested": 278, "used": 278, "source": "GT" }, { "requested": 303, "used": 303, "source": "GT" }, { "requested": 328, "used": 328, "source": "GT" }, { "requested": 353, "used": 353, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 4, "start": 385, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 210, "used": 210, "source": "GT" }, { "requested": 235, "used": 235, "source": "GT" }, { "requested": 260, "used": 260, "source": "GT" }, { "requested": 285, "used": 285, "source": "GT" }, { "requested": 310, "used": 310, "source": "GT" }, { "requested": 335, "used": 335, "source": "GT" }, { "requested": 360, "used": 360, "source": "GT" }, { "requested": 385, "used": 385, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block; Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 5, "start": 417, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 242, "used": 242, "source": "GT" }, { "requested": 267, "used": 267, "source": "GT" }, { "requested": 292, "used": 292, "source": "GT" }, { "requested": 317, "used": 317, "source": "GT" }, { "requested": 342, "used": 342, "source": "GT" }, { "requested": 367, "used": 367, "source": "GT" }, { "requested": 392, "used": 392, "source": "GT" }, { "requested": 417, "used": 417, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 6, "start": 449, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 274, "used": 274, "source": "GT" }, { "requested": 299, "used": 299, "source": "GT" }, { "requested": 324, "used": 324, "source": "GT" }, { "requested": 349, "used": 349, "source": "GT" }, { "requested": 374, "used": 374, "source": "GT" }, { "requested": 399, "used": 399, "source": "GT" }, { "requested": 424, "used": 424, "source": "GT" }, { "requested": 449, "used": 449, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 7, "start": 481, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 306, "used": 306, "source": "GT" }, { "requested": 331, "used": 331, "source": "GT" }, { "requested": 356, "used": 356, "source": "GT" }, { "requested": 381, "used": 381, "source": "GT" }, { "requested": 406, "used": 406, "source": "GT" }, { "requested": 431, "used": 431, "source": "GT" }, { "requested": 456, "used": 456, "source": "GT" }, { "requested": 481, "used": 481, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Place the red build block on top of the yellow build block." } ], "elapsed": 24.08226442337036, "path": "ckpt-40000/rollout/case13/gt_feedback", "prediction": { "left_xyz_mm": [ [ 235.63699340820312, 290.2149963378906, 1054.751953125 ], [ 236.218994140625, 290.5480041503906, 1054.751953125 ], [ 235.05599975585938, 291.0480041503906, 1054.5439453125 ], [ 235.05599975585938, 290.8810119628906, 1054.43896484375 ], [ 235.63699340820312, 291.3810119628906, 1054.5439453125 ], [ 234.4739990234375, 291.2149963378906, 1054.43896484375 ], [ 235.63699340820312, 290.8810119628906, 1054.43896484375 ], [ 235.63699340820312, 290.7149963378906, 1054.3349609375 ], [ 236.218994140625, 290.5480041503906, 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Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug." } ], "elapsed": 4.916937828063965, "path": "ckpt-40000/rollout/case14/generated_feedback", "prediction": { "left_xyz_mm": [ [ 590.2659912109375, 126.50499725341797, 889.4310302734375 ], [ 591.4879760742188, 126.1259994506836, 890.0910034179688 ], [ 592.7109985351562, 126.1259994506836, 890.7509765625 ], [ 593.9340209960938, 125.74600219726562, 890.7509765625 ], [ 593.9340209960938, 126.50499725341797, 890.7509765625 ], [ 593.9340209960938, 126.88500213623047, 891.4099731445312 ], [ 593.9340209960938, 127.64399719238281, 892.72998046875 ], [ 593.9340209960938, 127.64399719238281, 894.0499877929688 ], [ 593.9340209960938, 126.88500213623047, 894.0499877929688 ], [ 593.9340209960938, 128.0240020751953, 893.3900146484375 ], [ 592.7109985351562, 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Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug." } ], "elapsed": 5.598327159881592, "path": "ckpt-40000/rollout/case14/gt_feedback", "prediction": { "left_xyz_mm": [ [ 590.2659912109375, 126.50499725341797, 889.4310302734375 ], [ 591.4879760742188, 126.1259994506836, 890.0910034179688 ], [ 592.7109985351562, 126.1259994506836, 890.7509765625 ], [ 593.9340209960938, 125.74600219726562, 890.7509765625 ], [ 593.9340209960938, 126.50499725341797, 890.7509765625 ], [ 593.9340209960938, 126.88500213623047, 891.4099731445312 ], [ 593.9340209960938, 127.64399719238281, 892.72998046875 ], [ 593.9340209960938, 127.64399719238281, 894.0499877929688 ], [ 593.9340209960938, 126.88500213623047, 894.0499877929688 ], [ 593.9340209960938, 128.0240020751953, 893.3900146484375 ], [ 592.7109985351562, 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Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug." }, { "chunk": 7, "start": 692, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 517, "used": 517, "source": "GT" }, { "requested": 542, "used": 542, "source": "GT" }, { "requested": 567, "used": 567, "source": "GT" }, { "requested": 592, "used": 592, "source": "GT" }, { "requested": 617, "used": 617, "source": "GT" }, { "requested": 642, "used": 642, "source": "GT" }, { "requested": 667, "used": 667, "source": "GT" }, { "requested": 692, "used": 692, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled. 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 1, "start": 439, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 264, "used": 264, "source": "GT" }, { "requested": 289, "used": 289, "source": "GT" }, { "requested": 314, "used": 314, "source": "GT" }, { "requested": 339, "used": 339, "source": "GT" }, { "requested": 364, "used": 364, "source": "GT" }, { "requested": 389, "used": 389, "source": "GT" }, { "requested": 414, "used": 411, "source": "prediction" }, { "requested": 439, "used": 439, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_hd. 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 3, "start": 503, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 328, "used": 328, "source": "GT" }, { "requested": 353, "used": 353, "source": "GT" }, { "requested": 378, "used": 378, "source": "GT" }, { "requested": 403, "used": 403, "source": "GT" }, { "requested": 428, "used": 427, "source": "prediction" }, { "requested": 453, "used": 451, "source": "prediction" }, { "requested": 478, "used": 475, "source": "prediction" }, { "requested": 503, "used": 503, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 4, "start": 535, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 360, "used": 360, "source": "GT" }, { "requested": 385, "used": 385, "source": "GT" }, { "requested": 410, "used": 407, "source": "initial_GT_hold" }, { "requested": 435, "used": 435, "source": "prediction" }, { "requested": 460, "used": 459, "source": "prediction" }, { "requested": 485, "used": 483, "source": "prediction" }, { "requested": 510, "used": 507, "source": "prediction" }, { "requested": 535, "used": 535, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 5, "start": 567, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 392, "used": 392, "source": "GT" }, { "requested": 417, "used": 415, "source": "prediction" }, { "requested": 442, "used": 439, "source": "prediction" }, { "requested": 467, "used": 467, "source": "prediction" }, { "requested": 492, "used": 491, "source": "prediction" }, { "requested": 517, "used": 515, "source": "prediction" }, { "requested": 542, "used": 539, "source": "prediction" }, { "requested": 567, "used": 567, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 6, "start": 599, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 424, "used": 423, "source": "prediction" }, { "requested": 449, "used": 447, "source": "prediction" }, { "requested": 474, "used": 471, "source": "prediction" }, { "requested": 499, "used": 499, "source": "prediction" }, { "requested": 524, "used": 523, "source": "prediction" }, { "requested": 549, "used": 547, "source": "prediction" }, { "requested": 574, "used": 571, "source": "prediction" }, { "requested": 599, "used": 599, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 7, "start": 631, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 456, "used": 455, "source": "prediction" }, { "requested": 481, "used": 479, "source": "prediction" }, { "requested": 506, "used": 503, "source": "prediction" }, { "requested": 531, "used": 531, "source": "prediction" }, { "requested": 556, "used": 555, "source": "prediction" }, { "requested": 581, "used": 579, "source": "prediction" }, { "requested": 606, "used": 603, "source": "prediction" }, { "requested": 631, "used": 631, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." } ], "elapsed": 22.90908145904541, "path": "ckpt-40000/rollout/case15/generated_feedback", "prediction": { "left_xyz_mm": [ [ 757.2020263671875, 428.8559875488281, 878.7869873046875 ], [ 755.7760009765625, 428.8559875488281, 877.9650268554688 ], [ 752.9229736328125, 428.8559875488281, 877.1439819335938 ], [ 754.3489990234375, 429.4630126953125, 876.322021484375 ], [ 754.3489990234375, 429.4630126953125, 873.8569946289062 ], [ 752.9229736328125, 430.677001953125, 868.927001953125 ], [ 751.4970092773438, 430.677001953125, 867.2839965820312 ], [ 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"history_trace": [ { "chunk": 0, "start": 407, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 232, "used": 232, "source": "GT" }, { "requested": 257, "used": 257, "source": "GT" }, { "requested": 282, "used": 282, "source": "GT" }, { "requested": 307, "used": 307, "source": "GT" }, { "requested": 332, "used": 332, "source": "GT" }, { "requested": 357, "used": 357, "source": "GT" }, { "requested": 382, "used": 382, "source": "GT" }, { "requested": 407, "used": 407, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 1, "start": 439, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 264, "used": 264, "source": "GT" }, { "requested": 289, "used": 289, "source": "GT" }, { "requested": 314, "used": 314, "source": "GT" }, { "requested": 339, "used": 339, "source": "GT" }, { "requested": 364, "used": 364, "source": "GT" }, { "requested": 389, "used": 389, "source": "GT" }, { "requested": 414, "used": 414, "source": "GT" }, { "requested": 439, "used": 439, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 2, "start": 471, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 296, "used": 296, "source": "GT" }, { "requested": 321, "used": 321, "source": "GT" }, { "requested": 346, "used": 346, "source": "GT" }, { "requested": 371, "used": 371, "source": "GT" }, { "requested": 396, "used": 396, "source": "GT" }, { "requested": 421, "used": 421, "source": "GT" }, { "requested": 446, "used": 446, "source": "GT" }, { "requested": 471, "used": 471, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 1, "start": 439, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 264, "used": 264, "source": "GT" }, { "requested": 289, "used": 289, "source": "GT" }, { "requested": 314, "used": 314, "source": "GT" }, { "requested": 339, "used": 339, "source": "GT" }, { "requested": 364, "used": 364, "source": "GT" }, { "requested": 389, "used": 389, "source": "GT" }, { "requested": 414, "used": 414, "source": "GT" }, { "requested": 439, "used": 439, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 2, "start": 471, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 296, "used": 296, "source": "GT" }, { "requested": 321, "used": 321, "source": "GT" }, { "requested": 346, "used": 346, "source": "GT" }, { "requested": 371, "used": 371, "source": "GT" }, { "requested": 396, "used": 396, "source": "GT" }, { "requested": 421, "used": 421, "source": "GT" }, { "requested": 446, "used": 446, "source": "GT" }, { "requested": 471, "used": 471, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 3, "start": 503, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 328, "used": 328, "source": "GT" }, { "requested": 353, "used": 353, "source": "GT" }, { "requested": 378, "used": 378, "source": "GT" }, { "requested": 403, "used": 403, "source": "GT" }, { "requested": 428, "used": 428, "source": "GT" }, { "requested": 453, "used": 453, "source": "GT" }, { "requested": 478, "used": 478, "source": "GT" }, { "requested": 503, "used": 503, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 4, "start": 535, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 360, "used": 360, "source": "GT" }, { "requested": 385, "used": 385, "source": "GT" }, { "requested": 410, "used": 410, "source": "GT" }, { "requested": 435, "used": 435, "source": "GT" }, { "requested": 460, "used": 460, "source": "GT" }, { "requested": 485, "used": 485, "source": "GT" }, { "requested": 510, "used": 510, "source": "GT" }, { "requested": 535, "used": 535, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 5, "start": 567, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 392, "used": 392, "source": "GT" }, { "requested": 417, "used": 417, "source": "GT" }, { "requested": 442, "used": 442, "source": "GT" }, { "requested": 467, "used": 467, "source": "GT" }, { "requested": 492, "used": 492, "source": "GT" }, { "requested": 517, "used": 517, "source": "GT" }, { "requested": 542, "used": 542, "source": "GT" }, { "requested": 567, "used": 567, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 6, "start": 599, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 424, "used": 424, "source": "GT" }, { "requested": 449, "used": 449, "source": "GT" }, { "requested": 474, "used": 474, "source": "GT" }, { "requested": 499, "used": 499, "source": "GT" }, { "requested": 524, "used": 524, "source": "GT" }, { "requested": 549, "used": 549, "source": "GT" }, { "requested": 574, "used": 574, "source": "GT" }, { "requested": 599, "used": 599, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 7, "start": 631, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 456, "used": 456, "source": "GT" }, { "requested": 481, "used": 481, "source": "GT" }, { "requested": 506, "used": 506, "source": "GT" }, { "requested": 531, "used": 531, "source": "GT" }, { "requested": 556, "used": 556, "source": "GT" }, { "requested": 581, "used": 581, "source": "GT" }, { "requested": 606, "used": 606, "source": "GT" }, { "requested": 631, "used": 631, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." } ], "elapsed": 23.89372992515564, "path": "ckpt-40000/rollout/case15/gt_feedback", "prediction": { "left_xyz_mm": [ [ 757.2020263671875, 428.8559875488281, 878.7869873046875 ], [ 755.7760009765625, 428.8559875488281, 877.9650268554688 ], [ 752.9229736328125, 428.8559875488281, 877.1439819335938 ], [ 754.3489990234375, 429.4630126953125, 876.322021484375 ], [ 754.3489990234375, 429.4630126953125, 873.8569946289062 ], [ 752.9229736328125, 430.677001953125, 868.927001953125 ], [ 751.4970092773438, 430.677001953125, 867.2839965820312 ], [ 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 1, "start": 88, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 13, "used": 13, "source": "GT" }, { "requested": 38, "used": 38, "source": "GT" }, { "requested": 63, "used": 60, "source": "prediction" }, { "requested": 88, "used": 88, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 2, "start": 120, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 20, "used": 20, "source": "GT" }, { "requested": 45, "used": 45, "source": "GT" }, { "requested": 70, "used": 68, "source": "prediction" }, { "requested": 95, "used": 92, "source": "prediction" }, { "requested": 120, "used": 120, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf." } ], "elapsed": 7.788414478302002, "path": "ckpt-40000/rollout/case17/generated_feedback", "prediction": { "left_xyz_mm": [ [ 348.4389953613281, 309.4679870605469, 1003.2780151367188 ], [ 352.9859924316406, 310.0409851074219, 1003.9979858398438 ], [ 358.0669860839844, 310.3280029296875, 1004.718017578125 ], [ 361.5429992675781, 310.3280029296875, 1005.43798828125 ], [ 365.2869873046875, 310.9010009765625, 1006.4450073242188 ], [ 371.9729919433594, 310.9010009765625, 1005.8699951171875 ], [ 378.65899658203125, 310.9010009765625, 1006.0139770507812 ], [ 386.9490051269531, 311.760986328125, 1006.0139770507812 ], [ 394.16900634765625, 312.3340148925781, 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 3, "start": 152, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 2, "used": 2, "source": "GT" }, { "requested": 27, "used": 27, "source": "GT" }, { "requested": 52, "used": 52, "source": "GT" }, { "requested": 77, "used": 76, "source": "prediction" }, { "requested": 102, "used": 100, "source": "prediction" }, { "requested": 127, "used": 124, "source": "prediction" }, { "requested": 152, "used": 152, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 4, "start": 184, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 9, "used": 9, "source": "GT" }, { "requested": 34, "used": 34, "source": "GT" }, { "requested": 59, "used": 56, "source": "initial_GT_hold" }, { "requested": 84, "used": 84, "source": "prediction" }, { "requested": 109, "used": 108, "source": "prediction" }, { "requested": 134, "used": 132, "source": "prediction" }, { "requested": 159, "used": 156, "source": "prediction" }, { "requested": 184, "used": 184, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper; Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: left arm: Carry the held tomato slice over to the lettuce leaf in the center of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 5, "start": 216, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 41, "used": 41, "source": "GT" }, { "requested": 66, "used": 64, "source": "prediction" }, { "requested": 91, "used": 88, "source": "prediction" }, { "requested": 116, "used": 116, "source": "prediction" }, { "requested": 141, "used": 140, "source": "prediction" }, { "requested": 166, "used": 164, "source": "prediction" }, { "requested": 191, "used": 188, "source": "prediction" }, { "requested": 216, "used": 216, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: left arm: Carry the held tomato slice over to the lettuce leaf in the center of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 6, "start": 248, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 73, "used": 72, "source": "prediction" }, { "requested": 98, "used": 96, "source": "prediction" }, { "requested": 123, "used": 120, "source": "prediction" }, { "requested": 148, "used": 148, "source": "prediction" }, { "requested": 173, "used": 172, "source": "prediction" }, { "requested": 198, "used": 196, "source": "prediction" }, { "requested": 223, "used": 220, "source": "prediction" }, { "requested": 248, "used": 248, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 7, "start": 280, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 105, "used": 104, "source": "prediction" }, { "requested": 130, "used": 128, "source": "prediction" }, { "requested": 155, "used": 152, "source": "prediction" }, { "requested": 180, "used": 180, "source": "prediction" }, { "requested": 205, "used": 204, "source": "prediction" }, { "requested": 230, "used": 228, "source": "prediction" }, { "requested": 255, "used": 252, "source": "prediction" }, { "requested": 280, "used": 280, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf." } ], "elapsed": 20.502482652664185, "path": "ckpt-40000/rollout/case17/generated_feedback", "prediction": { "left_xyz_mm": [ [ 348.4389953613281, 309.4679870605469, 1003.2780151367188 ], [ 352.9859924316406, 310.0409851074219, 1003.9979858398438 ], [ 358.0669860839844, 310.3280029296875, 1004.718017578125 ], [ 361.5429992675781, 310.3280029296875, 1005.43798828125 ], [ 365.2869873046875, 310.9010009765625, 1006.4450073242188 ], [ 371.9729919433594, 310.9010009765625, 1005.8699951171875 ], [ 378.65899658203125, 310.9010009765625, 1006.0139770507812 ], [ 386.9490051269531, 311.760986328125, 1006.0139770507812 ], [ 394.16900634765625, 312.3340148925781, 1005.5819702148438 ], [ 401.6570129394531, 313.4800109863281, 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf." } ], "elapsed": 2.606879949569702, "path": "ckpt-40000/rollout/case17/gt_feedback", "prediction": { "left_xyz_mm": [ [ 348.4389953613281, 309.4679870605469, 1003.2780151367188 ], [ 352.9859924316406, 310.0409851074219, 1003.9979858398438 ], [ 358.0669860839844, 310.3280029296875, 1004.718017578125 ], [ 361.5429992675781, 310.3280029296875, 1005.43798828125 ], [ 365.2869873046875, 310.9010009765625, 1006.4450073242188 ], [ 371.9729919433594, 310.9010009765625, 1005.8699951171875 ], [ 378.65899658203125, 310.9010009765625, 1006.0139770507812 ], [ 386.9490051269531, 311.760986328125, 1006.0139770507812 ], [ 394.16900634765625, 312.3340148925781, 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 1, "start": 88, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 13, "used": 13, "source": "GT" }, { "requested": 38, "used": 38, "source": "GT" }, { "requested": 63, "used": 63, "source": "GT" }, { "requested": 88, "used": 88, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 2, "start": 120, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 20, "used": 20, "source": "GT" }, { "requested": 45, "used": 45, "source": "GT" }, { "requested": 70, "used": 70, "source": "GT" }, { "requested": 95, "used": 95, "source": "GT" }, { "requested": 120, "used": 120, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 3, "start": 152, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 2, "used": 2, "source": "GT" }, { "requested": 27, "used": 27, "source": "GT" }, { "requested": 52, "used": 52, "source": "GT" }, { "requested": 77, "used": 77, "source": "GT" }, { "requested": 102, "used": 102, "source": "GT" }, { "requested": 127, "used": 127, "source": "GT" }, { "requested": 152, "used": 152, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 4, "start": 184, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 9, "used": 9, "source": "GT" }, { "requested": 34, "used": 34, "source": "GT" }, { "requested": 59, "used": 59, "source": "GT" }, { "requested": 84, "used": 84, "source": "GT" }, { "requested": 109, "used": 109, "source": "GT" }, { "requested": 134, "used": 134, "source": "GT" }, { "requested": 159, "used": 159, "source": "GT" }, { "requested": 184, "used": 184, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper; Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: left arm: Carry the held tomato slice over to the lettuce leaf in the center of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 5, "start": 216, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 41, "used": 41, "source": "GT" }, { "requested": 66, "used": 66, "source": "GT" }, { "requested": 91, "used": 91, "source": "GT" }, { "requested": 116, "used": 116, "source": "GT" }, { "requested": 141, "used": 141, "source": "GT" }, { "requested": 166, "used": 166, "source": "GT" }, { "requested": 191, "used": 191, "source": "GT" }, { "requested": 216, "used": 216, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: left arm: Carry the held tomato slice over to the lettuce leaf in the center of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 6, "start": 248, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 73, "used": 73, "source": "GT" }, { "requested": 98, "used": 98, "source": "GT" }, { "requested": 123, "used": 123, "source": "GT" }, { "requested": 148, "used": 148, "source": "GT" }, { "requested": 173, "used": 173, "source": "GT" }, { "requested": 198, "used": 198, "source": "GT" }, { "requested": 223, "used": 223, "source": "GT" }, { "requested": 248, "used": 248, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 7, "start": 280, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 105, "used": 105, "source": "GT" }, { "requested": 130, "used": 130, "source": "GT" }, { "requested": 155, "used": 155, "source": "GT" }, { "requested": 180, "used": 180, "source": "GT" }, { "requested": 205, "used": 205, "source": "GT" }, { "requested": 230, "used": 230, "source": "GT" }, { "requested": 255, "used": 255, "source": "GT" }, { "requested": 280, "used": 280, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf." } ], "elapsed": 20.458510160446167, "path": "ckpt-40000/rollout/case17/gt_feedback", "prediction": { "left_xyz_mm": [ [ 348.4389953613281, 309.4679870605469, 1003.2780151367188 ], [ 352.9859924316406, 310.0409851074219, 1003.9979858398438 ], [ 358.0669860839844, 310.3280029296875, 1004.718017578125 ], [ 361.5429992675781, 310.3280029296875, 1005.43798828125 ], [ 365.2869873046875, 310.9010009765625, 1006.4450073242188 ], [ 371.9729919433594, 310.9010009765625, 1005.8699951171875 ], [ 378.65899658203125, 310.9010009765625, 1006.0139770507812 ], [ 386.9490051269531, 311.760986328125, 1006.0139770507812 ], [ 394.16900634765625, 312.3340148925781, 1005.5819702148438 ], [ 401.6570129394531, 313.4800109863281, 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Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position." }, { "chunk": 1, "start": 152, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 2, "used": 2, "source": "GT" }, { "requested": 27, "used": 27, "source": "GT" }, { "requested": 52, "used": 52, "source": "GT" }, { "requested": 77, "used": 77, "source": "GT" }, { "requested": 102, "used": 102, "source": "GT" }, { "requested": 127, "used": 127, "source": "GT" }, { "requested": 152, "used": 152, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Move the left arm forward towards the table area. right arm: Wait in the starting position." }, { "chunk": 2, "start": 184, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 9, "used": 9, "source": "GT" }, { "requested": 34, "used": 34, "source": "GT" }, { "requested": 59, "used": 59, "source": "GT" }, { "requested": 84, "used": 84, "source": "GT" }, { "requested": 109, "used": 109, "source": "GT" }, { "requested": 134, "used": 134, "source": "GT" }, { "requested": 159, "used": 159, "source": "GT" }, { "requested": 184, "used": 184, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_ai2_alphabot2_s28. 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Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Continue moving the left arm forward towards the water bottle. right arm: Wait in the starting position." }, { "chunk": 6, "start": 312, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 137, "used": 137, "source": "GT" }, { "requested": 162, "used": 162, "source": "GT" }, { "requested": 187, "used": 187, "source": "GT" }, { "requested": 212, "used": 212, "source": "GT" }, { "requested": 237, "used": 237, "source": "GT" }, { "requested": 262, "used": 262, "source": "GT" }, { "requested": 287, "used": 287, "source": "GT" }, { "requested": 312, "used": 312, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Continue moving the left arm forward towards the water bottle. right arm: Wait in the starting position." }, { "chunk": 7, "start": 344, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 169, "used": 169, "source": "GT" }, { "requested": 194, "used": 194, "source": "GT" }, { "requested": 219, "used": 219, "source": "GT" }, { "requested": 244, "used": 244, "source": "GT" }, { "requested": 269, "used": 269, "source": "GT" }, { "requested": 294, "used": 294, "source": "GT" }, { "requested": 319, "used": 319, "source": "GT" }, { "requested": 344, "used": 344, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_ai2_alphabot2_s28. 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Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." } ], "elapsed": 5.881306409835815, "path": "ckpt-40000/rollout/case21/generated_feedback", "prediction": { "left_xyz_mm": [ [ 435.6199951171875, 60.40399932861328, 1221.9659423828125 ], [ 434.9960021972656, 60.40399932861328, 1226.7120361328125 ], [ 433.74798583984375, 61.237998962402344, 1230.27099609375 ], [ 431.8760070800781, 62.071998596191406, 1234.718994140625 ], [ 430.0039978027344, 62.904998779296875, 1239.4649658203125 ], [ 428.7560119628906, 63.73899841308594, 1245.989990234375 ], [ 427.50799560546875, 64.572998046875, 1252.218017578125 ], [ 427.50799560546875, 66.23999786376953, 1258.2979736328125 ], [ 426.260986328125, 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Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." }, { "chunk": 7, "start": 863, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 688, "used": 687, "source": "prediction" }, { "requested": 713, "used": 711, "source": "prediction" }, { "requested": 738, "used": 735, "source": "prediction" }, { "requested": 763, "used": 763, "source": "prediction" }, { "requested": 788, "used": 787, "source": "prediction" }, { "requested": 813, "used": 811, "source": "prediction" }, { "requested": 838, "used": 835, "source": "prediction" }, { "requested": 863, "used": 863, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. 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Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." } ], "elapsed": 5.448504686355591, "path": "ckpt-40000/rollout/case21/gt_feedback", "prediction": { "left_xyz_mm": [ [ 435.6199951171875, 60.40399932861328, 1221.9659423828125 ], [ 434.9960021972656, 60.40399932861328, 1226.7120361328125 ], [ 433.74798583984375, 61.237998962402344, 1230.27099609375 ], [ 431.8760070800781, 62.071998596191406, 1234.718994140625 ], [ 430.0039978027344, 62.904998779296875, 1239.4649658203125 ], [ 428.7560119628906, 63.73899841308594, 1245.989990234375 ], [ 427.50799560546875, 64.572998046875, 1252.218017578125 ], [ 427.50799560546875, 66.23999786376953, 1258.2979736328125 ], [ 426.260986328125, 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Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." }, { "chunk": 1, "start": 671, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 496, "used": 496, "source": "GT" }, { "requested": 521, "used": 521, "source": "GT" }, { "requested": 546, "used": 546, "source": "GT" }, { "requested": 571, "used": 571, "source": "GT" }, { "requested": 596, "used": 596, "source": "GT" }, { "requested": 621, "used": 621, "source": "GT" }, { "requested": 646, "used": 646, "source": "GT" }, { "requested": 671, "used": 671, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." }, { "chunk": 2, "start": 703, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 528, "used": 528, "source": "GT" }, { "requested": 553, "used": 553, "source": "GT" }, { "requested": 578, "used": 578, "source": "GT" }, { "requested": 603, "used": 603, "source": "GT" }, { "requested": 628, "used": 628, "source": "GT" }, { "requested": 653, "used": 653, "source": "GT" }, { "requested": 678, "used": 678, "source": "GT" }, { "requested": 703, "used": 703, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." }, { "chunk": 3, "start": 735, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 560, "used": 560, "source": "GT" }, { "requested": 585, "used": 585, "source": "GT" }, { "requested": 610, "used": 610, "source": "GT" }, { "requested": 635, "used": 635, "source": "GT" }, { "requested": 660, "used": 660, "source": "GT" }, { "requested": 685, "used": 685, "source": "GT" }, { "requested": 710, "used": 710, "source": "GT" }, { "requested": 735, "used": 735, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." }, { "chunk": 4, "start": 767, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 592, "used": 592, "source": "GT" }, { "requested": 617, "used": 617, "source": "GT" }, { "requested": 642, "used": 642, "source": "GT" }, { "requested": 667, "used": 667, "source": "GT" }, { "requested": 692, "used": 692, "source": "GT" }, { "requested": 717, "used": 717, "source": "GT" }, { "requested": 742, "used": 742, "source": "GT" }, { "requested": 767, "used": 767, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." }, { "chunk": 5, "start": 799, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 624, "used": 624, "source": "GT" }, { "requested": 649, "used": 649, "source": "GT" }, { "requested": 674, "used": 674, "source": "GT" }, { "requested": 699, "used": 699, "source": "GT" }, { "requested": 724, "used": 724, "source": "GT" }, { "requested": 749, "used": 749, "source": "GT" }, { "requested": 774, "used": 774, "source": "GT" }, { "requested": 799, "used": 799, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." }, { "chunk": 6, "start": 831, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 656, "used": 656, "source": "GT" }, { "requested": 681, "used": 681, "source": "GT" }, { "requested": 706, "used": 706, "source": "GT" }, { "requested": 731, "used": 731, "source": "GT" }, { "requested": 756, "used": 756, "source": "GT" }, { "requested": 781, "used": 781, "source": "GT" }, { "requested": 806, "used": 806, "source": "GT" }, { "requested": 831, "used": 831, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." }, { "chunk": 7, "start": 863, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 688, "used": 688, "source": "GT" }, { "requested": 713, "used": 713, "source": "GT" }, { "requested": 738, "used": 738, "source": "GT" }, { "requested": 763, "used": 763, "source": "GT" }, { "requested": 788, "used": 788, "source": "GT" }, { "requested": 813, "used": 813, "source": "GT" }, { "requested": 838, "used": 838, "source": "GT" }, { "requested": 863, "used": 863, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." } ], "elapsed": 23.452648878097534, "path": "ckpt-40000/rollout/case21/gt_feedback", "prediction": { "left_xyz_mm": [ [ 435.6199951171875, 60.40399932861328, 1221.9659423828125 ], [ 434.9960021972656, 60.40399932861328, 1226.7120361328125 ], [ 433.74798583984375, 61.237998962402344, 1230.27099609375 ], [ 431.8760070800781, 62.071998596191406, 1234.718994140625 ], [ 430.0039978027344, 62.904998779296875, 1239.4649658203125 ], [ 428.7560119628906, 63.73899841308594, 1245.989990234375 ], [ 427.50799560546875, 64.572998046875, 1252.218017578125 ], [ 427.50799560546875, 66.23999786376953, 1258.2979736328125 ], [ 426.260986328125, 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"xyz_valid_components": 1536, "motion": { "left": { "rms_displacement_mm": 69.65666264295578, "endpoint_mm": 57.67493322491646, "gripper_change": 0.06708801537752151 }, "right": { "rms_displacement_mm": 137.6655101776123, "endpoint_mm": 270.8036005496979, "gripper_change": 0.04715292155742645 } }, "history_trace": [ { "chunk": 0, "start": 918, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 743, "used": 743, "source": "GT" }, { "requested": 768, "used": 768, "source": "GT" }, { "requested": 793, "used": 793, "source": "GT" }, { "requested": 818, "used": 818, "source": "GT" }, { "requested": 843, "used": 843, "source": "GT" }, { "requested": 868, "used": 868, "source": "GT" }, { "requested": 893, "used": 893, "source": "GT" }, { "requested": 918, "used": 918, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening." }, { "chunk": 1, "start": 950, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 775, "used": 775, "source": "GT" }, { "requested": 800, "used": 800, "source": "GT" }, { "requested": 825, "used": 825, "source": "GT" }, { "requested": 850, "used": 850, "source": "GT" }, { "requested": 875, "used": 875, "source": "GT" }, { "requested": 900, "used": 900, "source": "GT" }, { "requested": 925, "used": 922, "source": "prediction" }, { "requested": 950, "used": 950, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: left arm: Hold the lunch bag securely while the right arm adjusts its position. right arm: Pull the zipper to close the bag opening." }, { "chunk": 2, "start": 982, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 807, "used": 807, "source": "GT" }, { "requested": 832, "used": 832, "source": "GT" }, { "requested": 857, "used": 857, "source": "GT" }, { "requested": 882, "used": 882, "source": "GT" }, { "requested": 907, "used": 907, "source": "GT" }, { "requested": 932, "used": 930, "source": "prediction" }, { "requested": 957, "used": 954, "source": "prediction" }, { "requested": 982, "used": 982, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening." }, { "chunk": 3, "start": 1014, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 839, "used": 839, "source": "GT" }, { "requested": 864, "used": 864, "source": "GT" }, { "requested": 889, "used": 889, "source": "GT" }, { "requested": 914, "used": 914, "source": "GT" }, { "requested": 939, "used": 938, "source": "prediction" }, { "requested": 964, "used": 962, "source": "prediction" }, { "requested": 989, "used": 986, "source": "prediction" }, { "requested": 1014, "used": 1014, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.; Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." }, { "chunk": 4, "start": 1046, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 871, "used": 871, "source": "GT" }, { "requested": 896, "used": 896, "source": "GT" }, { "requested": 921, "used": 918, "source": "initial_GT_hold" }, { "requested": 946, "used": 946, "source": "prediction" }, { "requested": 971, "used": 970, "source": "prediction" }, { "requested": 996, "used": 994, "source": "prediction" }, { "requested": 1021, "used": 1018, "source": "prediction" }, { "requested": 1046, "used": 1046, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside. right arm: Move down towards the bottom of the bag zipper." }, { "chunk": 5, "start": 1078, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 903, "used": 903, "source": "GT" }, { "requested": 928, "used": 926, "source": "prediction" }, { "requested": 953, "used": 950, "source": "prediction" }, { "requested": 978, "used": 978, "source": "prediction" }, { "requested": 1003, "used": 1002, "source": "prediction" }, { "requested": 1028, "used": 1026, "source": "prediction" }, { "requested": 1053, "used": 1050, "source": "prediction" }, { "requested": 1078, "used": 1078, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." }, { "chunk": 6, "start": 1110, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 935, "used": 934, "source": "prediction" }, { "requested": 960, "used": 958, "source": "prediction" }, { "requested": 985, "used": 982, "source": "prediction" }, { "requested": 1010, "used": 1010, "source": "prediction" }, { "requested": 1035, "used": 1034, "source": "prediction" }, { "requested": 1060, "used": 1058, "source": "prediction" }, { "requested": 1085, "used": 1082, "source": "prediction" }, { "requested": 1110, "used": 1110, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." }, { "chunk": 7, "start": 1142, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 967, "used": 966, "source": "prediction" }, { "requested": 992, "used": 990, "source": "prediction" }, { "requested": 1017, "used": 1014, "source": "prediction" }, { "requested": 1042, "used": 1042, "source": "prediction" }, { "requested": 1067, "used": 1066, "source": "prediction" }, { "requested": 1092, "used": 1090, "source": "prediction" }, { "requested": 1117, "used": 1114, "source": "prediction" }, { "requested": 1142, "used": 1142, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." } ], "elapsed": 20.476142168045044, "path": "ckpt-40000/rollout/case23/generated_feedback", "prediction": { "left_xyz_mm": [ [ 547.5819702148438, 298.4440002441406, 1129.2530517578125 ], [ 547.7570190429688, 298.302001953125, 1129.2530517578125 ], [ 547.8150024414062, 298.302001953125, 1129.2530517578125 ], [ 548.281982421875, 298.1600036621094, 1129.2530517578125 ], [ 548.2230224609375, 297.3089904785156, 1129.2530517578125 ], [ 548.6900024414062, 297.5929870605469, 1129.6910400390625 ], [ 548.9819946289062, 297.7349853515625, 1130.1300048828125 ], [ 549.2730102539062, 297.7349853515625, 1129.9100341796875 ], [ 549.7979736328125, 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Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening." } ], "elapsed": 2.6039435863494873, "path": "ckpt-40000/rollout/case23/gt_feedback", "prediction": { "left_xyz_mm": [ [ 547.5819702148438, 298.4440002441406, 1129.2530517578125 ], [ 547.7570190429688, 298.302001953125, 1129.2530517578125 ], [ 547.8150024414062, 298.302001953125, 1129.2530517578125 ], [ 548.281982421875, 298.1600036621094, 1129.2530517578125 ], [ 548.2230224609375, 297.3089904785156, 1129.2530517578125 ], [ 548.6900024414062, 297.5929870605469, 1129.6910400390625 ], [ 548.9819946289062, 297.7349853515625, 1130.1300048828125 ], [ 549.2730102539062, 297.7349853515625, 1129.9100341796875 ], [ 549.7979736328125, 296.8840026855469, 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Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening." }, { "chunk": 1, "start": 950, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 775, "used": 775, "source": "GT" }, { "requested": 800, "used": 800, "source": "GT" }, { "requested": 825, "used": 825, "source": "GT" }, { "requested": 850, "used": 850, "source": "GT" }, { "requested": 875, "used": 875, "source": "GT" }, { "requested": 900, "used": 900, "source": "GT" }, { "requested": 925, "used": 925, "source": "GT" }, { "requested": 950, "used": 950, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: left arm: Hold the lunch bag securely while the right arm adjusts its position. right arm: Pull the zipper to close the bag opening." }, { "chunk": 2, "start": 982, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 807, "used": 807, "source": "GT" }, { "requested": 832, "used": 832, "source": "GT" }, { "requested": 857, "used": 857, "source": "GT" }, { "requested": 882, "used": 882, "source": "GT" }, { "requested": 907, "used": 907, "source": "GT" }, { "requested": 932, "used": 932, "source": "GT" }, { "requested": 957, "used": 957, "source": "GT" }, { "requested": 982, "used": 982, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. 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Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening." }, { "chunk": 1, "start": 950, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 775, "used": 775, "source": "GT" }, { "requested": 800, "used": 800, "source": "GT" }, { "requested": 825, "used": 825, "source": "GT" }, { "requested": 850, "used": 850, "source": "GT" }, { "requested": 875, "used": 875, "source": "GT" }, { "requested": 900, "used": 900, "source": "GT" }, { "requested": 925, "used": 925, "source": "GT" }, { "requested": 950, "used": 950, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: left arm: Hold the lunch bag securely while the right arm adjusts its position. right arm: Pull the zipper to close the bag opening." }, { "chunk": 2, "start": 982, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 807, "used": 807, "source": "GT" }, { "requested": 832, "used": 832, "source": "GT" }, { "requested": 857, "used": 857, "source": "GT" }, { "requested": 882, "used": 882, "source": "GT" }, { "requested": 907, "used": 907, "source": "GT" }, { "requested": 932, "used": 932, "source": "GT" }, { "requested": 957, "used": 957, "source": "GT" }, { "requested": 982, "used": 982, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening." }, { "chunk": 3, "start": 1014, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 839, "used": 839, "source": "GT" }, { "requested": 864, "used": 864, "source": "GT" }, { "requested": 889, "used": 889, "source": "GT" }, { "requested": 914, "used": 914, "source": "GT" }, { "requested": 939, "used": 939, "source": "GT" }, { "requested": 964, "used": 964, "source": "GT" }, { "requested": 989, "used": 989, "source": "GT" }, { "requested": 1014, "used": 1014, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.; Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." }, { "chunk": 4, "start": 1046, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 871, "used": 871, "source": "GT" }, { "requested": 896, "used": 896, "source": "GT" }, { "requested": 921, "used": 921, "source": "GT" }, { "requested": 946, "used": 946, "source": "GT" }, { "requested": 971, "used": 971, "source": "GT" }, { "requested": 996, "used": 996, "source": "GT" }, { "requested": 1021, "used": 1021, "source": "GT" }, { "requested": 1046, "used": 1046, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside. right arm: Move down towards the bottom of the bag zipper." }, { "chunk": 5, "start": 1078, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 903, "used": 903, "source": "GT" }, { "requested": 928, "used": 928, "source": "GT" }, { "requested": 953, "used": 953, "source": "GT" }, { "requested": 978, "used": 978, "source": "GT" }, { "requested": 1003, "used": 1003, "source": "GT" }, { "requested": 1028, "used": 1028, "source": "GT" }, { "requested": 1053, "used": 1053, "source": "GT" }, { "requested": 1078, "used": 1078, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." }, { "chunk": 6, "start": 1110, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 935, "used": 935, "source": "GT" }, { "requested": 960, "used": 960, "source": "GT" }, { "requested": 985, "used": 985, "source": "GT" }, { "requested": 1010, "used": 1010, "source": "GT" }, { "requested": 1035, "used": 1035, "source": "GT" }, { "requested": 1060, "used": 1060, "source": "GT" }, { "requested": 1085, "used": 1085, "source": "GT" }, { "requested": 1110, "used": 1110, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." }, { "chunk": 7, "start": 1142, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 967, "used": 967, "source": "GT" }, { "requested": 992, "used": 992, "source": "GT" }, { "requested": 1017, "used": 1017, "source": "GT" }, { "requested": 1042, "used": 1042, "source": "GT" }, { "requested": 1067, "used": 1067, "source": "GT" }, { "requested": 1092, "used": 1092, "source": "GT" }, { "requested": 1117, "used": 1117, "source": "GT" }, { "requested": 1142, "used": 1142, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." } ], "elapsed": 20.406721591949463, "path": "ckpt-40000/rollout/case23/gt_feedback", "prediction": { "left_xyz_mm": [ [ 547.5819702148438, 298.4440002441406, 1129.2530517578125 ], [ 547.7570190429688, 298.302001953125, 1129.2530517578125 ], [ 547.8150024414062, 298.302001953125, 1129.2530517578125 ], [ 548.281982421875, 298.1600036621094, 1129.2530517578125 ], [ 548.2230224609375, 297.3089904785156, 1129.2530517578125 ], [ 548.6900024414062, 297.5929870605469, 1129.6910400390625 ], [ 548.9819946289062, 297.7349853515625, 1130.1300048828125 ], [ 549.2730102539062, 297.7349853515625, 1129.9100341796875 ], [ 549.7979736328125, 296.8840026855469, 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.5743553414940834, "endpoint_mm": 3.3121693413704634, "gripper_change": 0.006497647613286972 }, "right": { "rms_displacement_mm": 1.194566022604704, "endpoint_mm": 0.5671472754329443, "gripper_change": 0.0065170954912900925 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.1015889942646027, "endpoint_mm": 2.434761729091406, "gripper_change": 0.006076747551560402 }, "right": { "rms_displacement_mm": 1.1010576272383332, "endpoint_mm": 1.6059298068284988, "gripper_change": 0.005877958610653877 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "fbce171c1da9cfeca9d20ec5f57db4f381cd9da1da2e6982dd2485f00be0da91", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 1.3174144551157951, "endpoint_mm": 1.2844292214140296, "gripper_change": 0.0050244927406311035 }, "right": { "rms_displacement_mm": 0.8447787840850651, "endpoint_mm": 1.7110951012000442, "gripper_change": 0.004904737696051598 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case02/current_repeat/full_stop/seed314", "prediction": { "left_xyz_mm": [ [ 293.28399658203125, -111.33100128173828, 386.5849914550781 ], [ 293.28399658203125, -112.8219985961914, 386.92999267578125 ], [ 293.28399658203125, 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.639999845996499, "endpoint_mm": 3.702369751408696, "gripper_change": 0.006813326850533485 }, "right": { "rms_displacement_mm": 1.6378030413761735, "endpoint_mm": 0.9669212158769369, "gripper_change": 0.006396057084202766 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.017664024606347, "endpoint_mm": 2.3626978509128094, "gripper_change": 0.006392423063516617 }, "right": { "rms_displacement_mm": 1.2978994054719806, "endpoint_mm": 1.8305121921002865, "gripper_change": 0.005664912983775139 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.6530262548476458, "endpoint_mm": 3.993805032223463, "gripper_change": 0.0066028740257024765 }, "right": { "rms_displacement_mm": 1.524020335637033, "endpoint_mm": 1.963781425729394, "gripper_change": 0.0059844814240932465 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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0.5439773667603731, "left_xyz_delta_mm": 0.3529081295710057, "right_xyz_delta_mm": 0.6835778476670384, "video_mae_255": 12.66842280982906, "action_max_abs": 0.006817460060119629, "video_max_abs": 204, "reference_motion_mm": 1.1586121981963515, "prediction_motion_mm": 1.2490786612033844, "motion_ratio": 1.0780817456849365 }, "history_comparison": { "xyz_delta_mm": 0.4804769705515355, "left_xyz_delta_mm": 0.443009048467502, "right_xyz_delta_mm": 0.5152273224666715, "video_mae_255": 17.88549053485577, "action_max_abs": 0.0034087300300598145, "video_max_abs": 197 } }, { "case": "case02", "variant": "l3_conflict", "history": "current_repeat", "seed": 42, "prompt": "Robot: s169a40_hires. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.3133272770792246, "endpoint_mm": 2.687287051230669, "gripper_change": 0.0060767438262701035 }, "right": { "rms_displacement_mm": 1.21174450032413, "endpoint_mm": 1.1678340379148722, "gripper_change": 0.005664912983775139 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 3.2591838389635086, "endpoint_mm": 2.897623460739851, "gripper_change": 0.006076741963624954 }, "right": { "rms_displacement_mm": 0.9791847551241517, "endpoint_mm": 0.7280844147317111, "gripper_change": 0.005756920203566551 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.524784067645669, "endpoint_mm": 3.1136407051235437, "gripper_change": 0.005761070176959038 }, "right": { "rms_displacement_mm": 2.664331579580903, "endpoint_mm": 5.971825681626797, "gripper_change": 0.005345344543457031 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 3.0605231877416372, "endpoint_mm": 3.072553314268589, "gripper_change": 0.006181968376040459 }, "right": { "rms_displacement_mm": 1.5738140791654587, "endpoint_mm": 0.9162207716144621, "gripper_change": 0.00596996583044529 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.4095207918435335, "endpoint_mm": 2.757445676252246, "gripper_change": 0.005971517413854599 }, "right": { "rms_displacement_mm": 2.9085439164191484, "endpoint_mm": 6.767574232071638, "gripper_change": 0.005238821730017662 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 3.1608364079147577, "endpoint_mm": 3.2828194089233875, "gripper_change": 0.006076741963624954 }, "right": { "rms_displacement_mm": 1.1368461418896914, "endpoint_mm": 0.9048001957125962, "gripper_change": 0.005543874576687813 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.5306048337370157, "endpoint_mm": 2.943440107628703, "gripper_change": 0.006392423063516617 }, "right": { "rms_displacement_mm": 1.3722084695473313, "endpoint_mm": 3.0903308652341366, "gripper_change": 0.004691692069172859 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.493313979357481, "endpoint_mm": 2.8973184525966644, "gripper_change": 0.006392421200871468 }, "right": { "rms_displacement_mm": 1.4534953515976667, "endpoint_mm": 0.9957383153960109, "gripper_change": 0.005756920203566551 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.158309565857053, "endpoint_mm": 2.5522068608552217, "gripper_change": 0.005655841901898384 }, "right": { "rms_displacement_mm": 2.1138363517820835, "endpoint_mm": 4.675150383263826, "gripper_change": 0.0054518673568964005 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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"video_max_abs": 204, "reference_motion_mm": 1.2333291815593839, "prediction_motion_mm": 0.8065696456469595, "motion_ratio": 0.6539775898492546 } }, { "case": "case02", "variant": "full_swap_l1", "history": "true_history", "seed": 314, "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.399860881268978, "endpoint_mm": 2.7081582229584455, "gripper_change": 0.00691855326294899 }, "right": { "rms_displacement_mm": 1.7976693343371153, "endpoint_mm": 1.4269703533500433, "gripper_change": 0.005756920203566551 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.160874893888831, "endpoint_mm": 2.5522068608552217, "gripper_change": 0.0060767438262701035 }, "right": { "rms_displacement_mm": 2.5242995470762253, "endpoint_mm": 6.13290024921298, "gripper_change": 0.005238821730017662 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "ab0337bfd044ebc07b946c33b2b13b6f8a437b28ed58e43b65fb8483f7c19204", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 1.6202116385102272, "endpoint_mm": 1.8138295272365212, "gripper_change": 0.0031337402760982513 }, "right": { "rms_displacement_mm": 1.6392688266932964, "endpoint_mm": 1.24293752014637, "gripper_change": 0.00300675630569458 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case02/true_history/l1_conflict/seed314", "prediction": { "left_xyz_mm": [ [ 293.28399658203125, -111.03299713134766, 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "ab0337bfd044ebc07b946c33b2b13b6f8a437b28ed58e43b65fb8483f7c19204", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 1.1247495422139764, "endpoint_mm": 1.4050224563106894, "gripper_change": 0.0037650875747203827 }, "right": { "rms_displacement_mm": 2.4223290383815765, "endpoint_mm": 5.520051810890436, "gripper_change": 0.001994902268052101 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case02/true_history/l1_conflict/seed42", "prediction": { "left_xyz_mm": [ [ 293.28399658203125, -112.8219985961914, 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"right_xyz_delta_mm": 0.4808535159099847, "video_mae_255": 9.295665564903846, "action_max_abs": 0.006817460060119629, "video_max_abs": 217, "reference_motion_mm": 1.2333291815593839, "prediction_motion_mm": 1.0903164511546493, "motion_ratio": 0.8840433417589992 } }, { "case": "case02", "variant": "l1_only_original", "history": "true_history", "seed": 314, "prompt": "Robot: s169a40_hires\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "3978e7da65a8f43c5a470b9f537b59880597dc5ee954b059a5c07a48504adf7f", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 1.683177542872727, "endpoint_mm": 2.219770336523652, "gripper_change": 0.005234941840171814 }, "right": { "rms_displacement_mm": 1.0975252371281385, "endpoint_mm": 1.0693890508264303, 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.9123518615961075, "endpoint_mm": 3.46854398958385, "gripper_change": 0.006813326850533485 }, "right": { "rms_displacement_mm": 1.2292724568396807, "endpoint_mm": 0.8717955206520855, "gripper_change": 0.004812730476260185 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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"Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.493313979357481, "endpoint_mm": 2.8973184525966644, "gripper_change": 0.006392421200871468 }, "right": { "rms_displacement_mm": 1.4534953515976667, "endpoint_mm": 0.9957383153960109, "gripper_change": 0.005756920203566551 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.158309565857053, "endpoint_mm": 2.5522068608552217, "gripper_change": 0.005655841901898384 }, "right": { "rms_displacement_mm": 2.1138363517820835, "endpoint_mm": 4.675150383263826, "gripper_change": 0.0054518673568964005 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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"action_max_abs": 0.5234454274177551, "video_max_abs": 245 } }, { "case": "case05", "variant": "full_stop", "history": "current_repeat", "seed": 314, "prompt": "Robot: s216a44_rl. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "148a7203e884ca1ffe2af7ef6114171c9b40fb472853dea18908f15665e3c130", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 1.3918167678639293, "endpoint_mm": 0.905750785022974, "gripper_change": 0.0016427095979452133 }, "right": { "rms_displacement_mm": 1.335730659775436, "endpoint_mm": 1.6122115775942802, "gripper_change": 0.07988829910755157 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case05/current_repeat/full_stop/seed314", "prediction": { "left_xyz_mm": [ [ 549.1119995117188, 300.3160095214844, 94.947998046875 ], [ 549.6209716796875, 299.92999267578125, 94.947998046875 ], [ 549.6209716796875, 300.3160095214844, 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "context": "03086d8b3b2d2180a9e5f4e30b4d5121b0fe9d26afa9a22b55a14b80fec0387d", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 1.8868448678404093, "endpoint_mm": 1.7552529461681843, "gripper_change": 0.0029870420694351196 }, "right": { "rms_displacement_mm": 4.487321246415377, "endpoint_mm": 4.513971507549286, "gripper_change": 0.019023170694708824 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case05/reverse_past/l3_conflict/seed314", "prediction": { "left_xyz_mm": [ [ 549.6209716796875, 300.3160095214844, 94.947998046875 ], [ 549.6209716796875, 300.3160095214844, 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Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: right arm: Hold the remote control steady on the table.", "context": "cf4d1da7eaafe54aafb00d18ee5ac4927e8d1e265e8e1997d8eaeead39a313f2", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 1.119246007874608, "endpoint_mm": 0.8613670361228287, "gripper_change": 0.0029281340539455414 }, "right": { "rms_displacement_mm": 20.733755081892014, "endpoint_mm": 24.38151277601719, "gripper_change": 0.0021610588300973177 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case05/true_history/full_swap_l1/seed42", "prediction": { "left_xyz_mm": [ [ 549.1119995117188, 299.54400634765625, 94.947998046875 ], [ 549.1119995117188, 299.54400634765625, 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Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "3afb2bc801e8798921ef129f37cb744057da4a00c0b7a7b042be116ccdb45e07", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 1.5313419280573726, "endpoint_mm": 2.003598725423217, "gripper_change": 0.001991361379623413 }, "right": { "rms_displacement_mm": 15.677075833082199, "endpoint_mm": 26.642736047506332, "gripper_change": 0.030488137155771255 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case05/true_history/l1_conflict/seed314", "prediction": { "left_xyz_mm": [ [ 549.1119995117188, 300.3160095214844, 94.947998046875 ], [ 549.6209716796875, 299.92999267578125, 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Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "3afb2bc801e8798921ef129f37cb744057da4a00c0b7a7b042be116ccdb45e07", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 1.0819664457812905, "endpoint_mm": 1.2208633124828339, "gripper_change": 0.002516740933060646 }, "right": { "rms_displacement_mm": 21.06683887541294, "endpoint_mm": 24.136681109666824, "gripper_change": 0.0024882128927856684 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case05/true_history/l1_conflict/seed42", "prediction": { "left_xyz_mm": [ [ 549.6209716796875, 299.54400634765625, 94.947998046875 ], [ 549.6209716796875, 299.54400634765625, 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "context": "03086d8b3b2d2180a9e5f4e30b4d5121b0fe9d26afa9a22b55a14b80fec0387d", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 1.5971687389537692, "endpoint_mm": 1.828738721087575, "gripper_change": 0.001993279904127121 }, "right": { "rms_displacement_mm": 28.610900044441223, "endpoint_mm": 47.73520305752754, "gripper_change": 0.3411884307861328 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case05/true_history/l3_conflict/seed314", "prediction": { "left_xyz_mm": [ [ 549.1119995117188, 300.3160095214844, 94.947998046875 ], [ 549.6209716796875, 299.92999267578125, 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 4.392473958432674, "endpoint_mm": 6.492572836577892, "gripper_change": 0.0022772857919335365 }, "right": { "rms_displacement_mm": 2.9390165582299232, "endpoint_mm": 1.7718796152621508, "gripper_change": 0.001274443231523037 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 5.269140470772982, "endpoint_mm": 9.733515791594982, "gripper_change": 0.0024979375302791595 }, "right": { "rms_displacement_mm": 3.6781404633075, "endpoint_mm": 1.9905955996364355, "gripper_change": 0.0012464597821235657 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case15/current_repeat/l3_conflict/seed314", "prediction": { "left_xyz_mm": [ [ 754.3489990234375, 427.0350036621094, 880.4299926757812 ], [ 754.3489990234375, 427.6419982910156, 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 8.760074153542519, "endpoint_mm": 11.267229914665222, "gripper_change": 0.003434928134083748 }, "right": { "rms_displacement_mm": 3.7831244990229607, "endpoint_mm": 2.210113685578108, "gripper_change": 0.0008954210206866264 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case15/current_repeat/l3_conflict/seed42", "prediction": { "left_xyz_mm": [ [ 754.3489990234375, 427.6419982910156, 880.4299926757812 ], [ 754.3489990234375, 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 40.134113281965256, "endpoint_mm": 57.3827289044857, "gripper_change": 0.008309023454785347 }, "right": { "rms_displacement_mm": 3.7060545291751623, "endpoint_mm": 3.4325257875025272, "gripper_change": 0.001821865327656269 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 38.871414959430695, "endpoint_mm": 56.503403931856155, "gripper_change": 0.007203294895589352 }, "right": { "rms_displacement_mm": 4.24831872805953, "endpoint_mm": 3.467944683507085, "gripper_change": 0.0013863658532500267 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 46.29199579358101, "endpoint_mm": 71.33305817842484, "gripper_change": 0.003813653253018856 }, "right": { "rms_displacement_mm": 4.051965661346912, "endpoint_mm": 3.8181983400136232, "gripper_change": 0.0016178479418158531 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 56.40086531639099, "endpoint_mm": 96.44567966461182, "gripper_change": 0.0018903706222772598 }, "right": { "rms_displacement_mm": 2.714441390708089, "endpoint_mm": 3.207499161362648, "gripper_change": 0.001482013612985611 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 46.29199579358101, "endpoint_mm": 71.33305817842484, "gripper_change": 0.003813653253018856 }, "right": { "rms_displacement_mm": 4.051965661346912, "endpoint_mm": 3.8181983400136232, "gripper_change": 0.0016178479418158531 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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"comparison": { "reference_variant": "full_original", "xyz_delta_mm": 0.0, "left_xyz_delta_mm": 0.0, "right_xyz_delta_mm": 0.0, "video_mae_255": 0.0, "action_max_abs": 0.0, "video_max_abs": 0, "reference_motion_mm": 18.97088810801506, "prediction_motion_mm": 18.97088810801506, "motion_ratio": 1.0 } }, { "case": "case15", "variant": "repeat", "history": "true_history", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 56.40086531639099, "endpoint_mm": 96.44567966461182, "gripper_change": 0.0018903706222772598 }, "right": { "rms_displacement_mm": 2.714441390708089, "endpoint_mm": 3.207499161362648, "gripper_change": 0.001482013612985611 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.", "context": "9a8760327ccdb2cb0b15ef65d0a63bef08e3263587b3f48da65af98eda9757fd", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.18749837949872, "endpoint_mm": 3.3389730378985405, "gripper_change": 0.0011249110102653503 }, "right": { "rms_displacement_mm": 1.2498454889282584, "endpoint_mm": 0.7395400898531079, "gripper_change": 0.0035340897738933563 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case17/current_repeat/full_swap_l1/seed314", "prediction": { 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.", "context": "9a8760327ccdb2cb0b15ef65d0a63bef08e3263587b3f48da65af98eda9757fd", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.363459672778845, "endpoint_mm": 2.9686728958040476, "gripper_change": 0.001101810485124588 }, "right": { "rms_displacement_mm": 5.008786451071501, "endpoint_mm": 6.228478625416756, "gripper_change": 0.0038729244843125343 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case17/current_repeat/full_swap_l1/seed42", "prediction": { 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1.0412157773971558, 0.0, 0.0, 0.0, 0.0, 0.045500002801418304 ], "comparison": { "reference_variant": "full_original", "xyz_delta_mm": 2.7604622300714254, "left_xyz_delta_mm": 0.8443444967269897, "right_xyz_delta_mm": 3.8114809431135654, "video_mae_255": 1.4015399639423076, "action_max_abs": 0.009637504816055298, "video_max_abs": 129, "reference_motion_mm": 3.5461534280329943, "prediction_motion_mm": 1.2446441687643528, "motion_ratio": 0.3509842972177154 }, "history_comparison": { "xyz_delta_mm": 44.99413073062897, "left_xyz_delta_mm": 63.62568587064743, "right_xyz_delta_mm": 0.8456725627183914, "video_mae_255": 7.898187516693376, "action_max_abs": 0.19709283113479614, "video_max_abs": 146 } }, { "case": "case17", "variant": "full_original", "history": "reverse_past", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 84.43418145179749, "endpoint_mm": 127.08333134651184, "gripper_change": 0.0038155876100063324 }, "right": { "rms_displacement_mm": 4.513437859714031, "endpoint_mm": 5.834419280290604, "gripper_change": 0.004663540981709957 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case17/reverse_past/full_original/seed314", "prediction": { 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 118.06716024875641, "endpoint_mm": 219.51328217983246, "gripper_change": 0.0010063089430332184 }, "right": { "rms_displacement_mm": 1.745576853863895, "endpoint_mm": 2.2876483853906393, "gripper_change": 0.002630528062582016 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case17/reverse_past/full_original/seed42", "prediction": { 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.", "context": "9a8760327ccdb2cb0b15ef65d0a63bef08e3263587b3f48da65af98eda9757fd", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 112.7464771270752, "endpoint_mm": 213.89923989772797, "gripper_change": 0.0010371357202529907 }, "right": { "rms_displacement_mm": 1.8957381835207343, "endpoint_mm": 2.3625099565833807, "gripper_change": 0.0015766764990985394 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case17/reverse_past/full_swap_l1/seed42", "prediction": { 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 86.29246056079865, "endpoint_mm": 130.95802068710327, "gripper_change": 0.0016504637897014618 }, "right": { "rms_displacement_mm": 5.3057498298585415, "endpoint_mm": 5.946643650531769, "gripper_change": 0.004776486195623875 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case17/true_history/full_original/seed314", "prediction": { 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 117.29520559310913, "endpoint_mm": 217.8025096654892, "gripper_change": 0.0009477436542510986 }, "right": { "rms_displacement_mm": 1.7563392175361514, "endpoint_mm": 2.288932679221034, "gripper_change": 0.002348165027797222 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case17/true_history/full_original/seed42", "prediction": { 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.", "context": "9a8760327ccdb2cb0b15ef65d0a63bef08e3263587b3f48da65af98eda9757fd", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 112.59448528289795, "endpoint_mm": 212.48216927051544, "gripper_change": 0.000953923910856247 }, "right": { "rms_displacement_mm": 1.7743522766977549, "endpoint_mm": 2.2948512341827154, "gripper_change": 0.0015393318608403206 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case17/true_history/full_swap_l1/seed42", "prediction": { 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Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "context": "826fcdeabec1640804f33e2431d4c4ddf8b851a5356990fd12c7713d227d18c5", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 104.341059923172, "endpoint_mm": 137.9142701625824, "gripper_change": 0.004940370097756386 }, "right": { "rms_displacement_mm": 1.4726402005180717, "endpoint_mm": 2.4021784774959087, "gripper_change": 0.0022465605288743973 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-40000/diagnostics/case19/true_history/repeat/seed314", "prediction": { "left_xyz_mm": [ [ 418.11199951171875, 246.9600067138672, 1156.2550048828125 ], [ 420.5220031738281, 252.3679962158203, 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430.760009765625, -187.5959930419922, 1135.012939453125 ], [ 430.760009765625, -187.59500122070312, 1135.0140380859375 ], [ 430.760009765625, -187.5959930419922, 1135.0140380859375 ], [ 430.760986328125, -187.60000610351562, 1135.0150146484375 ] ], "left_gripper": [ 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084, 0.918179988861084 ], "right_gripper": [ 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014, 0.9127299785614014 ] }, "initial": [ 0.41537800431251526, 0.23995782434940338, 1.1608951091766357, 0.0, 0.0, 0.0, 0.0, 0.918181836605072, 0.4307604432106018, -0.18760143220424652, 1.1350067853927612, 0.0, 0.0, 0.0, 0.0, 0.9127272963523865 ], "comparison": { "reference_variant": "full_original", "xyz_delta_mm": 0.0, "left_xyz_delta_mm": 0.0, "right_xyz_delta_mm": 0.0, "video_mae_255": 0.0, "action_max_abs": 0.0, "video_max_abs": 0, "reference_motion_mm": 10.586514137685299, "prediction_motion_mm": 10.586514137685299, "motion_ratio": 1.0 } } ], "summary": [ { "mode": "gt_feedback", "chunks": 1, "psnr": 20.833115910722928, "xyz_rmse_mm": 18.515329419945676 }, { "mode": "gt_feedback", "chunks": 3, "psnr": 20.806604839892046, "xyz_rmse_mm": 17.54898438230157 }, { "mode": "gt_feedback", "chunks": 8, "psnr": 20.732360169700055, "xyz_rmse_mm": 19.794306135736406 }, { "mode": "generated_feedback", "chunks": 1, "psnr": 20.833115910722928, "xyz_rmse_mm": 18.515329419945676 }, { "mode": "generated_feedback", "chunks": 3, "psnr": 19.403736008149696, "xyz_rmse_mm": 29.45659012766555 }, { "mode": "generated_feedback", "chunks": 8, "psnr": 17.72307102379441, "xyz_rmse_mm": 44.870536075904965 } ], "responses": [ { "variant": "full_original", "paired_cases": 12, "mean_xyz_delta_mm": 0.0, "mean_video_mae": 0.0, "median_motion_ratio": 1.0, "max_action_abs": 0.0 }, { "variant": "full_stop", "paired_cases": 12, "mean_xyz_delta_mm": 19.655447501766805, "mean_video_mae": 7.744711016793537, "median_motion_ratio": 0.712491877724529, "max_action_abs": 0.24175721406936646 }, { "variant": "full_swap_l1", "paired_cases": 12, "mean_xyz_delta_mm": 5.689322383356436, "mean_video_mae": 2.3108496163305734, "median_motion_ratio": 0.9907963588060562, "max_action_abs": 0.10628366470336914 }, { "variant": "l1_conflict", "paired_cases": 12, "mean_xyz_delta_mm": 7.1656960499240085, "mean_video_mae": 4.010970295528401, "median_motion_ratio": 0.9208028010553534, "max_action_abs": 0.20217394828796387 }, { "variant": "l1_only_original", "paired_cases": 12, "mean_xyz_delta_mm": 0.0, "mean_video_mae": 0.0, "median_motion_ratio": 1.0, "max_action_abs": 0.0 }, { "variant": "l1_only_stop", "paired_cases": 12, "mean_xyz_delta_mm": 9.364762765471824, "mean_video_mae": 5.469472127626425, "median_motion_ratio": 0.9157370289135291, "max_action_abs": 0.5004364252090454 }, { "variant": "l1_only_swap", "paired_cases": 12, "mean_xyz_delta_mm": 6.523014154178479, "mean_video_mae": 3.9538235482327284, "median_motion_ratio": 0.9569980297956651, "max_action_abs": 0.4178839325904846 }, { "variant": "l3_conflict", "paired_cases": 12, "mean_xyz_delta_mm": 4.497676316532306, "mean_video_mae": 3.664329002793359, "median_motion_ratio": 1.0228295015084465, "max_action_abs": 0.3696833550930023 }, { "variant": "l3_only_edit", "paired_cases": 12, "mean_xyz_delta_mm": 9.350930903262148, "mean_video_mae": 5.454771453770477, "median_motion_ratio": 1.056615482656925, "max_action_abs": 1.0808780193328857 }, { "variant": "l3_only_original", "paired_cases": 12, "mean_xyz_delta_mm": 0.0, "mean_video_mae": 0.0, "median_motion_ratio": 1.0, "max_action_abs": 0.0 }, { "variant": "repeat", "paired_cases": 12, "mean_xyz_delta_mm": 0.0, "mean_video_mae": 0.0, "median_motion_ratio": 1.0, "max_action_abs": 0.0 } ], "seed_effect": [ { "case": "case15", "xyz_delta_mm": 19.86435055732727, "left_xyz_delta_mm": 28.056606650352478, "right_xyz_delta_mm": 1.4183528255671263, "video_mae_255": 4.616518095619658, "action_max_abs": 0.052583277225494385, "video_max_abs": 174 }, { "case": "case14", "xyz_delta_mm": 10.472375899553299, "left_xyz_delta_mm": 14.78511281311512, "right_xyz_delta_mm": 0.8612190140411258, "video_mae_255": 6.492674111912393, "action_max_abs": 0.02657010406255722, "video_max_abs": 183 }, { "case": "case19", "xyz_delta_mm": 35.12569144368172, "left_xyz_delta_mm": 49.66777190566063, "right_xyz_delta_mm": 0.8606399060226977, "video_mae_255": 9.667159121260683, "action_max_abs": 0.10066163539886475, "video_max_abs": 191 }, { "case": "case17", "xyz_delta_mm": 24.873411282896996, "left_xyz_delta_mm": 35.05462035536766, "right_xyz_delta_mm": 2.9235018882900476, "video_mae_255": 9.29787368122329, "action_max_abs": 0.08878540992736816, "video_max_abs": 175 }, { "case": "case05", "xyz_delta_mm": 9.3902088701725, "left_xyz_delta_mm": 0.5640804884023964, "right_xyz_delta_mm": 13.267775066196918, "video_mae_255": 5.987700737847222, "action_max_abs": 0.14656475186347961, "video_max_abs": 247 }, { "case": "case02", "xyz_delta_mm": 1.1024866253137589, "left_xyz_delta_mm": 0.7584019913338125, "right_xyz_delta_mm": 1.3622702099382877, "video_mae_255": 24.803369975293805, "action_max_abs": 0.006817460060119629, "video_max_abs": 220 } ], "checkpoint_step": 40000, "video_steps": 10, "action_steps": 10, "shift": 3, "diagnostic_cases": [ "case15", "case14", "case19", "case17", "case05", "case02" ], "verification": { "rollouts": 72, "diagnostics": 228, "strict_load_ranks": 8, "workers": 8, "identical_repeat_max_action_abs": 0.0, "no_future_GT_images_in_generated_feedback": true }, "baseline20k": { "cases": [ { "id": "case15", "tree": "robocoin_lerobot_v3/robocoin_agilex_decoupled_hd", "shard": "c000-f001", "episode": 515, "start": 407, "starts": [ 407, 439, 471, 503, 535, 567, 599, 631 ], "prompts": [ "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." ], "split": "validation", "file": "case15.npz", "motion_score": 0.008097350597381592, "complexity_score": 0.015439535921463632, "difficulty_proxy": "low" }, { "id": "case13", "tree": "robocoin_lerobot_v3/robocoin_agilex_cobot_magic_with_front_chest", "shard": "c000-f000", "episode": 3, "start": 257, "starts": [ 257, 289, 321, 353, 385, 417, 449, 481 ], "prompts": [ "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Grasp the orange build block on the right side of the table.", "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block.", "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Move the orange build block towards the yellow build block.", "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block.", "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block; Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block.", "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block.", "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block.", "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Place the red build block on top of the yellow build block." ], "split": "validation", "file": "case13.npz", "motion_score": 0.01852918416261673, "complexity_score": 0.01967648371262829, "difficulty_proxy": "low" }, { "id": "case21", "tree": "robocoin_lerobot_v3/robocoin_galaxea_r1_lite_stereo", "shard": "c000-f000", "episode": 690, "start": 639, "starts": [ 639, 671, 703, 735, 767, 799, 831, 863 ], "prompts": [ "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder.", "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." ], "split": "validation", "file": "case21.npz", "motion_score": 0.011995866894721985, "complexity_score": 0.032190986166889785, "difficulty_proxy": "low" }, { "id": "case14", "tree": "robocoin_lerobot_v3/robocoin_agilex_decoupled", "shard": "c000-f000", "episode": 273, "start": 468, "starts": [ 468, 500, 532, 564, 596, 628, 660, 692 ], "prompts": [ "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug.", "Robot: robocoin_agilex_decoupled. Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug." ], "split": "validation", "file": "case14.npz", "motion_score": 0.006141293328255415, "complexity_score": 0.033421463632307004, "difficulty_proxy": "low" }, { "id": "case19", "tree": "robocoin_lerobot_v3/robocoin_ai2_alphabot2_s28", "shard": "c000-f000", "episode": 41, "start": 120, "starts": [ 120, 152, 184, 216, 248, 280, 312, 344 ], "prompts": [ "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Move the left arm forward towards the table area. right arm: Wait in the starting position.", "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Continue moving the left arm forward towards the water bottle. right arm: Wait in the starting position.", "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Continue moving the left arm forward towards the water bottle. right arm: Wait in the starting position.", "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Continue moving the left arm forward towards the water bottle. right arm: Wait in the starting position.", "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Continue moving the left arm forward towards the water bottle. right arm: Wait in the starting position.", "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position." ], "split": "validation", "file": "case19.npz", "motion_score": 0.00846625491976738, "complexity_score": 0.03532351628737171, "difficulty_proxy": "medium" }, { "id": "case23", "tree": "robocoin_lerobot_v3/robocoin_realman_aidal", "shard": "c000-f002", "episode": 434, "start": 918, "starts": [ 918, 950, 982, 1014, 1046, 1078, 1110, 1142 ], "prompts": [ "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening.", "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: left arm: Hold the lunch bag securely while the right arm adjusts its position. right arm: Pull the zipper to close the bag opening.", "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening.", "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.; Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside.", "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside. right arm: Move down towards the bottom of the bag zipper.", "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside.", "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside.", "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." ], "split": "validation", "file": "case23.npz", "motion_score": 0.026141373440623283, "complexity_score": 0.0361144578313253, "difficulty_proxy": "medium" }, { "id": "case03", "tree": "agibotworld_2026_lerobot_v3/s193a44", "shard": "c000-f000", "episode": 25, "start": 394, "starts": [ 394, 426, 458, 490, 522, 554, 586, 618 ], "prompts": [ "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge.", "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge.", "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge.", "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge.", "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge.", "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge.", "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge.", "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm wipes stains on the table with the held sponge\nAtomic instruction: right arm: Wipe the stains on the table with the held sponge." ], "split": "validation", "file": "case03.npz", "motion_score": 0.02914915420114994, "complexity_score": 0.05110999553770638, "difficulty_proxy": "medium" }, { "id": "case17", "tree": "robocoin_lerobot_v3/robocoin_agilex_decoupled_with_high_realsense", "shard": "c000-f001", "episode": 1514, "start": 56, "starts": [ 56, 88, 120, 152, 184, 216, 248, 280 ], "prompts": [ "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf.", "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper; Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: left arm: Carry the held tomato slice over to the lettuce leaf in the center of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: left arm: Carry the held tomato slice over to the lettuce leaf in the center of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf.", "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf." ], "split": "validation", "file": "case17.npz", "motion_score": 0.01958305574953556, "complexity_score": 0.05637996430165105, "difficulty_proxy": "medium" }, { "id": "case05", "tree": "agibotworld_2026_lerobot_v3/s216a44_rl", "shard": "c000-f021", "episode": 981, "start": 760, "starts": [ 760, 792, 824, 856, 888, 920, 952, 984 ], "prompts": [ "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment; The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table. right arm: Grasp the battery cover on the table.", "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table. right arm: Grasp the battery cover on the table.", "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table." ], "split": "validation", "file": "case05.npz", "motion_score": 0.014730062335729599, "complexity_score": 0.059028335564480144, "difficulty_proxy": "high" }, { "id": "case04", "tree": "agibotworld_2026_lerobot_v3/s216a44", "shard": "c000-f000", "episode": 31, "start": 631, "starts": [ 631, 663, 695, 727, 759, 791, 823, 855 ], "prompts": [ "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: left arm: Hold the tea canister steady while the right arm takes out the tea bag. right arm: Lift the tea bag out of the canister.", "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: left arm: Hold the tea canister steady while the right arm takes out the tea bag.", "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: left arm: Hold the tea canister steady while the right arm takes out the tea bag.", "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: left arm: Hold the tea canister steady while the right arm takes out the tea bag. right arm: Move the tea bag towards the mug.", "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: right arm: Move the tea bag towards the mug.", "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister; Right arm puts the tea bag into the mug\nAtomic instruction: right arm: Move the tea bag towards the mug.", "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm puts the tea bag into the mug\nAtomic instruction: left arm: Hold the tea canister steady on the table. right arm: Move the tea bag towards the mug.", "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm puts the tea bag into the mug\nAtomic instruction: left arm: Hold the tea canister steady on the table. right arm: Move the tea bag towards the mug." ], "split": "validation", "file": "case04.npz", "motion_score": 0.016236618161201477, "complexity_score": 0.07657518964747881, "difficulty_proxy": "high" }, { "id": "case01", "tree": "agibotworld_2026_lerobot_v3/s169a40", "shard": "c000-f000", "episode": 11, "start": 438, "starts": [ 438, 470, 502, 534, 566, 598, 630, 662 ], "prompts": [ "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Lift the yellow boxed yogurt off the shelf. right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.; Waist rotation.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates.", "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend at the waist while lowering the body.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." ], "split": "validation", "file": "case01.npz", "motion_score": 0.0376061350107193, "complexity_score": 0.12862672913877732, "difficulty_proxy": "high" }, { "id": "case02", "tree": "agibotworld_2026_lerobot_v3/s169a40_hires", "shard": "c000-f000", "episode": 10, "start": 344, "starts": [ 344, 376, 408, 440, 472, 504, 536, 568 ], "prompts": [ "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Bend the waist downward while lowering the body.; The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body.", "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart.", "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart.", "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart." ], "split": "validation", "file": "case02.npz", "motion_score": 0.05701672285795212, "complexity_score": 0.14353525211958948, "difficulty_proxy": "high" } ], "selection": "First eligible held-out episodes across robot trees, deterministic 24-candidate cap; 4 evenly spaced candidates from each GT image edge-density tertile; no model-output selection.", "difficulty_definition": "Spatial RGB edge-density proxy for scene complexity; not manual object-count or semantic difficulty labels.", "rollouts": [ { "case": "case01", "mode": "generated_feedback", "chunks": 1, "seconds": 1.28, "video_steps": 10, "action_steps": 10, "shift": 3, "psnr": 22.903175224574632, "xyz_rmse_mm": 3.3307671546936035, "xyz_valid_components": 192, "motion": { "left": { "rms_displacement_mm": 11.245397850871086, "endpoint_mm": 10.754394344985485, "gripper_change": 0.023574793711304665 }, "right": { "rms_displacement_mm": 2.7707654517143965, "endpoint_mm": 2.8512668795883656, "gripper_change": 0.004456094466149807 } }, "history_trace": [ { "chunk": 0, "start": 438, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 263, "used": 263, "source": "GT" }, { "requested": 288, "used": 288, "source": "GT" }, { "requested": 313, "used": 313, "source": "GT" }, { "requested": 338, "used": 338, "source": "GT" }, { "requested": 363, "used": 363, "source": "GT" }, { "requested": 388, "used": 388, "source": "GT" }, { "requested": 413, "used": 413, "source": "GT" }, { "requested": 438, "used": 438, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Lift the yellow boxed yogurt off the shelf. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." } ], "elapsed": 2.6564362049102783, "path": "ckpt-20000/rollout/case01/generated_feedback", "prediction": { "left_xyz_mm": [ [ 475.30499267578125, -125.91899871826172, 450.64801025390625 ], [ 476.4169921875, -125.43000030517578, 452.0060119628906 ], [ 476.9739990234375, -123.96199798583984, 452.0060119628906 ], [ 475.8609924316406, -126.89700317382812, 451.3269958496094 ], [ 475.8609924316406, -125.43000030517578, 450.64801025390625 ], [ 478.08599853515625, -125.43000030517578, 451.3269958496094 ], [ 476.4169921875, -125.43000030517578, 451.3269958496094 ], [ 478.08599853515625, 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Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Lift the yellow boxed yogurt off the shelf. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 1, "start": 470, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 295, "used": 295, "source": "GT" }, { "requested": 320, "used": 320, "source": "GT" }, { "requested": 345, "used": 345, "source": "GT" }, { "requested": 370, "used": 370, "source": "GT" }, { "requested": 395, "used": 395, "source": "GT" }, { "requested": 420, "used": 420, "source": "GT" }, { "requested": 445, "used": 442, "source": "prediction" }, { "requested": 470, "used": 470, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 2, "start": 502, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 327, "used": 327, "source": "GT" }, { "requested": 352, "used": 352, "source": "GT" }, { "requested": 377, "used": 377, "source": "GT" }, { "requested": 402, "used": 402, "source": "GT" }, { "requested": 427, "used": 427, "source": "GT" }, { "requested": 452, "used": 450, "source": "prediction" }, { "requested": 477, "used": 474, "source": "prediction" }, { "requested": 502, "used": 502, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." } ], "elapsed": 7.880110740661621, "path": "ckpt-20000/rollout/case01/generated_feedback", "prediction": { "left_xyz_mm": [ [ 475.30499267578125, -125.91899871826172, 450.64801025390625 ], [ 476.4169921875, -125.43000030517578, 452.0060119628906 ], [ 476.9739990234375, -123.96199798583984, 452.0060119628906 ], [ 475.8609924316406, -126.89700317382812, 451.3269958496094 ], [ 475.8609924316406, -125.43000030517578, 450.64801025390625 ], [ 478.08599853515625, -125.43000030517578, 451.3269958496094 ], [ 476.4169921875, -125.43000030517578, 451.3269958496094 ], [ 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Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 2, "start": 502, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 327, "used": 327, "source": "GT" }, { "requested": 352, "used": 352, "source": "GT" }, { "requested": 377, "used": 377, "source": "GT" }, { "requested": 402, "used": 402, "source": "GT" }, { "requested": 427, "used": 427, "source": "GT" }, { "requested": 452, "used": 450, "source": "prediction" }, { "requested": 477, "used": 474, "source": "prediction" }, { "requested": 502, "used": 502, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 3, "start": 534, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 359, "used": 359, "source": "GT" }, { "requested": 384, "used": 384, "source": "GT" }, { "requested": 409, "used": 409, "source": "GT" }, { "requested": 434, "used": 434, "source": "GT" }, { "requested": 459, "used": 458, "source": "prediction" }, { "requested": 484, "used": 482, "source": "prediction" }, { "requested": 509, "used": 506, "source": "prediction" }, { "requested": 534, "used": 534, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 4, "start": 566, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 391, "used": 391, "source": "GT" }, { "requested": 416, "used": 416, "source": "GT" }, { "requested": 441, "used": 438, "source": "initial_GT_hold" }, { "requested": 466, "used": 466, "source": "prediction" }, { "requested": 491, "used": 490, "source": "prediction" }, { "requested": 516, "used": 514, "source": "prediction" }, { "requested": 541, "used": 538, "source": "prediction" }, { "requested": 566, "used": 566, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.; Waist rotation.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 5, "start": 598, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 423, "used": 423, "source": "GT" }, { "requested": 448, "used": 446, "source": "prediction" }, { "requested": 473, "used": 470, "source": "prediction" }, { "requested": 498, "used": 498, "source": "prediction" }, { "requested": 523, "used": 522, "source": "prediction" }, { "requested": 548, "used": 546, "source": "prediction" }, { "requested": 573, "used": 570, "source": "prediction" }, { "requested": 598, "used": 598, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 6, "start": 630, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 455, "used": 454, "source": "prediction" }, { "requested": 480, "used": 478, "source": "prediction" }, { "requested": 505, "used": 502, "source": "prediction" }, { "requested": 530, "used": 530, "source": "prediction" }, { "requested": 555, "used": 554, "source": "prediction" }, { "requested": 580, "used": 578, "source": "prediction" }, { "requested": 605, "used": 602, "source": "prediction" }, { "requested": 630, "used": 630, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 7, "start": 662, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 487, "used": 486, "source": "prediction" }, { "requested": 512, "used": 510, "source": "prediction" }, { "requested": 537, "used": 534, "source": "prediction" }, { "requested": 562, "used": 562, "source": "prediction" }, { "requested": 587, "used": 586, "source": "prediction" }, { "requested": 612, "used": 610, "source": "prediction" }, { "requested": 637, "used": 634, "source": "prediction" }, { "requested": 662, "used": 662, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend at the waist while lowering the body.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." } ], "elapsed": 20.76408362388611, "path": "ckpt-20000/rollout/case01/generated_feedback", "prediction": { "left_xyz_mm": [ [ 475.30499267578125, -125.91899871826172, 450.64801025390625 ], [ 476.4169921875, -125.43000030517578, 452.0060119628906 ], [ 476.9739990234375, -123.96199798583984, 452.0060119628906 ], [ 475.8609924316406, -126.89700317382812, 451.3269958496094 ], [ 475.8609924316406, -125.43000030517578, 450.64801025390625 ], [ 478.08599853515625, -125.43000030517578, 451.3269958496094 ], [ 476.4169921875, -125.43000030517578, 451.3269958496094 ], [ 478.08599853515625, 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Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Lift the yellow boxed yogurt off the shelf. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." } ], "elapsed": 2.6309525966644287, "path": "ckpt-20000/rollout/case01/gt_feedback", "prediction": { "left_xyz_mm": [ [ 475.30499267578125, -125.91899871826172, 450.64801025390625 ], [ 476.4169921875, -125.43000030517578, 452.0060119628906 ], [ 476.9739990234375, -123.96199798583984, 452.0060119628906 ], [ 475.8609924316406, -126.89700317382812, 451.3269958496094 ], [ 475.8609924316406, -125.43000030517578, 450.64801025390625 ], [ 478.08599853515625, -125.43000030517578, 451.3269958496094 ], [ 476.4169921875, -125.43000030517578, 451.3269958496094 ], [ 478.08599853515625, -124.45099639892578, 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Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Lift the yellow boxed yogurt off the shelf. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 1, "start": 470, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 295, "used": 295, "source": "GT" }, { "requested": 320, "used": 320, "source": "GT" }, { "requested": 345, "used": 345, "source": "GT" }, { "requested": 370, "used": 370, "source": "GT" }, { "requested": 395, "used": 395, "source": "GT" }, { "requested": 420, "used": 420, "source": "GT" }, { "requested": 445, "used": 445, "source": "GT" }, { "requested": 470, "used": 470, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 2, "start": 502, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 327, "used": 327, "source": "GT" }, { "requested": 352, "used": 352, "source": "GT" }, { "requested": 377, "used": 377, "source": "GT" }, { "requested": 402, "used": 402, "source": "GT" }, { "requested": 427, "used": 427, "source": "GT" }, { "requested": 452, "used": 452, "source": "GT" }, { "requested": 477, "used": 477, "source": "GT" }, { "requested": 502, "used": 502, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." } ], "elapsed": 7.830607175827026, "path": "ckpt-20000/rollout/case01/gt_feedback", "prediction": { "left_xyz_mm": [ [ 475.30499267578125, -125.91899871826172, 450.64801025390625 ], [ 476.4169921875, -125.43000030517578, 452.0060119628906 ], [ 476.9739990234375, -123.96199798583984, 452.0060119628906 ], [ 475.8609924316406, -126.89700317382812, 451.3269958496094 ], [ 475.8609924316406, -125.43000030517578, 450.64801025390625 ], [ 478.08599853515625, -125.43000030517578, 451.3269958496094 ], [ 476.4169921875, -125.43000030517578, 451.3269958496094 ], [ 478.08599853515625, 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18.278884804694066, "xyz_rmse_mm": 16.232941299676895, "xyz_valid_components": 1536, "motion": { "left": { "rms_displacement_mm": 145.94340324401855, "endpoint_mm": 200.11034607887268, "gripper_change": 0.1959737241268158 }, "right": { "rms_displacement_mm": 3.937248606234789, "endpoint_mm": 6.512972060590982, "gripper_change": 0.005974287632852793 } }, "history_trace": [ { "chunk": 0, "start": 438, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 263, "used": 263, "source": "GT" }, { "requested": 288, "used": 288, "source": "GT" }, { "requested": 313, "used": 313, "source": "GT" }, { "requested": 338, "used": 338, "source": "GT" }, { "requested": 363, "used": 363, "source": "GT" }, { "requested": 388, "used": 388, "source": "GT" }, { "requested": 413, "used": 413, "source": "GT" }, { "requested": 438, "used": 438, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Lift the yellow boxed yogurt off the shelf. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 1, "start": 470, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 295, "used": 295, "source": "GT" }, { "requested": 320, "used": 320, "source": "GT" }, { "requested": 345, "used": 345, "source": "GT" }, { "requested": 370, "used": 370, "source": "GT" }, { "requested": 395, "used": 395, "source": "GT" }, { "requested": 420, "used": 420, "source": "GT" }, { "requested": 445, "used": 445, "source": "GT" }, { "requested": 470, "used": 470, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 2, "start": 502, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 327, "used": 327, "source": "GT" }, { "requested": 352, "used": 352, "source": "GT" }, { "requested": 377, "used": 377, "source": "GT" }, { "requested": 402, "used": 402, "source": "GT" }, { "requested": 427, "used": 427, "source": "GT" }, { "requested": 452, "used": 452, "source": "GT" }, { "requested": 477, "used": 477, "source": "GT" }, { "requested": 502, "used": 502, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 3, "start": 534, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 359, "used": 359, "source": "GT" }, { "requested": 384, "used": 384, "source": "GT" }, { "requested": 409, "used": 409, "source": "GT" }, { "requested": 434, "used": 434, "source": "GT" }, { "requested": 459, "used": 459, "source": "GT" }, { "requested": 484, "used": 484, "source": "GT" }, { "requested": 509, "used": 509, "source": "GT" }, { "requested": 534, "used": 534, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.\nAtomic instruction: left arm: Transport the yellow boxed yogurt towards the shopping cart. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 4, "start": 566, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 391, "used": 391, "source": "GT" }, { "requested": 416, "used": 416, "source": "GT" }, { "requested": 441, "used": 441, "source": "GT" }, { "requested": 466, "used": 466, "source": "GT" }, { "requested": 491, "used": 491, "source": "GT" }, { "requested": 516, "used": 516, "source": "GT" }, { "requested": 541, "used": 541, "source": "GT" }, { "requested": 566, "used": 566, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): The left arm picks up the yellow boxed yogurt from the refrigerated display case.; Waist rotation.\nAtomic instruction: right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 5, "start": 598, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 423, "used": 423, "source": "GT" }, { "requested": 448, "used": 448, "source": "GT" }, { "requested": 473, "used": 473, "source": "GT" }, { "requested": 498, "used": 498, "source": "GT" }, { "requested": 523, "used": 523, "source": "GT" }, { "requested": 548, "used": 548, "source": "GT" }, { "requested": 573, "used": 573, "source": "GT" }, { "requested": 598, "used": 598, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 6, "start": 630, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 455, "used": 455, "source": "GT" }, { "requested": 480, "used": 480, "source": "GT" }, { "requested": 505, "used": 505, "source": "GT" }, { "requested": 530, "used": 530, "source": "GT" }, { "requested": 555, "used": 555, "source": "GT" }, { "requested": 580, "used": 580, "source": "GT" }, { "requested": 605, "used": 605, "source": "GT" }, { "requested": 630, "used": 630, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." }, { "chunk": 7, "start": 662, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 487, "used": 487, "source": "GT" }, { "requested": 512, "used": 512, "source": "GT" }, { "requested": 537, "used": 537, "source": "GT" }, { "requested": 562, "used": 562, "source": "GT" }, { "requested": 587, "used": 587, "source": "GT" }, { "requested": 612, "used": 612, "source": "GT" }, { "requested": 637, "used": 637, "source": "GT" }, { "requested": 662, "used": 662, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40. Task: Place the red-capped bottled yogurt from the chilled display case and the yellow-boxed yogurt into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend at the waist while lowering the body.\nAtomic instruction: left arm: Hold the yellow boxed yogurt steady while the robot adjusts its position. right arm: Hold the red-capped bottled yogurt steady while the left arm operates." } ], "elapsed": 20.72821354866028, "path": "ckpt-20000/rollout/case01/gt_feedback", "prediction": { "left_xyz_mm": [ [ 475.30499267578125, -125.91899871826172, 450.64801025390625 ], [ 476.4169921875, -125.43000030517578, 452.0060119628906 ], [ 476.9739990234375, -123.96199798583984, 452.0060119628906 ], [ 475.8609924316406, -126.89700317382812, 451.3269958496094 ], [ 475.8609924316406, -125.43000030517578, 450.64801025390625 ], [ 478.08599853515625, -125.43000030517578, 451.3269958496094 ], [ 476.4169921875, -125.43000030517578, 451.3269958496094 ], [ 478.08599853515625, 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." } ], "elapsed": 2.6315715312957764, "path": "ckpt-20000/rollout/case02/generated_feedback", "prediction": { "left_xyz_mm": [ [ 292.72100830078125, -110.43699645996094, 384.5140075683594 ], [ 292.15899658203125, -108.64700317382812, 386.239013671875 ], [ 293.28399658203125, -110.13800048828125, 385.2040100097656 ], [ 292.72100830078125, -109.54199981689453, 385.54901123046875 ], [ 292.15899658203125, -111.03299713134766, 385.2040100097656 ], [ 293.28399658203125, -107.75299835205078, 384.5140075683594 ], [ 293.28399658203125, -109.83999633789062, 385.8940124511719 ], [ 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 1, "start": 376, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 201, "used": 201, "source": "GT" }, { "requested": 226, "used": 226, "source": "GT" }, { "requested": 251, "used": 251, "source": "GT" }, { "requested": 276, "used": 276, "source": "GT" }, { "requested": 301, "used": 301, "source": "GT" }, { "requested": 326, "used": 326, "source": "GT" }, { "requested": 351, "used": 348, "source": "prediction" }, { "requested": 376, "used": 376, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40_hires. 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." } ], "elapsed": 7.81218957901001, "path": "ckpt-20000/rollout/case02/generated_feedback", "prediction": { "left_xyz_mm": [ [ 292.72100830078125, -110.43699645996094, 384.5140075683594 ], [ 292.15899658203125, -108.64700317382812, 386.239013671875 ], [ 293.28399658203125, -110.13800048828125, 385.2040100097656 ], [ 292.72100830078125, -109.54199981689453, 385.54901123046875 ], [ 292.15899658203125, -111.03299713134766, 385.2040100097656 ], [ 293.28399658203125, -107.75299835205078, 384.5140075683594 ], [ 293.28399658203125, -109.83999633789062, 385.8940124511719 ], [ 292.15899658203125, 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194, "used": 194, "source": "GT" }, { "requested": 219, "used": 219, "source": "GT" }, { "requested": 244, "used": 244, "source": "GT" }, { "requested": 269, "used": 269, "source": "GT" }, { "requested": 294, "used": 294, "source": "GT" }, { "requested": 319, "used": 319, "source": "GT" }, { "requested": 344, "used": 344, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 1, "start": 376, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 201, "used": 201, "source": "GT" }, { "requested": 226, "used": 226, "source": "GT" }, { "requested": 251, "used": 251, "source": "GT" }, { "requested": 276, "used": 276, "source": "GT" }, { "requested": 301, "used": 301, "source": "GT" }, { "requested": 326, "used": 326, "source": "GT" }, { "requested": 351, "used": 348, "source": "prediction" }, { "requested": 376, "used": 376, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 2, "start": 408, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 233, "used": 233, "source": "GT" }, { "requested": 258, "used": 258, "source": "GT" }, { "requested": 283, "used": 283, "source": "GT" }, { "requested": 308, "used": 308, "source": "GT" }, { "requested": 333, "used": 333, "source": "GT" }, { "requested": 358, "used": 356, "source": "prediction" }, { "requested": 383, "used": 380, "source": "prediction" }, { "requested": 408, "used": 408, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 3, "start": 440, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 265, "used": 265, "source": "GT" }, { "requested": 290, "used": 290, "source": "GT" }, { "requested": 315, "used": 315, "source": "GT" }, { "requested": 340, "used": 340, "source": "GT" }, { "requested": 365, "used": 364, "source": "prediction" }, { "requested": 390, "used": 388, "source": "prediction" }, { "requested": 415, "used": 412, "source": "prediction" }, { "requested": 440, "used": 440, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 4, "start": 472, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 297, "used": 297, "source": "GT" }, { "requested": 322, "used": 322, "source": "GT" }, { "requested": 347, "used": 344, "source": "initial_GT_hold" }, { "requested": 372, "used": 372, "source": "prediction" }, { "requested": 397, "used": 396, "source": "prediction" }, { "requested": 422, "used": 420, "source": "prediction" }, { "requested": 447, "used": 444, "source": "prediction" }, { "requested": 472, "used": 472, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Bend the waist downward while lowering the body.; The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body." }, { "chunk": 5, "start": 504, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 329, "used": 329, "source": "GT" }, { "requested": 354, "used": 352, "source": "prediction" }, { "requested": 379, "used": 376, "source": "prediction" }, { "requested": 404, "used": 404, "source": "prediction" }, { "requested": 429, "used": 428, "source": "prediction" }, { "requested": 454, "used": 452, "source": "prediction" }, { "requested": 479, "used": 476, "source": "prediction" }, { "requested": 504, "used": 504, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart." }, { "chunk": 6, "start": 536, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 361, "used": 360, "source": "prediction" }, { "requested": 386, "used": 384, "source": "prediction" }, { "requested": 411, "used": 408, "source": "prediction" }, { "requested": 436, "used": 436, "source": "prediction" }, { "requested": 461, "used": 460, "source": "prediction" }, { "requested": 486, "used": 484, "source": "prediction" }, { "requested": 511, "used": 508, "source": "prediction" }, { "requested": 536, "used": 536, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart." }, { "chunk": 7, "start": 568, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 393, "used": 392, "source": "prediction" }, { "requested": 418, "used": 416, "source": "prediction" }, { "requested": 443, "used": 440, "source": "prediction" }, { "requested": 468, "used": 468, "source": "prediction" }, { "requested": 493, "used": 492, "source": "prediction" }, { "requested": 518, "used": 516, "source": "prediction" }, { "requested": 543, "used": 540, "source": "prediction" }, { "requested": 568, "used": 568, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart." } ], "elapsed": 20.635545253753662, "path": "ckpt-20000/rollout/case02/generated_feedback", "prediction": { "left_xyz_mm": [ [ 292.72100830078125, -110.43699645996094, 384.5140075683594 ], [ 292.15899658203125, -108.64700317382812, 386.239013671875 ], [ 293.28399658203125, -110.13800048828125, 385.2040100097656 ], [ 292.72100830078125, -109.54199981689453, 385.54901123046875 ], [ 292.15899658203125, -111.03299713134766, 385.2040100097656 ], [ 293.28399658203125, -107.75299835205078, 384.5140075683594 ], [ 293.28399658203125, -109.83999633789062, 385.8940124511719 ], [ 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244, "used": 244, "source": "GT" }, { "requested": 269, "used": 269, "source": "GT" }, { "requested": 294, "used": 294, "source": "GT" }, { "requested": 319, "used": 319, "source": "GT" }, { "requested": 344, "used": 344, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." } ], "elapsed": 2.65145206451416, "path": "ckpt-20000/rollout/case02/gt_feedback", "prediction": { "left_xyz_mm": [ [ 292.72100830078125, -110.43699645996094, 384.5140075683594 ], [ 292.15899658203125, -108.64700317382812, 386.239013671875 ], [ 293.28399658203125, -110.13800048828125, 385.2040100097656 ], [ 292.72100830078125, -109.54199981689453, 385.54901123046875 ], [ 292.15899658203125, -111.03299713134766, 385.2040100097656 ], [ 293.28399658203125, -107.75299835205078, 384.5140075683594 ], [ 293.28399658203125, -109.83999633789062, 385.8940124511719 ], [ 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-66.12300109863281, -318.89898681640625 ], [ 333.8370056152344, -66.12300109863281, -318.89898681640625 ], [ 333.84100341796875, -66.12200164794922, -318.9010009765625 ], [ 333.8429870605469, -66.12000274658203, -318.9020080566406 ], [ 333.8429870605469, -66.12000274658203, -318.9020080566406 ] ], "left_gripper": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "right_gripper": [ 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026 ] }, "initial": [ 0.2920875549316406, -0.11252525448799133, 0.3858775794506073, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3338485360145569, -0.06611640751361847, -0.3189042806625366, 0.0, 0.0, 0.0, 0.0, 0.001999974250793457 ] }, { "case": "case02", "mode": "gt_feedback", "chunks": 3, "seconds": 3.84, "video_steps": 10, "action_steps": 10, "shift": 3, "psnr": 15.11582071542616, "xyz_rmse_mm": 2.5960812345147133, "xyz_valid_components": 576, "motion": { "left": { "rms_displacement_mm": 3.5794831346720457, "endpoint_mm": 7.308166939765215, "gripper_change": 0.009062545374035835 }, "right": { "rms_displacement_mm": 5.2543506026268005, "endpoint_mm": 6.824006792157888, "gripper_change": 0.011284977197647095 } }, "history_trace": [ { "chunk": 0, "start": 344, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 169, "used": 169, "source": "GT" }, { "requested": 194, "used": 194, "source": "GT" }, { "requested": 219, "used": 219, "source": "GT" }, { "requested": 244, "used": 244, "source": "GT" }, { "requested": 269, "used": 269, "source": "GT" }, { "requested": 294, "used": 294, "source": "GT" }, { "requested": 319, "used": 319, "source": "GT" }, { "requested": 344, "used": 344, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 1, "start": 376, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 201, "used": 201, "source": "GT" }, { "requested": 226, "used": 226, "source": "GT" }, { "requested": 251, "used": 251, "source": "GT" }, { "requested": 276, "used": 276, "source": "GT" }, { "requested": 301, "used": 301, "source": "GT" }, { "requested": 326, "used": 326, "source": "GT" }, { "requested": 351, "used": 351, "source": "GT" }, { "requested": 376, "used": 376, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 2, "start": 408, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 233, "used": 233, "source": "GT" }, { "requested": 258, "used": 258, "source": "GT" }, { "requested": 283, "used": 283, "source": "GT" }, { "requested": 308, "used": 308, "source": "GT" }, { "requested": 333, "used": 333, "source": "GT" }, { "requested": 358, "used": 358, "source": "GT" }, { "requested": 383, "used": 383, "source": "GT" }, { "requested": 408, "used": 408, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." } ], "elapsed": 7.843054294586182, "path": "ckpt-20000/rollout/case02/gt_feedback", "prediction": { "left_xyz_mm": [ [ 292.72100830078125, -110.43699645996094, 384.5140075683594 ], [ 292.15899658203125, -108.64700317382812, 386.239013671875 ], [ 293.28399658203125, -110.13800048828125, 385.2040100097656 ], [ 292.72100830078125, -109.54199981689453, 385.54901123046875 ], [ 292.15899658203125, -111.03299713134766, 385.2040100097656 ], [ 293.28399658203125, -107.75299835205078, 384.5140075683594 ], [ 293.28399658203125, -109.83999633789062, 385.8940124511719 ], [ 292.15899658203125, 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 1, "start": 376, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 201, "used": 201, "source": "GT" }, { "requested": 226, "used": 226, "source": "GT" }, { "requested": 251, "used": 251, "source": "GT" }, { "requested": 276, "used": 276, "source": "GT" }, { "requested": 301, "used": 301, "source": "GT" }, { "requested": 326, "used": 326, "source": "GT" }, { "requested": 351, "used": 351, "source": "GT" }, { "requested": 376, "used": 376, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 2, "start": 408, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 233, "used": 233, "source": "GT" }, { "requested": 258, "used": 258, "source": "GT" }, { "requested": 283, "used": 283, "source": "GT" }, { "requested": 308, "used": 308, "source": "GT" }, { "requested": 333, "used": 333, "source": "GT" }, { "requested": 358, "used": 358, "source": "GT" }, { "requested": 383, "used": 383, "source": "GT" }, { "requested": 408, "used": 408, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Waist rotation.; Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 3, "start": 440, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 265, "used": 265, "source": "GT" }, { "requested": 290, "used": 290, "source": "GT" }, { "requested": 315, "used": 315, "source": "GT" }, { "requested": 340, "used": 340, "source": "GT" }, { "requested": 365, "used": 365, "source": "GT" }, { "requested": 390, "used": 390, "source": "GT" }, { "requested": 415, "used": 415, "source": "GT" }, { "requested": 440, "used": 440, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Bend the waist downward while lowering the body.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture." }, { "chunk": 4, "start": 472, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 297, "used": 297, "source": "GT" }, { "requested": 322, "used": 322, "source": "GT" }, { "requested": 347, "used": 347, "source": "GT" }, { "requested": 372, "used": 372, "source": "GT" }, { "requested": 397, "used": 397, "source": "GT" }, { "requested": 422, "used": 422, "source": "GT" }, { "requested": 447, "used": 447, "source": "GT" }, { "requested": 472, "used": 472, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): Bend the waist downward while lowering the body.; The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body." }, { "chunk": 5, "start": 504, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 329, "used": 329, "source": "GT" }, { "requested": 354, "used": 354, "source": "GT" }, { "requested": 379, "used": 379, "source": "GT" }, { "requested": 404, "used": 404, "source": "GT" }, { "requested": 429, "used": 429, "source": "GT" }, { "requested": 454, "used": 454, "source": "GT" }, { "requested": 479, "used": 479, "source": "GT" }, { "requested": 504, "used": 504, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart." }, { "chunk": 6, "start": 536, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 361, "used": 361, "source": "GT" }, { "requested": 386, "used": 386, "source": "GT" }, { "requested": 411, "used": 411, "source": "GT" }, { "requested": 436, "used": 436, "source": "GT" }, { "requested": 461, "used": 461, "source": "GT" }, { "requested": 486, "used": 486, "source": "GT" }, { "requested": 511, "used": 511, "source": "GT" }, { "requested": 536, "used": 536, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart." }, { "chunk": 7, "start": 568, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 393, "used": 393, "source": "GT" }, { "requested": 418, "used": 418, "source": "GT" }, { "requested": 443, "used": 443, "source": "GT" }, { "requested": 468, "used": 468, "source": "GT" }, { "requested": 493, "used": 493, "source": "GT" }, { "requested": 518, "used": 518, "source": "GT" }, { "requested": 543, "used": 543, "source": "GT" }, { "requested": 568, "used": 568, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart." } ], "elapsed": 20.68274688720703, "path": "ckpt-20000/rollout/case02/gt_feedback", "prediction": { "left_xyz_mm": [ [ 292.72100830078125, -110.43699645996094, 384.5140075683594 ], [ 292.15899658203125, -108.64700317382812, 386.239013671875 ], [ 293.28399658203125, -110.13800048828125, 385.2040100097656 ], [ 292.72100830078125, -109.54199981689453, 385.54901123046875 ], [ 292.15899658203125, -111.03299713134766, 385.2040100097656 ], [ 293.28399658203125, -107.75299835205078, 384.5140075683594 ], [ 293.28399658203125, -109.83999633789062, 385.8940124511719 ], [ 292.15899658203125, 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Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: left arm: Hold the tea canister steady while the right arm takes out the tea bag. right arm: Lift the tea bag out of the canister." }, { "chunk": 1, "start": 663, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 488, "used": 488, "source": "GT" }, { "requested": 513, "used": 513, "source": "GT" }, { "requested": 538, "used": 538, "source": "GT" }, { "requested": 563, "used": 563, "source": "GT" }, { "requested": 588, "used": 588, "source": "GT" }, { "requested": 613, "used": 613, "source": "GT" }, { "requested": 638, "used": 635, "source": "prediction" }, { "requested": 663, "used": 663, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s216a44. 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Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: left arm: Hold the tea canister steady while the right arm takes out the tea bag." }, { "chunk": 3, "start": 727, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 552, "used": 552, "source": "GT" }, { "requested": 577, "used": 577, "source": "GT" }, { "requested": 602, "used": 602, "source": "GT" }, { "requested": 627, "used": 627, "source": "GT" }, { "requested": 652, "used": 651, "source": "prediction" }, { "requested": 677, "used": 675, "source": "prediction" }, { "requested": 702, "used": 699, "source": "prediction" }, { "requested": 727, "used": 727, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: left arm: Hold the tea canister steady while the right arm takes out the tea bag. right arm: Move the tea bag towards the mug." }, { "chunk": 4, "start": 759, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 584, "used": 584, "source": "GT" }, { "requested": 609, "used": 609, "source": "GT" }, { "requested": 634, "used": 631, "source": "initial_GT_hold" }, { "requested": 659, "used": 659, "source": "prediction" }, { "requested": 684, "used": 683, "source": "prediction" }, { "requested": 709, "used": 707, "source": "prediction" }, { "requested": 734, "used": 731, "source": "prediction" }, { "requested": 759, "used": 759, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s216a44. 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Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister; Right arm puts the tea bag into the mug\nAtomic instruction: right arm: Move the tea bag towards the mug." }, { "chunk": 6, "start": 823, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 648, "used": 647, "source": "prediction" }, { "requested": 673, "used": 671, "source": "prediction" }, { "requested": 698, "used": 695, "source": "prediction" }, { "requested": 723, "used": 723, "source": "prediction" }, { "requested": 748, "used": 747, "source": "prediction" }, { "requested": 773, "used": 771, "source": "prediction" }, { "requested": 798, "used": 795, "source": "prediction" }, { "requested": 823, "used": 823, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm puts the tea bag into the mug\nAtomic instruction: left arm: Hold the tea canister steady on the table. right arm: Move the tea bag towards the mug." }, { "chunk": 7, "start": 855, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 680, "used": 679, "source": "prediction" }, { "requested": 705, "used": 703, "source": "prediction" }, { "requested": 730, "used": 727, "source": "prediction" }, { "requested": 755, "used": 755, "source": "prediction" }, { "requested": 780, "used": 779, "source": "prediction" }, { "requested": 805, "used": 803, "source": "prediction" }, { "requested": 830, "used": 827, "source": "prediction" }, { "requested": 855, "used": 855, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: s216a44. 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Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: left arm: Hold the tea canister steady while the right arm takes out the tea bag. right arm: Lift the tea bag out of the canister." }, { "chunk": 1, "start": 663, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 488, "used": 488, "source": "GT" }, { "requested": 513, "used": 513, "source": "GT" }, { "requested": 538, "used": 538, "source": "GT" }, { "requested": 563, "used": 563, "source": "GT" }, { "requested": 588, "used": 588, "source": "GT" }, { "requested": 613, "used": 613, "source": "GT" }, { "requested": 638, "used": 638, "source": "GT" }, { "requested": 663, "used": 663, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: left arm: Hold the tea canister steady while the right arm takes out the tea bag." }, { "chunk": 2, "start": 695, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 520, "used": 520, "source": "GT" }, { "requested": 545, "used": 545, "source": "GT" }, { "requested": 570, "used": 570, "source": "GT" }, { "requested": 595, "used": 595, "source": "GT" }, { "requested": 620, "used": 620, "source": "GT" }, { "requested": 645, "used": 645, "source": "GT" }, { "requested": 670, "used": 670, "source": "GT" }, { "requested": 695, "used": 695, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: left arm: Hold the tea canister steady while the right arm takes out the tea bag." } ], "elapsed": 7.76595401763916, "path": "ckpt-20000/rollout/case04/gt_feedback", "prediction": { "left_xyz_mm": [ [ 476.6059875488281, 105.0790023803711, 232.60400390625 ], [ 476.6059875488281, 105.0790023803711, 232.94500732421875 ], [ 478.1340026855469, 106.10700225830078, 232.94500732421875 ], [ 478.1340026855469, 105.0790023803711, 231.93600463867188 ], [ 478.6440124511719, 104.56500244140625, 232.45899963378906 ], [ 478.3890075683594, 105.0790023803711, 231.00100708007812 ], [ 479.15301513671875, 105.0790023803711, 231.0500030517578 ], [ 477.625, 105.0790023803711, 231.00100708007812 ], [ 477.8800048828125, 104.56500244140625, 229.5189971923828 ], [ 478.1340026855469, 104.56500244140625, 229.64100646972656 ], 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Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: left arm: Hold the tea canister steady while the right arm takes out the tea bag. right arm: Lift the tea bag out of the canister." }, { "chunk": 1, "start": 663, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 488, "used": 488, "source": "GT" }, { "requested": 513, "used": 513, "source": "GT" }, { "requested": 538, "used": 538, "source": "GT" }, { "requested": 563, "used": 563, "source": "GT" }, { "requested": 588, "used": 588, "source": "GT" }, { "requested": 613, "used": 613, "source": "GT" }, { "requested": 638, "used": 638, "source": "GT" }, { "requested": 663, "used": 663, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: left arm: Hold the tea canister steady while the right arm takes out the tea bag." }, { "chunk": 2, "start": 695, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 520, "used": 520, "source": "GT" }, { "requested": 545, "used": 545, "source": "GT" }, { "requested": 570, "used": 570, "source": "GT" }, { "requested": 595, "used": 595, "source": "GT" }, { "requested": 620, "used": 620, "source": "GT" }, { "requested": 645, "used": 645, "source": "GT" }, { "requested": 670, "used": 670, "source": "GT" }, { "requested": 695, "used": 695, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: left arm: Hold the tea canister steady while the right arm takes out the tea bag." }, { "chunk": 3, "start": 727, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 552, "used": 552, "source": "GT" }, { "requested": 577, "used": 577, "source": "GT" }, { "requested": 602, "used": 602, "source": "GT" }, { "requested": 627, "used": 627, "source": "GT" }, { "requested": 652, "used": 652, "source": "GT" }, { "requested": 677, "used": 677, "source": "GT" }, { "requested": 702, "used": 702, "source": "GT" }, { "requested": 727, "used": 727, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: left arm: Hold the tea canister steady while the right arm takes out the tea bag. right arm: Move the tea bag towards the mug." }, { "chunk": 4, "start": 759, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 584, "used": 584, "source": "GT" }, { "requested": 609, "used": 609, "source": "GT" }, { "requested": 634, "used": 634, "source": "GT" }, { "requested": 659, "used": 659, "source": "GT" }, { "requested": 684, "used": 684, "source": "GT" }, { "requested": 709, "used": 709, "source": "GT" }, { "requested": 734, "used": 734, "source": "GT" }, { "requested": 759, "used": 759, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister\nAtomic instruction: right arm: Move the tea bag towards the mug." }, { "chunk": 5, "start": 791, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 616, "used": 616, "source": "GT" }, { "requested": 641, "used": 641, "source": "GT" }, { "requested": 666, "used": 666, "source": "GT" }, { "requested": 691, "used": 691, "source": "GT" }, { "requested": 716, "used": 716, "source": "GT" }, { "requested": 741, "used": 741, "source": "GT" }, { "requested": 766, "used": 766, "source": "GT" }, { "requested": 791, "used": 791, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm takes out the tea bag from the tea canister; Right arm puts the tea bag into the mug\nAtomic instruction: right arm: Move the tea bag towards the mug." }, { "chunk": 6, "start": 823, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 648, "used": 648, "source": "GT" }, { "requested": 673, "used": 673, "source": "GT" }, { "requested": 698, "used": 698, "source": "GT" }, { "requested": 723, "used": 723, "source": "GT" }, { "requested": 748, "used": 748, "source": "GT" }, { "requested": 773, "used": 773, "source": "GT" }, { "requested": 798, "used": 798, "source": "GT" }, { "requested": 823, "used": 823, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Right arm puts the tea bag into the mug\nAtomic instruction: left arm: Hold the tea canister steady on the table. right arm: Move the tea bag towards the mug." }, { "chunk": 7, "start": 855, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 680, "used": 680, "source": "GT" }, { "requested": 705, "used": 705, "source": "GT" }, { "requested": 730, "used": 730, "source": "GT" }, { "requested": 755, "used": 755, "source": "GT" }, { "requested": 780, "used": 780, "source": "GT" }, { "requested": 805, "used": 805, "source": "GT" }, { "requested": 830, "used": 830, "source": "GT" }, { "requested": 855, "used": 855, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s216a44. 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Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table." }, { "chunk": 1, "start": 792, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 617, "used": 617, "source": "GT" }, { "requested": 642, "used": 642, "source": "GT" }, { "requested": 667, "used": 667, "source": "GT" }, { "requested": 692, "used": 692, "source": "GT" }, { "requested": 717, "used": 717, "source": "GT" }, { "requested": 742, "used": 742, "source": "GT" }, { "requested": 767, "used": 767, "source": "GT" }, { "requested": 792, "used": 792, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s216a44_rl. Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment; The right arm puts the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table." }, { "chunk": 2, "start": 824, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 649, "used": 649, "source": "GT" }, { "requested": 674, "used": 674, "source": "GT" }, { "requested": 699, "used": 699, "source": "GT" }, { "requested": 724, "used": 724, "source": "GT" }, { "requested": 749, "used": 749, "source": "GT" }, { "requested": 774, "used": 774, "source": "GT" }, { "requested": 799, "used": 799, "source": "GT" }, { "requested": 824, "used": 824, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: s216a44_rl. 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Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Grasp the orange build block on the right side of the table." }, { "chunk": 1, "start": 289, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 114, "used": 114, "source": "GT" }, { "requested": 139, "used": 139, "source": "GT" }, { "requested": 164, "used": 164, "source": "GT" }, { "requested": 189, "used": 189, "source": "GT" }, { "requested": 214, "used": 214, "source": "GT" }, { "requested": 239, "used": 239, "source": "GT" }, { "requested": 264, "used": 261, "source": "prediction" }, { "requested": 289, "used": 289, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. 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"GT" }, { "requested": 132, "used": 132, "source": "GT" }, { "requested": 157, "used": 157, "source": "GT" }, { "requested": 182, "used": 182, "source": "GT" }, { "requested": 207, "used": 207, "source": "GT" }, { "requested": 232, "used": 232, "source": "GT" }, { "requested": 257, "used": 257, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Grasp the orange build block on the right side of the table." }, { "chunk": 1, "start": 289, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 114, "used": 114, "source": "GT" }, { "requested": 139, "used": 139, "source": "GT" }, { "requested": 164, "used": 164, "source": "GT" }, { "requested": 189, "used": 189, "source": "GT" }, { "requested": 214, "used": 214, "source": "GT" }, { "requested": 239, "used": 239, "source": "GT" }, { "requested": 264, "used": 261, "source": "prediction" }, { "requested": 289, "used": 289, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 2, "start": 321, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 146, "used": 146, "source": "GT" }, { "requested": 171, "used": 171, "source": "GT" }, { "requested": 196, "used": 196, "source": "GT" }, { "requested": 221, "used": 221, "source": "GT" }, { "requested": 246, "used": 246, "source": "GT" }, { "requested": 271, "used": 269, "source": "prediction" }, { "requested": 296, "used": 293, "source": "prediction" }, { "requested": 321, "used": 321, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Move the orange build block towards the yellow build block." }, { "chunk": 3, "start": 353, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 178, "used": 178, "source": "GT" }, { "requested": 203, "used": 203, "source": "GT" }, { "requested": 228, "used": 228, "source": "GT" }, { "requested": 253, "used": 253, "source": "GT" }, { "requested": 278, "used": 277, "source": "prediction" }, { "requested": 303, "used": 301, "source": "prediction" }, { "requested": 328, "used": 325, "source": "prediction" }, { "requested": 353, "used": 353, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 4, "start": 385, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 210, "used": 210, "source": "GT" }, { "requested": 235, "used": 235, "source": "GT" }, { "requested": 260, "used": 257, "source": "initial_GT_hold" }, { "requested": 285, "used": 285, "source": "prediction" }, { "requested": 310, "used": 309, "source": "prediction" }, { "requested": 335, "used": 333, "source": "prediction" }, { "requested": 360, "used": 357, "source": "prediction" }, { "requested": 385, "used": 385, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block; Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 5, "start": 417, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 242, "used": 242, "source": "GT" }, { "requested": 267, "used": 265, "source": "prediction" }, { "requested": 292, "used": 289, "source": "prediction" }, { "requested": 317, "used": 317, "source": "prediction" }, { "requested": 342, "used": 341, "source": "prediction" }, { "requested": 367, "used": 365, "source": "prediction" }, { "requested": 392, "used": 389, "source": "prediction" }, { "requested": 417, "used": 417, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 6, "start": 449, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 274, "used": 273, "source": "prediction" }, { "requested": 299, "used": 297, "source": "prediction" }, { "requested": 324, "used": 321, "source": "prediction" }, { "requested": 349, "used": 349, "source": "prediction" }, { "requested": 374, "used": 373, "source": "prediction" }, { "requested": 399, "used": 397, "source": "prediction" }, { "requested": 424, "used": 421, "source": "prediction" }, { "requested": 449, "used": 449, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 7, "start": 481, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 306, "used": 305, "source": "prediction" }, { "requested": 331, "used": 329, "source": "prediction" }, { "requested": 356, "used": 353, "source": "prediction" }, { "requested": 381, "used": 381, "source": "prediction" }, { "requested": 406, "used": 405, "source": "prediction" }, { "requested": 431, "used": 429, "source": "prediction" }, { "requested": 456, "used": 453, "source": "prediction" }, { "requested": 481, "used": 481, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Place the red build block on top of the yellow build block." } ], "elapsed": 26.4381844997406, "path": "ckpt-20000/rollout/case13/generated_feedback", "prediction": { "left_xyz_mm": [ [ 232.72900390625, 289.2149963378906, 1054.8570556640625 ], [ 237.38299560546875, 289.3819885253906, 1054.02197265625 ], [ 235.05599975585938, 288.8819885253906, 1053.5 ], [ 236.80099487304688, 290.0480041503906, 1054.02197265625 ], [ 235.63699340820312, 288.8819885253906, 1053.0830078125 ], [ 235.05599975585938, 289.7149963378906, 1053.81298828125 ], [ 235.05599975585938, 289.5480041503906, 1053.5 ], [ 236.218994140625, 289.7149963378906, 1053.60498046875 ], [ 233.89199829101562, 290.0480041503906, 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Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Grasp the orange build block on the right side of the table." } ], "elapsed": 8.525183916091919, "path": "ckpt-20000/rollout/case13/gt_feedback", "prediction": { "left_xyz_mm": [ [ 232.72900390625, 289.2149963378906, 1054.8570556640625 ], [ 237.38299560546875, 289.3819885253906, 1054.02197265625 ], [ 235.05599975585938, 288.8819885253906, 1053.5 ], [ 236.80099487304688, 290.0480041503906, 1054.02197265625 ], [ 235.63699340820312, 288.8819885253906, 1053.0830078125 ], [ 235.05599975585938, 289.7149963378906, 1053.81298828125 ], [ 235.05599975585938, 289.5480041503906, 1053.5 ], [ 236.218994140625, 289.7149963378906, 1053.60498046875 ], [ 233.89199829101562, 290.0480041503906, 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157, "source": "GT" }, { "requested": 182, "used": 182, "source": "GT" }, { "requested": 207, "used": 207, "source": "GT" }, { "requested": 232, "used": 232, "source": "GT" }, { "requested": 257, "used": 257, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Grasp the orange build block on the right side of the table." }, { "chunk": 1, "start": 289, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 114, "used": 114, "source": "GT" }, { "requested": 139, "used": 139, "source": "GT" }, { "requested": 164, "used": 164, "source": "GT" }, { "requested": 189, "used": 189, "source": "GT" }, { "requested": 214, "used": 214, "source": "GT" }, { "requested": 239, "used": 239, "source": "GT" }, { "requested": 264, "used": 264, "source": "GT" }, { "requested": 289, "used": 289, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 2, "start": 321, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 146, "used": 146, "source": "GT" }, { "requested": 171, "used": 171, "source": "GT" }, { "requested": 196, "used": 196, "source": "GT" }, { "requested": 221, "used": 221, "source": "GT" }, { "requested": 246, "used": 246, "source": "GT" }, { "requested": 271, "used": 271, "source": "GT" }, { "requested": 296, "used": 296, "source": "GT" }, { "requested": 321, "used": 321, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Move the orange build block towards the yellow build block." } ], "elapsed": 13.728440999984741, "path": "ckpt-20000/rollout/case13/gt_feedback", "prediction": { "left_xyz_mm": [ [ 232.72900390625, 289.2149963378906, 1054.8570556640625 ], [ 237.38299560546875, 289.3819885253906, 1054.02197265625 ], [ 235.05599975585938, 288.8819885253906, 1053.5 ], [ 236.80099487304688, 290.0480041503906, 1054.02197265625 ], [ 235.63699340820312, 288.8819885253906, 1053.0830078125 ], [ 235.05599975585938, 289.7149963378906, 1053.81298828125 ], [ 235.05599975585938, 289.5480041503906, 1053.5 ], [ 236.218994140625, 289.7149963378906, 1053.60498046875 ], [ 233.89199829101562, 290.0480041503906, 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"requested": 82, "used": 82, "source": "GT" }, { "requested": 107, "used": 107, "source": "GT" }, { "requested": 132, "used": 132, "source": "GT" }, { "requested": 157, "used": 157, "source": "GT" }, { "requested": 182, "used": 182, "source": "GT" }, { "requested": 207, "used": 207, "source": "GT" }, { "requested": 232, "used": 232, "source": "GT" }, { "requested": 257, "used": 257, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Grasp the orange build block on the right side of the table." }, { "chunk": 1, "start": 289, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 114, "used": 114, "source": "GT" }, { "requested": 139, "used": 139, "source": "GT" }, { "requested": 164, "used": 164, "source": "GT" }, { "requested": 189, "used": 189, "source": "GT" }, { "requested": 214, "used": 214, "source": "GT" }, { "requested": 239, "used": 239, "source": "GT" }, { "requested": 264, "used": 264, "source": "GT" }, { "requested": 289, "used": 289, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 2, "start": 321, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 146, "used": 146, "source": "GT" }, { "requested": 171, "used": 171, "source": "GT" }, { "requested": 196, "used": 196, "source": "GT" }, { "requested": 221, "used": 221, "source": "GT" }, { "requested": 246, "used": 246, "source": "GT" }, { "requested": 271, "used": 271, "source": "GT" }, { "requested": 296, "used": 296, "source": "GT" }, { "requested": 321, "used": 321, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Move the orange build block towards the yellow build block." }, { "chunk": 3, "start": 353, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 178, "used": 178, "source": "GT" }, { "requested": 203, "used": 203, "source": "GT" }, { "requested": 228, "used": 228, "source": "GT" }, { "requested": 253, "used": 253, "source": "GT" }, { "requested": 278, "used": 278, "source": "GT" }, { "requested": 303, "used": 303, "source": "GT" }, { "requested": 328, "used": 328, "source": "GT" }, { "requested": 353, "used": 353, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 4, "start": 385, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 210, "used": 210, "source": "GT" }, { "requested": 235, "used": 235, "source": "GT" }, { "requested": 260, "used": 260, "source": "GT" }, { "requested": 285, "used": 285, "source": "GT" }, { "requested": 310, "used": 310, "source": "GT" }, { "requested": 335, "used": 335, "source": "GT" }, { "requested": 360, "used": 360, "source": "GT" }, { "requested": 385, "used": 385, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the orange build block on the right of the yellow build block; Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 5, "start": 417, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 242, "used": 242, "source": "GT" }, { "requested": 267, "used": 267, "source": "GT" }, { "requested": 292, "used": 292, "source": "GT" }, { "requested": 317, "used": 317, "source": "GT" }, { "requested": 342, "used": 342, "source": "GT" }, { "requested": 367, "used": 367, "source": "GT" }, { "requested": 392, "used": 392, "source": "GT" }, { "requested": 417, "used": 417, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 6, "start": 449, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 274, "used": 274, "source": "GT" }, { "requested": 299, "used": 299, "source": "GT" }, { "requested": 324, "used": 324, "source": "GT" }, { "requested": 349, "used": 349, "source": "GT" }, { "requested": 374, "used": 374, "source": "GT" }, { "requested": 399, "used": 399, "source": "GT" }, { "requested": 424, "used": 424, "source": "GT" }, { "requested": 449, "used": 449, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block." }, { "chunk": 7, "start": 481, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 306, "used": 306, "source": "GT" }, { "requested": 331, "used": 331, "source": "GT" }, { "requested": 356, "used": 356, "source": "GT" }, { "requested": 381, "used": 381, "source": "GT" }, { "requested": 406, "used": 406, "source": "GT" }, { "requested": 431, "used": 431, "source": "GT" }, { "requested": 456, "used": 456, "source": "GT" }, { "requested": 481, "used": 481, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the red build block on the yellow build block\nAtomic instruction: left arm: Hold the orange block steady while the other arm places the red block. right arm: Place the red build block on top of the yellow build block." } ], "elapsed": 26.42923092842102, "path": "ckpt-20000/rollout/case13/gt_feedback", "prediction": { "left_xyz_mm": [ [ 232.72900390625, 289.2149963378906, 1054.8570556640625 ], [ 237.38299560546875, 289.3819885253906, 1054.02197265625 ], [ 235.05599975585938, 288.8819885253906, 1053.5 ], [ 236.80099487304688, 290.0480041503906, 1054.02197265625 ], [ 235.63699340820312, 288.8819885253906, 1053.0830078125 ], [ 235.05599975585938, 289.7149963378906, 1053.81298828125 ], [ 235.05599975585938, 289.5480041503906, 1053.5 ], [ 236.218994140625, 289.7149963378906, 1053.60498046875 ], [ 233.89199829101562, 290.0480041503906, 1054.23095703125 ], 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Task: fill the black mug completely with NFC orange juice.\nSubtask context (ordered by onset): Pour the orange juice from bottle to cup with left gripper\nAtomic instruction: left arm: Pour the orange juice from the bottle into the black mug." } ], "elapsed": 9.354536294937134, "path": "ckpt-20000/rollout/case14/generated_feedback", "prediction": { "left_xyz_mm": [ [ 589.0430297851562, 127.26399993896484, 886.7919921875 ], [ 590.2659912109375, 124.22799682617188, 886.1320190429688 ], [ 591.4879760742188, 126.88500213623047, 885.4719848632812 ], [ 593.9340209960938, 126.88500213623047, 885.4719848632812 ], [ 593.9340209960938, 126.1259994506836, 886.7919921875 ], [ 593.9340209960938, 126.50499725341797, 887.4520263671875 ], [ 593.9340209960938, 126.1259994506836, 886.7919921875 ], [ 595.156982421875, 126.50499725341797, 888.77099609375 ], [ 595.156982421875, 127.64399719238281, 888.77099609375 ], [ 593.9340209960938, 126.50499725341797, 889.4310302734375 ], [ 593.9340209960938, 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 1, "start": 439, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 264, "used": 264, "source": "GT" }, { "requested": 289, "used": 289, "source": "GT" }, { "requested": 314, "used": 314, "source": "GT" }, { "requested": 339, "used": 339, "source": "GT" }, { "requested": 364, "used": 364, "source": "GT" }, { "requested": 389, "used": 389, "source": "GT" }, { "requested": 414, "used": 411, "source": "prediction" }, { "requested": 439, "used": 439, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_hd. 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 3, "start": 503, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 328, "used": 328, "source": "GT" }, { "requested": 353, "used": 353, "source": "GT" }, { "requested": 378, "used": 378, "source": "GT" }, { "requested": 403, "used": 403, "source": "GT" }, { "requested": 428, "used": 427, "source": "prediction" }, { "requested": 453, "used": 451, "source": "prediction" }, { "requested": 478, "used": 475, "source": "prediction" }, { "requested": 503, "used": 503, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 4, "start": 535, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 360, "used": 360, "source": "GT" }, { "requested": 385, "used": 385, "source": "GT" }, { "requested": 410, "used": 407, "source": "initial_GT_hold" }, { "requested": 435, "used": 435, "source": "prediction" }, { "requested": 460, "used": 459, "source": "prediction" }, { "requested": 485, "used": 483, "source": "prediction" }, { "requested": 510, "used": 507, "source": "prediction" }, { "requested": 535, "used": 535, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 5, "start": 567, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 392, "used": 392, "source": "GT" }, { "requested": 417, "used": 415, "source": "prediction" }, { "requested": 442, "used": 439, "source": "prediction" }, { "requested": 467, "used": 467, "source": "prediction" }, { "requested": 492, "used": 491, "source": "prediction" }, { "requested": 517, "used": 515, "source": "prediction" }, { "requested": 542, "used": 539, "source": "prediction" }, { "requested": 567, "used": 567, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 6, "start": 599, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 424, "used": 423, "source": "prediction" }, { "requested": 449, "used": 447, "source": "prediction" }, { "requested": 474, "used": 471, "source": "prediction" }, { "requested": 499, "used": 499, "source": "prediction" }, { "requested": 524, "used": 523, "source": "prediction" }, { "requested": 549, "used": 547, "source": "prediction" }, { "requested": 574, "used": 571, "source": "prediction" }, { "requested": 599, "used": 599, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 7, "start": 631, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 456, "used": 455, "source": "prediction" }, { "requested": 481, "used": 479, "source": "prediction" }, { "requested": 506, "used": 503, "source": "prediction" }, { "requested": 531, "used": 531, "source": "prediction" }, { "requested": 556, "used": 555, "source": "prediction" }, { "requested": 581, "used": 579, "source": "prediction" }, { "requested": 606, "used": 603, "source": "prediction" }, { "requested": 631, "used": 631, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." } ], "elapsed": 26.600963592529297, "path": "ckpt-20000/rollout/case15/generated_feedback", "prediction": { "left_xyz_mm": [ [ 761.47998046875, 427.6419982910156, 872.2139892578125 ], [ 760.0540161132812, 428.2489929199219, 868.927001953125 ], [ 760.0540161132812, 428.2489929199219, 866.4619750976562 ], [ 757.2020263671875, 428.8559875488281, 865.6409912109375 ], [ 757.2020263671875, 428.2489929199219, 861.5330200195312 ], [ 757.2020263671875, 428.8559875488281, 857.4249877929688 ], [ 757.2020263671875, 428.8559875488281, 854.1380004882812 ], [ 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." } ], "elapsed": 8.50218915939331, "path": "ckpt-20000/rollout/case15/gt_feedback", "prediction": { "left_xyz_mm": [ [ 761.47998046875, 427.6419982910156, 872.2139892578125 ], [ 760.0540161132812, 428.2489929199219, 868.927001953125 ], [ 760.0540161132812, 428.2489929199219, 866.4619750976562 ], [ 757.2020263671875, 428.8559875488281, 865.6409912109375 ], [ 757.2020263671875, 428.2489929199219, 861.5330200195312 ], [ 757.2020263671875, 428.8559875488281, 857.4249877929688 ], [ 757.2020263671875, 428.8559875488281, 854.1380004882812 ], [ 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 1, "start": 439, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 264, "used": 264, "source": "GT" }, { "requested": 289, "used": 289, "source": "GT" }, { "requested": 314, "used": 314, "source": "GT" }, { "requested": 339, "used": 339, "source": "GT" }, { "requested": 364, "used": 364, "source": "GT" }, { "requested": 389, "used": 389, "source": "GT" }, { "requested": 414, "used": 414, "source": "GT" }, { "requested": 439, "used": 439, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 2, "start": 471, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 296, "used": 296, "source": "GT" }, { "requested": 321, "used": 321, "source": "GT" }, { "requested": 346, "used": 346, "source": "GT" }, { "requested": 371, "used": 371, "source": "GT" }, { "requested": 396, "used": 396, "source": "GT" }, { "requested": 421, "used": 421, "source": "GT" }, { "requested": 446, "used": 446, "source": "GT" }, { "requested": 471, "used": 471, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 1, "start": 439, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 264, "used": 264, "source": "GT" }, { "requested": 289, "used": 289, "source": "GT" }, { "requested": 314, "used": 314, "source": "GT" }, { "requested": 339, "used": 339, "source": "GT" }, { "requested": 364, "used": 364, "source": "GT" }, { "requested": 389, "used": 389, "source": "GT" }, { "requested": 414, "used": 414, "source": "GT" }, { "requested": 439, "used": 439, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 2, "start": 471, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 296, "used": 296, "source": "GT" }, { "requested": 321, "used": 321, "source": "GT" }, { "requested": 346, "used": 346, "source": "GT" }, { "requested": 371, "used": 371, "source": "GT" }, { "requested": 396, "used": 396, "source": "GT" }, { "requested": 421, "used": 421, "source": "GT" }, { "requested": 446, "used": 446, "source": "GT" }, { "requested": 471, "used": 471, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 3, "start": 503, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 328, "used": 328, "source": "GT" }, { "requested": 353, "used": 353, "source": "GT" }, { "requested": 378, "used": 378, "source": "GT" }, { "requested": 403, "used": 403, "source": "GT" }, { "requested": 428, "used": 428, "source": "GT" }, { "requested": 453, "used": 453, "source": "GT" }, { "requested": 478, "used": 478, "source": "GT" }, { "requested": 503, "used": 503, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 4, "start": 535, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 360, "used": 360, "source": "GT" }, { "requested": 385, "used": 385, "source": "GT" }, { "requested": 410, "used": 410, "source": "GT" }, { "requested": 435, "used": 435, "source": "GT" }, { "requested": 460, "used": 460, "source": "GT" }, { "requested": 485, "used": 485, "source": "GT" }, { "requested": 510, "used": 510, "source": "GT" }, { "requested": 535, "used": 535, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 5, "start": 567, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 392, "used": 392, "source": "GT" }, { "requested": 417, "used": 417, "source": "GT" }, { "requested": 442, "used": 442, "source": "GT" }, { "requested": 467, "used": 467, "source": "GT" }, { "requested": 492, "used": 492, "source": "GT" }, { "requested": 517, "used": 517, "source": "GT" }, { "requested": 542, "used": 542, "source": "GT" }, { "requested": 567, "used": 567, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 6, "start": 599, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 424, "used": 424, "source": "GT" }, { "requested": 449, "used": 449, "source": "GT" }, { "requested": 474, "used": 474, "source": "GT" }, { "requested": 499, "used": 499, "source": "GT" }, { "requested": 524, "used": 524, "source": "GT" }, { "requested": 549, "used": 549, "source": "GT" }, { "requested": 574, "used": 574, "source": "GT" }, { "requested": 599, "used": 599, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." }, { "chunk": 7, "start": 631, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 456, "used": 456, "source": "GT" }, { "requested": 481, "used": 481, "source": "GT" }, { "requested": 506, "used": 506, "source": "GT" }, { "requested": 531, "used": 531, "source": "GT" }, { "requested": 556, "used": 556, "source": "GT" }, { "requested": 581, "used": 581, "source": "GT" }, { "requested": 606, "used": 606, "source": "GT" }, { "requested": 631, "used": 631, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup." } ], "elapsed": 26.568514823913574, "path": "ckpt-20000/rollout/case15/gt_feedback", "prediction": { "left_xyz_mm": [ [ 761.47998046875, 427.6419982910156, 872.2139892578125 ], [ 760.0540161132812, 428.2489929199219, 868.927001953125 ], [ 760.0540161132812, 428.2489929199219, 866.4619750976562 ], [ 757.2020263671875, 428.8559875488281, 865.6409912109375 ], [ 757.2020263671875, 428.2489929199219, 861.5330200195312 ], [ 757.2020263671875, 428.8559875488281, 857.4249877929688 ], [ 757.2020263671875, 428.8559875488281, 854.1380004882812 ], [ 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 1, "start": 88, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 13, "used": 13, "source": "GT" }, { "requested": 38, "used": 38, "source": "GT" }, { "requested": 63, "used": 60, "source": "prediction" }, { "requested": 88, "used": 88, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 2, "start": 120, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 20, "used": 20, "source": "GT" }, { "requested": 45, "used": 45, "source": "GT" }, { "requested": 70, "used": 68, "source": "prediction" }, { "requested": 95, "used": 92, "source": "prediction" }, { "requested": 120, "used": 120, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf." } ], "elapsed": 7.73174786567688, "path": "ckpt-20000/rollout/case17/generated_feedback", "prediction": { "left_xyz_mm": [ [ 348.3059997558594, 311.4739990234375, 1003.4219970703125 ], [ 356.3290100097656, 310.614013671875, 1003.5659790039062 ], [ 362.6130065917969, 308.6080017089844, 1003.7100219726562 ], [ 367.15899658203125, 308.0350036621094, 1003.85400390625 ], [ 376.5190124511719, 307.4620056152344, 1004.4299926757812 ], [ 382.93701171875, 306.02899169921875, 1004.2860107421875 ], [ 390.6929931640625, 305.1700134277344, 1004.4299926757812 ], [ 397.9129943847656, 304.02301025390625, 1004.573974609375 ], [ 403.7969970703125, 302.87701416015625, 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 3, "start": 152, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 2, "used": 2, "source": "GT" }, { "requested": 27, "used": 27, "source": "GT" }, { "requested": 52, "used": 52, "source": "GT" }, { "requested": 77, "used": 76, "source": "prediction" }, { "requested": 102, "used": 100, "source": "prediction" }, { "requested": 127, "used": 124, "source": "prediction" }, { "requested": 152, "used": 152, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 4, "start": 184, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 9, "used": 9, "source": "GT" }, { "requested": 34, "used": 34, "source": "GT" }, { "requested": 59, "used": 56, "source": "initial_GT_hold" }, { "requested": 84, "used": 84, "source": "prediction" }, { "requested": 109, "used": 108, "source": "prediction" }, { "requested": 134, "used": 132, "source": "prediction" }, { "requested": 159, "used": 156, "source": "prediction" }, { "requested": 184, "used": 184, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper; Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: left arm: Carry the held tomato slice over to the lettuce leaf in the center of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 5, "start": 216, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 41, "used": 41, "source": "GT" }, { "requested": 66, "used": 64, "source": "prediction" }, { "requested": 91, "used": 88, "source": "prediction" }, { "requested": 116, "used": 116, "source": "prediction" }, { "requested": 141, "used": 140, "source": "prediction" }, { "requested": 166, "used": 164, "source": "prediction" }, { "requested": 191, "used": 188, "source": "prediction" }, { "requested": 216, "used": 216, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: left arm: Carry the held tomato slice over to the lettuce leaf in the center of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 6, "start": 248, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 73, "used": 72, "source": "prediction" }, { "requested": 98, "used": 96, "source": "prediction" }, { "requested": 123, "used": 120, "source": "prediction" }, { "requested": 148, "used": 148, "source": "prediction" }, { "requested": 173, "used": 172, "source": "prediction" }, { "requested": 198, "used": 196, "source": "prediction" }, { "requested": 223, "used": 220, "source": "prediction" }, { "requested": 248, "used": 248, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 7, "start": 280, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 105, "used": 104, "source": "prediction" }, { "requested": 130, "used": 128, "source": "prediction" }, { "requested": 155, "used": 152, "source": "prediction" }, { "requested": 180, "used": 180, "source": "prediction" }, { "requested": 205, "used": 204, "source": "prediction" }, { "requested": 230, "used": 228, "source": "prediction" }, { "requested": 255, "used": 252, "source": "prediction" }, { "requested": 280, "used": 280, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf." } ], "elapsed": 20.38954257965088, "path": "ckpt-20000/rollout/case17/generated_feedback", "prediction": { "left_xyz_mm": [ [ 348.3059997558594, 311.4739990234375, 1003.4219970703125 ], [ 356.3290100097656, 310.614013671875, 1003.5659790039062 ], [ 362.6130065917969, 308.6080017089844, 1003.7100219726562 ], [ 367.15899658203125, 308.0350036621094, 1003.85400390625 ], [ 376.5190124511719, 307.4620056152344, 1004.4299926757812 ], [ 382.93701171875, 306.02899169921875, 1004.2860107421875 ], [ 390.6929931640625, 305.1700134277344, 1004.4299926757812 ], [ 397.9129943847656, 304.02301025390625, 1004.573974609375 ], [ 403.7969970703125, 302.87701416015625, 1004.4299926757812 ], [ 410.2149963378906, 302.01800537109375, 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf." } ], "elapsed": 2.6234054565429688, "path": "ckpt-20000/rollout/case17/gt_feedback", "prediction": { "left_xyz_mm": [ [ 348.3059997558594, 311.4739990234375, 1003.4219970703125 ], [ 356.3290100097656, 310.614013671875, 1003.5659790039062 ], [ 362.6130065917969, 308.6080017089844, 1003.7100219726562 ], [ 367.15899658203125, 308.0350036621094, 1003.85400390625 ], [ 376.5190124511719, 307.4620056152344, 1004.4299926757812 ], [ 382.93701171875, 306.02899169921875, 1004.2860107421875 ], [ 390.6929931640625, 305.1700134277344, 1004.4299926757812 ], [ 397.9129943847656, 304.02301025390625, 1004.573974609375 ], [ 403.7969970703125, 302.87701416015625, 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 2, "start": 120, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 20, "used": 20, "source": "GT" }, { "requested": 45, "used": 45, "source": "GT" }, { "requested": 70, "used": 70, "source": "GT" }, { "requested": 95, "used": 95, "source": "GT" }, { "requested": 120, "used": 120, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 3, "start": 152, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 0, "used": 0, "source": "GT" }, { "requested": 2, "used": 2, "source": "GT" }, { "requested": 27, "used": 27, "source": "GT" }, { "requested": 52, "used": 52, "source": "GT" }, { "requested": 77, "used": 77, "source": "GT" }, { "requested": 102, "used": 102, "source": "GT" }, { "requested": 127, "used": 127, "source": "GT" }, { "requested": 152, "used": 152, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 4, "start": 184, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 9, "used": 9, "source": "GT" }, { "requested": 34, "used": 34, "source": "GT" }, { "requested": 59, "used": 59, "source": "GT" }, { "requested": 84, "used": 84, "source": "GT" }, { "requested": 109, "used": 109, "source": "GT" }, { "requested": 134, "used": 134, "source": "GT" }, { "requested": 159, "used": 159, "source": "GT" }, { "requested": 184, "used": 184, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper; Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: left arm: Carry the held tomato slice over to the lettuce leaf in the center of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 5, "start": 216, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 41, "used": 41, "source": "GT" }, { "requested": 66, "used": 66, "source": "GT" }, { "requested": 91, "used": 91, "source": "GT" }, { "requested": 116, "used": 116, "source": "GT" }, { "requested": 141, "used": 141, "source": "GT" }, { "requested": 166, "used": 166, "source": "GT" }, { "requested": 191, "used": 191, "source": "GT" }, { "requested": 216, "used": 216, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: left arm: Carry the held tomato slice over to the lettuce leaf in the center of the tray. right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 6, "start": 248, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 73, "used": 73, "source": "GT" }, { "requested": 98, "used": 98, "source": "GT" }, { "requested": 123, "used": 123, "source": "GT" }, { "requested": 148, "used": 148, "source": "GT" }, { "requested": 173, "used": 173, "source": "GT" }, { "requested": 198, "used": 198, "source": "GT" }, { "requested": 223, "used": 223, "source": "GT" }, { "requested": 248, "used": 248, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf." }, { "chunk": 7, "start": 280, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 105, "used": 105, "source": "GT" }, { "requested": 130, "used": 130, "source": "GT" }, { "requested": 155, "used": 155, "source": "GT" }, { "requested": 180, "used": 180, "source": "GT" }, { "requested": 205, "used": 205, "source": "GT" }, { "requested": 230, "used": 230, "source": "GT" }, { "requested": 255, "used": 255, "source": "GT" }, { "requested": 280, "used": 280, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Place the tomato slice on the lettuce leaf with the left gripper\nAtomic instruction: right arm: Release the tomato slice onto the lettuce leaf." } ], "elapsed": 20.493518590927124, "path": "ckpt-20000/rollout/case17/gt_feedback", "prediction": { "left_xyz_mm": [ [ 348.3059997558594, 311.4739990234375, 1003.4219970703125 ], [ 356.3290100097656, 310.614013671875, 1003.5659790039062 ], [ 362.6130065917969, 308.6080017089844, 1003.7100219726562 ], [ 367.15899658203125, 308.0350036621094, 1003.85400390625 ], [ 376.5190124511719, 307.4620056152344, 1004.4299926757812 ], [ 382.93701171875, 306.02899169921875, 1004.2860107421875 ], [ 390.6929931640625, 305.1700134277344, 1004.4299926757812 ], [ 397.9129943847656, 304.02301025390625, 1004.573974609375 ], [ 403.7969970703125, 302.87701416015625, 1004.4299926757812 ], [ 410.2149963378906, 302.01800537109375, 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Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Move the left arm forward towards the table area. right arm: Wait in the starting position." }, { "chunk": 2, "start": 184, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 9, "used": 9, "source": "GT" }, { "requested": 34, "used": 34, "source": "GT" }, { "requested": 59, "used": 59, "source": "GT" }, { "requested": 84, "used": 84, "source": "GT" }, { "requested": 109, "used": 109, "source": "GT" }, { "requested": 134, "used": 134, "source": "GT" }, { "requested": 159, "used": 159, "source": "GT" }, { "requested": 184, "used": 184, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position." }, { "chunk": 3, "start": 216, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 41, "used": 41, "source": "GT" }, { "requested": 66, "used": 66, "source": "GT" }, { "requested": 91, "used": 91, "source": "GT" }, { "requested": 116, "used": 116, "source": "GT" }, { "requested": 141, "used": 141, "source": "GT" }, { "requested": 166, "used": 166, "source": "GT" }, { "requested": 191, "used": 191, "source": "GT" }, { "requested": 216, "used": 216, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Continue moving the left arm forward towards the water bottle. right arm: Wait in the starting position." }, { "chunk": 4, "start": 248, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 73, "used": 73, "source": "GT" }, { "requested": 98, "used": 98, "source": "GT" }, { "requested": 123, "used": 123, "source": "GT" }, { "requested": 148, "used": 148, "source": "GT" }, { "requested": 173, "used": 173, "source": "GT" }, { "requested": 198, "used": 198, "source": "GT" }, { "requested": 223, "used": 223, "source": "GT" }, { "requested": 248, "used": 248, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Continue moving the left arm forward towards the water bottle. right arm: Wait in the starting position." }, { "chunk": 5, "start": 280, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 105, "used": 105, "source": "GT" }, { "requested": 130, "used": 130, "source": "GT" }, { "requested": 155, "used": 155, "source": "GT" }, { "requested": 180, "used": 180, "source": "GT" }, { "requested": 205, "used": 205, "source": "GT" }, { "requested": 230, "used": 230, "source": "GT" }, { "requested": 255, "used": 255, "source": "GT" }, { "requested": 280, "used": 280, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Continue moving the left arm forward towards the water bottle. right arm: Wait in the starting position." }, { "chunk": 6, "start": 312, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 137, "used": 137, "source": "GT" }, { "requested": 162, "used": 162, "source": "GT" }, { "requested": 187, "used": 187, "source": "GT" }, { "requested": 212, "used": 212, "source": "GT" }, { "requested": 237, "used": 237, "source": "GT" }, { "requested": 262, "used": 262, "source": "GT" }, { "requested": 287, "used": 287, "source": "GT" }, { "requested": 312, "used": 312, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_ai2_alphabot2_s28. Task: after avoiding the water bottle on the table, press the button.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: left arm: Continue moving the left arm forward towards the water bottle. right arm: Wait in the starting position." }, { "chunk": 7, "start": 344, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 169, "used": 169, "source": "GT" }, { "requested": 194, "used": 194, "source": "GT" }, { "requested": 219, "used": 219, "source": "GT" }, { "requested": 244, "used": 244, "source": "GT" }, { "requested": 269, "used": 269, "source": "GT" }, { "requested": 294, "used": 294, "source": "GT" }, { "requested": 319, "used": 319, "source": "GT" }, { "requested": 344, "used": 344, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_ai2_alphabot2_s28. 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Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." } ], "elapsed": 8.495138883590698, "path": "ckpt-20000/rollout/case21/generated_feedback", "prediction": { "left_xyz_mm": [ [ 438.739990234375, 58.73699951171875, 1218.406982421875 ], [ 439.9880065917969, 58.73699951171875, 1219.8900146484375 ], [ 437.49200439453125, 60.40399932861328, 1221.373046875 ], [ 437.49200439453125, 60.40399932861328, 1222.262939453125 ], [ 437.49200439453125, 62.071998596191406, 1224.9320068359375 ], [ 437.49200439453125, 62.071998596191406, 1227.3050537109375 ], [ 436.8680114746094, 64.572998046875, 1230.5670166015625 ], [ 434.9960021972656, 64.572998046875, 1232.6429443359375 ], [ 434.9960021972656, 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Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." } ], "elapsed": 8.500581741333008, "path": "ckpt-20000/rollout/case21/gt_feedback", "prediction": { "left_xyz_mm": [ [ 438.739990234375, 58.73699951171875, 1218.406982421875 ], [ 439.9880065917969, 58.73699951171875, 1219.8900146484375 ], [ 437.49200439453125, 60.40399932861328, 1221.373046875 ], [ 437.49200439453125, 60.40399932861328, 1222.262939453125 ], [ 437.49200439453125, 62.071998596191406, 1224.9320068359375 ], [ 437.49200439453125, 62.071998596191406, 1227.3050537109375 ], [ 436.8680114746094, 64.572998046875, 1230.5670166015625 ], [ 434.9960021972656, 64.572998046875, 1232.6429443359375 ], [ 434.9960021972656, 68.74099731445312, 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Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." }, { "chunk": 1, "start": 671, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 496, "used": 496, "source": "GT" }, { "requested": 521, "used": 521, "source": "GT" }, { "requested": 546, "used": 546, "source": "GT" }, { "requested": 571, "used": 571, "source": "GT" }, { "requested": 596, "used": 596, "source": "GT" }, { "requested": 621, "used": 621, "source": "GT" }, { "requested": 646, "used": 646, "source": "GT" }, { "requested": 671, "used": 671, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." }, { "chunk": 2, "start": 703, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 528, "used": 528, "source": "GT" }, { "requested": 553, "used": 553, "source": "GT" }, { "requested": 578, "used": 578, "source": "GT" }, { "requested": 603, "used": 603, "source": "GT" }, { "requested": 628, "used": 628, "source": "GT" }, { "requested": 653, "used": 653, "source": "GT" }, { "requested": 678, "used": 678, "source": "GT" }, { "requested": 703, "used": 703, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." }, { "chunk": 3, "start": 735, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 560, "used": 560, "source": "GT" }, { "requested": 585, "used": 585, "source": "GT" }, { "requested": 610, "used": 610, "source": "GT" }, { "requested": 635, "used": 635, "source": "GT" }, { "requested": 660, "used": 660, "source": "GT" }, { "requested": 685, "used": 685, "source": "GT" }, { "requested": 710, "used": 710, "source": "GT" }, { "requested": 735, "used": 735, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." }, { "chunk": 4, "start": 767, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 592, "used": 592, "source": "GT" }, { "requested": 617, "used": 617, "source": "GT" }, { "requested": 642, "used": 642, "source": "GT" }, { "requested": 667, "used": 667, "source": "GT" }, { "requested": 692, "used": 692, "source": "GT" }, { "requested": 717, "used": 717, "source": "GT" }, { "requested": 742, "used": 742, "source": "GT" }, { "requested": 767, "used": 767, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." }, { "chunk": 5, "start": 799, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 624, "used": 624, "source": "GT" }, { "requested": 649, "used": 649, "source": "GT" }, { "requested": 674, "used": 674, "source": "GT" }, { "requested": 699, "used": 699, "source": "GT" }, { "requested": 724, "used": 724, "source": "GT" }, { "requested": 749, "used": 749, "source": "GT" }, { "requested": 774, "used": 774, "source": "GT" }, { "requested": 799, "used": 799, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." }, { "chunk": 6, "start": 831, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 656, "used": 656, "source": "GT" }, { "requested": 681, "used": 681, "source": "GT" }, { "requested": 706, "used": 706, "source": "GT" }, { "requested": 731, "used": 731, "source": "GT" }, { "requested": 756, "used": 756, "source": "GT" }, { "requested": 781, "used": 781, "source": "GT" }, { "requested": 806, "used": 806, "source": "GT" }, { "requested": 831, "used": 831, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." }, { "chunk": 7, "start": 863, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 688, "used": 688, "source": "GT" }, { "requested": 713, "used": 713, "source": "GT" }, { "requested": 738, "used": 738, "source": "GT" }, { "requested": 763, "used": 763, "source": "GT" }, { "requested": 788, "used": 788, "source": "GT" }, { "requested": 813, "used": 813, "source": "GT" }, { "requested": 838, "used": 838, "source": "GT" }, { "requested": 863, "used": 863, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_galaxea_r1_lite_stereo. Task: pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.\nSubtask context (ordered by onset): Pour the yellow reagent into the graduated cylinder with the left gripper\nAtomic instruction: left arm: Pour the contents of the test tube with yellow pigment into the graduated cylinder." } ], "elapsed": 26.516228914260864, "path": "ckpt-20000/rollout/case21/gt_feedback", "prediction": { "left_xyz_mm": [ [ 438.739990234375, 58.73699951171875, 1218.406982421875 ], [ 439.9880065917969, 58.73699951171875, 1219.8900146484375 ], [ 437.49200439453125, 60.40399932861328, 1221.373046875 ], [ 437.49200439453125, 60.40399932861328, 1222.262939453125 ], [ 437.49200439453125, 62.071998596191406, 1224.9320068359375 ], [ 437.49200439453125, 62.071998596191406, 1227.3050537109375 ], [ 436.8680114746094, 64.572998046875, 1230.5670166015625 ], [ 434.9960021972656, 64.572998046875, 1232.6429443359375 ], [ 434.9960021972656, 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Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening." } ], "elapsed": 2.6870434284210205, "path": "ckpt-20000/rollout/case23/generated_feedback", "prediction": { "left_xyz_mm": [ [ 548.1649780273438, 298.302001953125, 1127.93701171875 ], [ 548.7479858398438, 297.1669921875, 1127.498046875 ], [ 548.864990234375, 297.7349853515625, 1127.279052734375 ], [ 549.2150268554688, 297.3089904785156, 1127.498046875 ], [ 549.6810302734375, 296.74200439453125, 1127.718017578125 ], [ 549.0399780273438, 297.0260009765625, 1127.93701171875 ], [ 549.2730102539062, 296.8840026855469, 1127.498046875 ], [ 549.3900146484375, 297.1669921875, 1127.498046875 ], [ 549.5650024414062, 296.0329895019531, 1127.93701171875 ], [ 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Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening." }, { "chunk": 1, "start": 950, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 775, "used": 775, "source": "GT" }, { "requested": 800, "used": 800, "source": "GT" }, { "requested": 825, "used": 825, "source": "GT" }, { "requested": 850, "used": 850, "source": "GT" }, { "requested": 875, "used": 875, "source": "GT" }, { "requested": 900, "used": 900, "source": "GT" }, { "requested": 925, "used": 922, "source": "prediction" }, { "requested": 950, "used": 950, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: left arm: Hold the lunch bag securely while the right arm adjusts its position. right arm: Pull the zipper to close the bag opening." }, { "chunk": 2, "start": 982, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 807, "used": 807, "source": "GT" }, { "requested": 832, "used": 832, "source": "GT" }, { "requested": 857, "used": 857, "source": "GT" }, { "requested": 882, "used": 882, "source": "GT" }, { "requested": 907, "used": 907, "source": "GT" }, { "requested": 932, "used": 930, "source": "prediction" }, { "requested": 957, "used": 954, "source": "prediction" }, { "requested": 982, "used": 982, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening." }, { "chunk": 3, "start": 1014, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 839, "used": 839, "source": "GT" }, { "requested": 864, "used": 864, "source": "GT" }, { "requested": 889, "used": 889, "source": "GT" }, { "requested": 914, "used": 914, "source": "GT" }, { "requested": 939, "used": 938, "source": "prediction" }, { "requested": 964, "used": 962, "source": "prediction" }, { "requested": 989, "used": 986, "source": "prediction" }, { "requested": 1014, "used": 1014, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.; Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." }, { "chunk": 4, "start": 1046, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 871, "used": 871, "source": "GT" }, { "requested": 896, "used": 896, "source": "GT" }, { "requested": 921, "used": 918, "source": "initial_GT_hold" }, { "requested": 946, "used": 946, "source": "prediction" }, { "requested": 971, "used": 970, "source": "prediction" }, { "requested": 996, "used": 994, "source": "prediction" }, { "requested": 1021, "used": 1018, "source": "prediction" }, { "requested": 1046, "used": 1046, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside. right arm: Move down towards the bottom of the bag zipper." }, { "chunk": 5, "start": 1078, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 903, "used": 903, "source": "GT" }, { "requested": 928, "used": 926, "source": "prediction" }, { "requested": 953, "used": 950, "source": "prediction" }, { "requested": 978, "used": 978, "source": "prediction" }, { "requested": 1003, "used": 1002, "source": "prediction" }, { "requested": 1028, "used": 1026, "source": "prediction" }, { "requested": 1053, "used": 1050, "source": "prediction" }, { "requested": 1078, "used": 1078, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." }, { "chunk": 6, "start": 1110, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 935, "used": 934, "source": "prediction" }, { "requested": 960, "used": 958, "source": "prediction" }, { "requested": 985, "used": 982, "source": "prediction" }, { "requested": 1010, "used": 1010, "source": "prediction" }, { "requested": 1035, "used": 1034, "source": "prediction" }, { "requested": 1060, "used": 1058, "source": "prediction" }, { "requested": 1085, "used": 1082, "source": "prediction" }, { "requested": 1110, "used": 1110, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." }, { "chunk": 7, "start": 1142, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 967, "used": 966, "source": "prediction" }, { "requested": 992, "used": 990, "source": "prediction" }, { "requested": 1017, "used": 1014, "source": "prediction" }, { "requested": 1042, "used": 1042, "source": "prediction" }, { "requested": 1067, "used": 1066, "source": "prediction" }, { "requested": 1092, "used": 1090, "source": "prediction" }, { "requested": 1117, "used": 1114, "source": "prediction" }, { "requested": 1142, "used": 1142, "source": "prediction" } ], "proprio_source": "previous_predicted_action_last", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." } ], "elapsed": 20.550906658172607, "path": "ckpt-20000/rollout/case23/generated_feedback", "prediction": { "left_xyz_mm": [ [ 548.1649780273438, 298.302001953125, 1127.93701171875 ], [ 548.7479858398438, 297.1669921875, 1127.498046875 ], [ 548.864990234375, 297.7349853515625, 1127.279052734375 ], [ 549.2150268554688, 297.3089904785156, 1127.498046875 ], [ 549.6810302734375, 296.74200439453125, 1127.718017578125 ], [ 549.0399780273438, 297.0260009765625, 1127.93701171875 ], [ 549.2730102539062, 296.8840026855469, 1127.498046875 ], [ 549.3900146484375, 297.1669921875, 1127.498046875 ], [ 549.5650024414062, 296.0329895019531, 1127.93701171875 ], [ 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Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening." } ], "elapsed": 2.6274468898773193, "path": "ckpt-20000/rollout/case23/gt_feedback", "prediction": { "left_xyz_mm": [ [ 548.1649780273438, 298.302001953125, 1127.93701171875 ], [ 548.7479858398438, 297.1669921875, 1127.498046875 ], [ 548.864990234375, 297.7349853515625, 1127.279052734375 ], [ 549.2150268554688, 297.3089904785156, 1127.498046875 ], [ 549.6810302734375, 296.74200439453125, 1127.718017578125 ], [ 549.0399780273438, 297.0260009765625, 1127.93701171875 ], [ 549.2730102539062, 296.8840026855469, 1127.498046875 ], [ 549.3900146484375, 297.1669921875, 1127.498046875 ], [ 549.5650024414062, 296.0329895019531, 1127.93701171875 ], [ 549.5650024414062, 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Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening." }, { "chunk": 1, "start": 950, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 775, "used": 775, "source": "GT" }, { "requested": 800, "used": 800, "source": "GT" }, { "requested": 825, "used": 825, "source": "GT" }, { "requested": 850, "used": 850, "source": "GT" }, { "requested": 875, "used": 875, "source": "GT" }, { "requested": 900, "used": 900, "source": "GT" }, { "requested": 925, "used": 925, "source": "GT" }, { "requested": 950, "used": 950, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: left arm: Hold the lunch bag securely while the right arm adjusts its position. right arm: Pull the zipper to close the bag opening." }, { "chunk": 2, "start": 982, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 807, "used": 807, "source": "GT" }, { "requested": 832, "used": 832, "source": "GT" }, { "requested": 857, "used": 857, "source": "GT" }, { "requested": 882, "used": 882, "source": "GT" }, { "requested": 907, "used": 907, "source": "GT" }, { "requested": 932, "used": 932, "source": "GT" }, { "requested": 957, "used": 957, "source": "GT" }, { "requested": 982, "used": 982, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. 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Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening." }, { "chunk": 1, "start": 950, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 775, "used": 775, "source": "GT" }, { "requested": 800, "used": 800, "source": "GT" }, { "requested": 825, "used": 825, "source": "GT" }, { "requested": 850, "used": 850, "source": "GT" }, { "requested": 875, "used": 875, "source": "GT" }, { "requested": 900, "used": 900, "source": "GT" }, { "requested": 925, "used": 925, "source": "GT" }, { "requested": 950, "used": 950, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: left arm: Hold the lunch bag securely while the right arm adjusts its position. right arm: Pull the zipper to close the bag opening." }, { "chunk": 2, "start": 982, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 807, "used": 807, "source": "GT" }, { "requested": 832, "used": 832, "source": "GT" }, { "requested": 857, "used": 857, "source": "GT" }, { "requested": 882, "used": 882, "source": "GT" }, { "requested": 907, "used": 907, "source": "GT" }, { "requested": 932, "used": 932, "source": "GT" }, { "requested": 957, "used": 957, "source": "GT" }, { "requested": 982, "used": 982, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.\nAtomic instruction: right arm: Pull the zipper to close the bag opening." }, { "chunk": 3, "start": 1014, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 839, "used": 839, "source": "GT" }, { "requested": 864, "used": 864, "source": "GT" }, { "requested": 889, "used": 889, "source": "GT" }, { "requested": 914, "used": 914, "source": "GT" }, { "requested": 939, "used": 939, "source": "GT" }, { "requested": 964, "used": 964, "source": "GT" }, { "requested": 989, "used": 989, "source": "GT" }, { "requested": 1014, "used": 1014, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your right hand.; Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." }, { "chunk": 4, "start": 1046, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 871, "used": 871, "source": "GT" }, { "requested": 896, "used": 896, "source": "GT" }, { "requested": 921, "used": 921, "source": "GT" }, { "requested": 946, "used": 946, "source": "GT" }, { "requested": 971, "used": 971, "source": "GT" }, { "requested": 996, "used": 996, "source": "GT" }, { "requested": 1021, "used": 1021, "source": "GT" }, { "requested": 1046, "used": 1046, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside. right arm: Move down towards the bottom of the bag zipper." }, { "chunk": 5, "start": 1078, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 903, "used": 903, "source": "GT" }, { "requested": 928, "used": 928, "source": "GT" }, { "requested": 953, "used": 953, "source": "GT" }, { "requested": 978, "used": 978, "source": "GT" }, { "requested": 1003, "used": 1003, "source": "GT" }, { "requested": 1028, "used": 1028, "source": "GT" }, { "requested": 1053, "used": 1053, "source": "GT" }, { "requested": 1078, "used": 1078, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." }, { "chunk": 6, "start": 1110, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 935, "used": 935, "source": "GT" }, { "requested": 960, "used": 960, "source": "GT" }, { "requested": 985, "used": 985, "source": "GT" }, { "requested": 1010, "used": 1010, "source": "GT" }, { "requested": 1035, "used": 1035, "source": "GT" }, { "requested": 1060, "used": 1060, "source": "GT" }, { "requested": 1085, "used": 1085, "source": "GT" }, { "requested": 1110, "used": 1110, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." }, { "chunk": 7, "start": 1142, "history": [ { "requested": 0, "used": 0, "source": "GT" }, { "requested": 967, "used": 967, "source": "GT" }, { "requested": 992, "used": 992, "source": "GT" }, { "requested": 1017, "used": 1017, "source": "GT" }, { "requested": 1042, "used": 1042, "source": "GT" }, { "requested": 1067, "used": 1067, "source": "GT" }, { "requested": 1092, "used": 1092, "source": "GT" }, { "requested": 1117, "used": 1117, "source": "GT" }, { "requested": 1142, "used": 1142, "source": "GT" } ], "proprio_source": "GT", "prompt": "Robot: robocoin_realman_aidal. Task: the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nSubtask context (ordered by onset): Hold the lunch bag with your left hand.\nAtomic instruction: left arm: Release the lunch bag after the items are placed inside." } ], "elapsed": 20.490073680877686, "path": "ckpt-20000/rollout/case23/gt_feedback", "prediction": { "left_xyz_mm": [ [ 548.1649780273438, 298.302001953125, 1127.93701171875 ], [ 548.7479858398438, 297.1669921875, 1127.498046875 ], [ 548.864990234375, 297.7349853515625, 1127.279052734375 ], [ 549.2150268554688, 297.3089904785156, 1127.498046875 ], [ 549.6810302734375, 296.74200439453125, 1127.718017578125 ], [ 549.0399780273438, 297.0260009765625, 1127.93701171875 ], [ 549.2730102539062, 296.8840026855469, 1127.498046875 ], [ 549.3900146484375, 297.1669921875, 1127.498046875 ], [ 549.5650024414062, 296.0329895019531, 1127.93701171875 ], [ 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 7.929004728794098, "endpoint_mm": 11.204329319298267, "gripper_change": 0.010706694796681404 }, "right": { "rms_displacement_mm": 6.453823298215866, "endpoint_mm": 7.128102704882622, "gripper_change": 0.003660408779978752 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 4.028050694614649, "endpoint_mm": 4.938447382301092, "gripper_change": 0.012285081669688225 }, "right": { "rms_displacement_mm": 3.1731415074318647, "endpoint_mm": 6.44577294588089, "gripper_change": 0.008754074573516846 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "fbce171c1da9cfeca9d20ec5f57db4f381cd9da1da2e6982dd2485f00be0da91", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 7.319548632949591, "endpoint_mm": 8.804419077932835, "gripper_change": 0.007240826264023781 }, "right": { "rms_displacement_mm": 6.872660480439663, "endpoint_mm": 8.03745724260807, "gripper_change": 0.002866506576538086 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case02/current_repeat/full_stop/seed314", "prediction": { "left_xyz_mm": [ [ 293.28399658203125, -105.66600036621094, 384.8590087890625 ], [ 294.97100830078125, -108.64700317382812, 383.8240051269531 ], [ 296.09600830078125, -107.15699768066406, 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Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "fbce171c1da9cfeca9d20ec5f57db4f381cd9da1da2e6982dd2485f00be0da91", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 5.932547152042389, "endpoint_mm": 5.848924163728952, "gripper_change": 0.00829308107495308 }, "right": { "rms_displacement_mm": 4.3169730342924595, "endpoint_mm": 4.1654095984995365, "gripper_change": 0.03208255022764206 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case02/current_repeat/full_stop/seed42", "prediction": { "left_xyz_mm": [ [ 292.72100830078125, -108.0510025024414, 384.8590087890625 ], [ 292.72100830078125, -108.0510025024414, 385.54901123046875 ], [ 294.4079895019531, -105.96399688720703, 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 6.936384364962578, "endpoint_mm": 9.30094812065363, "gripper_change": 0.011548502370715141 }, "right": { "rms_displacement_mm": 5.92622347176075, "endpoint_mm": 6.221738178282976, "gripper_change": 0.002784108743071556 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 4.039464984089136, "endpoint_mm": 5.175881553441286, "gripper_change": 0.011653726920485497 }, "right": { "rms_displacement_mm": 3.2937664072960615, "endpoint_mm": 6.44577294588089, "gripper_change": 0.007262755185365677 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 7.094802334904671, "endpoint_mm": 9.289716370403767, "gripper_change": 0.010811921209096909 }, "right": { "rms_displacement_mm": 6.506172940135002, "endpoint_mm": 7.048976607620716, "gripper_change": 0.0036458931863307953 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 4.570795223116875, "endpoint_mm": 5.363729782402515, "gripper_change": 0.011443275958299637 }, "right": { "rms_displacement_mm": 3.1285188160836697, "endpoint_mm": 5.732575431466103, "gripper_change": 0.0096062570810318 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 9.678272530436516, "endpoint_mm": 14.20193538069725, "gripper_change": 0.01081191748380661 }, "right": { "rms_displacement_mm": 7.798787672072649, "endpoint_mm": 8.77052079886198, "gripper_change": 0.007262755185365677 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 4.110752139240503, "endpoint_mm": 5.034441128373146, "gripper_change": 0.010760953649878502 }, "right": { "rms_displacement_mm": 4.225829150527716, "endpoint_mm": 10.40943805128336, "gripper_change": 0.02025853842496872 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 9.866456501185894, "endpoint_mm": 14.776970259845257, "gripper_change": 0.009864889085292816 }, "right": { "rms_displacement_mm": 7.75877246633172, "endpoint_mm": 8.24717152863741, "gripper_change": 0.006304049864411354 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 4.219634458422661, "endpoint_mm": 5.250643938779831, "gripper_change": 0.010445274412631989 }, "right": { "rms_displacement_mm": 4.382564686238766, "endpoint_mm": 11.045997031033039, "gripper_change": 0.01876721903681755 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 9.03437938541174, "endpoint_mm": 13.105691410601139, "gripper_change": 0.010285789147019386 }, "right": { "rms_displacement_mm": 7.263045758008957, "endpoint_mm": 8.280822075903416, "gripper_change": 0.006943186745047569 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 4.097985103726387, "endpoint_mm": 5.0557320937514305, "gripper_change": 0.009762955829501152 }, "right": { "rms_displacement_mm": 2.4965135380625725, "endpoint_mm": 6.494450848549604, "gripper_change": 0.009393211454153061 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 8.658213540911674, "endpoint_mm": 11.714030988514423, "gripper_change": 0.009654436260461807 }, "right": { "rms_displacement_mm": 7.359025534242392, "endpoint_mm": 8.730122819542885, "gripper_change": 0.006197527050971985 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 4.355915822088718, "endpoint_mm": 5.505976267158985, "gripper_change": 0.010655729100108147 }, "right": { "rms_displacement_mm": 3.5631940700113773, "endpoint_mm": 9.298782795667648, "gripper_change": 0.010138871148228645 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "ab0337bfd044ebc07b946c33b2b13b6f8a437b28ed58e43b65fb8483f7c19204", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 5.046143662184477, "endpoint_mm": 6.722134537994862, "gripper_change": 0.009287795051932335 }, "right": { "rms_displacement_mm": 3.32860485650599, "endpoint_mm": 8.460544981062412, "gripper_change": 0.01344107836484909 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case02/true_history/l1_conflict/seed42", "prediction": { "left_xyz_mm": [ [ 293.28399658203125, -108.94599914550781, 384.5140075683594 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 7.625066675245762, "endpoint_mm": 9.208905510604382, "gripper_change": 0.008286502212285995 }, "right": { "rms_displacement_mm": 5.468103569000959, "endpoint_mm": 6.400003097951412, "gripper_change": 0.005224306136369705 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 4.8594241961836815, "endpoint_mm": 6.356345489621162, "gripper_change": 0.010129600763320923 }, "right": { "rms_displacement_mm": 3.321599680930376, "endpoint_mm": 8.595529943704605, "gripper_change": 0.014080215245485306 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Raise the left arm; keep the right arm still.", "context": "aa5a7ae0fd984e3d21940ee62912d5d82fc3f0abbb9cead551941cddeb9d774d", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 88.10079842805862, "endpoint_mm": 138.02288472652435, "gripper_change": 0.010818501934409142 }, "right": { "rms_displacement_mm": 8.39499942958355, "endpoint_mm": 9.669291786849499, "gripper_change": 0.006943186745047569 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case02/true_history/l3_only_edit/seed314", "prediction": { "left_xyz_mm": [ [ 293.84600830078125, -102.38600158691406, 385.8940124511719 ], [ 296.09600830078125, -103.87699890136719, 385.2040100097656 ], [ 298.3450012207031, -99.7020034790039, 385.54901123046875 ], [ 301.1570129394531, -95.52799987792969, 385.8940124511719 ], [ 302.843994140625, 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"Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 9.03437938541174, "endpoint_mm": 13.105691410601139, "gripper_change": 0.010285789147019386 }, "right": { "rms_displacement_mm": 7.263045758008957, "endpoint_mm": 8.280822075903416, "gripper_change": 0.006943186745047569 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.", "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 4.097985103726387, "endpoint_mm": 5.0557320937514305, "gripper_change": 0.009762955829501152 }, "right": { "rms_displacement_mm": 2.4965135380625725, "endpoint_mm": 6.494450848549604, "gripper_change": 0.009393211454153061 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": 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"action_max_abs": 0.32366377115249634, "video_max_abs": 248 } }, { "case": "case05", "variant": "full_stop", "history": "current_repeat", "seed": 314, "prompt": "Robot: s216a44_rl. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "148a7203e884ca1ffe2af7ef6114171c9b40fb472853dea18908f15665e3c130", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 6.987843196839094, "endpoint_mm": 7.457946892827749, "gripper_change": 0.00847931019961834 }, "right": { "rms_displacement_mm": 3.2095187343657017, "endpoint_mm": 3.53840715251863, "gripper_change": 0.014184985309839249 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case05/current_repeat/full_stop/seed314", "prediction": { "left_xyz_mm": [ [ 550.1300048828125, 301.0870056152344, 88.5510025024414 ], [ 550.6389770507812, 300.3160095214844, 87.7509994506836 ], [ 551.656005859375, 300.70098876953125, 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "context": "03086d8b3b2d2180a9e5f4e30b4d5121b0fe9d26afa9a22b55a14b80fec0387d", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 7.512974552810192, "endpoint_mm": 6.844040937721729, "gripper_change": 0.017653055489063263 }, "right": { "rms_displacement_mm": 36.437489092350006, "endpoint_mm": 50.36214739084244, "gripper_change": 0.4073348045349121 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case05/current_repeat/l3_conflict/seed314", "prediction": { "left_xyz_mm": [ [ 551.1480102539062, 300.70098876953125, 88.5510025024414 ], [ 551.656005859375, 299.92999267578125, 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: left arm: Hold the remote control steady on the table.", "context": "03086d8b3b2d2180a9e5f4e30b4d5121b0fe9d26afa9a22b55a14b80fec0387d", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 8.573032915592194, "endpoint_mm": 7.923114113509655, "gripper_change": 0.013095632195472717 }, "right": { "rms_displacement_mm": 3.908958286046982, "endpoint_mm": 6.689449772238731, "gripper_change": 0.012440167367458344 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case05/reverse_past/l3_conflict/seed314", "prediction": { "left_xyz_mm": [ [ 551.1480102539062, 301.0870056152344, 88.5510025024414 ], [ 551.656005859375, 300.70098876953125, 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Task: Air conditioner remote control inspection dagger\nSubtask context (ordered by onset): The right arm pushes the battery into the battery compartment\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.", "context": "3afb2bc801e8798921ef129f37cb744057da4a00c0b7a7b042be116ccdb45e07", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 7.412060163915157, "endpoint_mm": 6.461909506469965, "gripper_change": 0.011459637433290482 }, "right": { "rms_displacement_mm": 17.6775511354208, "endpoint_mm": 28.584476560354233, "gripper_change": 0.021764036267995834 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case05/true_history/l1_conflict/seed314", "prediction": { "left_xyz_mm": [ [ 551.1480102539062, 301.0870056152344, 88.5510025024414 ], [ 551.656005859375, 300.3160095214844, 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 14.322459697723389, "endpoint_mm": 14.578549191355705, "gripper_change": 0.0027301711961627007 }, "right": { "rms_displacement_mm": 2.373223891481757, "endpoint_mm": 1.9052440766245127, "gripper_change": 0.00221159216016531 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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"comparison": { "reference_variant": "full_original", "xyz_delta_mm": 0.0, "left_xyz_delta_mm": 0.0, "right_xyz_delta_mm": 0.0, "video_mae_255": 0.0, "action_max_abs": 0.0, "video_max_abs": 0, "reference_motion_mm": 5.92684606090188, "prediction_motion_mm": 5.92684606090188, "motion_ratio": 1.0 }, "history_comparison": { "xyz_delta_mm": 18.472349271178246, "left_xyz_delta_mm": 26.02141723036766, "right_xyz_delta_mm": 2.311114454641938, "video_mae_255": 3.3969363481570514, "action_max_abs": 0.044367194175720215, "video_max_abs": 192 } }, { "case": "case15", "variant": "full_original", "history": "current_repeat", "seed": 42, "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 10.279159061610699, "endpoint_mm": 11.706043966114521, "gripper_change": 0.012947638519108295 }, "right": { "rms_displacement_mm": 6.551291793584824, "endpoint_mm": 7.104473654180765, "gripper_change": 0.0056055402383208275 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 12.03153096139431, "endpoint_mm": 14.022893272340298, "gripper_change": 0.003344377502799034 }, "right": { "rms_displacement_mm": 4.333095625042915, "endpoint_mm": 2.2338698618113995, "gripper_change": 0.00485003087669611 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case15/current_repeat/l3_conflict/seed314", "prediction": { "left_xyz_mm": [ [ 758.6279907226562, 426.4280090332031, 874.6790161132812 ], [ 760.0540161132812, 425.8210144042969, 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 12.237885035574436, "endpoint_mm": 19.828222692012787, "gripper_change": 0.010906613431870937 }, "right": { "rms_displacement_mm": 5.059575662016869, "endpoint_mm": 6.341408006846905, "gripper_change": 0.008431710302829742 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case15/current_repeat/l3_conflict/seed42", "prediction": { "left_xyz_mm": [ [ 758.6279907226562, 425.2139892578125, 875.5 ], [ 758.6279907226562, 425.8210144042969, 875.5 ], [ 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 54.387692362070084, "endpoint_mm": 70.22861391305923, "gripper_change": 0.009582708589732647 }, "right": { "rms_displacement_mm": 3.015059046447277, "endpoint_mm": 4.8893895000219345, "gripper_change": 0.0010393988341093063 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 68.60540062189102, "endpoint_mm": 76.17157697677612, "gripper_change": 0.02793954685330391 }, "right": { "rms_displacement_mm": 6.742154713720083, "endpoint_mm": 8.595080114901066, "gripper_change": 0.003418884240090847 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 53.288768976926804, "endpoint_mm": 62.89580464363098, "gripper_change": 0.009196565486490726 }, "right": { "rms_displacement_mm": 2.61449976824224, "endpoint_mm": 4.8893895000219345, "gripper_change": 0.001195589080452919 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 67.05629825592041, "endpoint_mm": 77.53046602010727, "gripper_change": 0.014933494850993156 }, "right": { "rms_displacement_mm": 4.044970963150263, "endpoint_mm": 6.551432888954878, "gripper_change": 0.006249126046895981 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case15/reverse_past/l3_conflict/seed42", "prediction": { "left_xyz_mm": [ [ 760.0540161132812, 426.4280090332031, 870.5709838867188 ], [ 758.6279907226562, 428.2489929199219, 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 57.1967251598835, "endpoint_mm": 80.03469556570053, "gripper_change": 0.009031080640852451 }, "right": { "rms_displacement_mm": 2.851407043635845, "endpoint_mm": 4.5558130368590355, "gripper_change": 0.0010317731648683548 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 62.24605068564415, "endpoint_mm": 90.36112576723099, "gripper_change": 0.006102513521909714 }, "right": { "rms_displacement_mm": 6.393193267285824, "endpoint_mm": 6.937815807759762, "gripper_change": 0.0035908445715904236 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 54.56611514091492, "endpoint_mm": 72.70593196153641, "gripper_change": 0.00720824021846056 }, "right": { "rms_displacement_mm": 2.9080715030431747, "endpoint_mm": 5.443325731903315, "gripper_change": 0.001035328023135662 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 50.54664611816406, "endpoint_mm": 63.81857395172119, "gripper_change": 0.0033344896510243416 }, "right": { "rms_displacement_mm": 6.170873995870352, "endpoint_mm": 7.526862435042858, "gripper_change": 0.00434635765850544 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 57.1967251598835, "endpoint_mm": 80.03469556570053, "gripper_change": 0.009031080640852451 }, "right": { "rms_displacement_mm": 2.851407043635845, "endpoint_mm": 4.5558130368590355, "gripper_change": 0.0010317731648683548 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.", "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 62.24605068564415, "endpoint_mm": 90.36112576723099, "gripper_change": 0.006102513521909714 }, "right": { "rms_displacement_mm": 6.393193267285824, "endpoint_mm": 6.937815807759762, "gripper_change": 0.0035908445715904236 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 12.944506481289864, "endpoint_mm": 29.90933321416378, "gripper_change": 0.007187210023403168 }, "right": { "rms_displacement_mm": 5.701303947716951, "endpoint_mm": 6.144064012914896, "gripper_change": 0.0042964699678123 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case17/current_repeat/full_original/seed42", "prediction": { "left_xyz_mm": 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.", "context": "9a8760327ccdb2cb0b15ef65d0a63bef08e3263587b3f48da65af98eda9757fd", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 4.326464608311653, "endpoint_mm": 3.3353541512042284, "gripper_change": 0.006382806226611137 }, "right": { "rms_displacement_mm": 81.12579584121704, "endpoint_mm": 140.3236985206604, "gripper_change": 0.0017706900835037231 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case17/current_repeat/full_swap_l1/seed314", "prediction": { 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 103.8886234164238, "endpoint_mm": 155.46990931034088, "gripper_change": 0.005689356476068497 }, "right": { "rms_displacement_mm": 9.3675646930933, "endpoint_mm": 10.012649931013584, "gripper_change": 0.0028646201826632023 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case17/reverse_past/full_original/seed314", "prediction": { "left_xyz_mm": 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 87.53640204668045, "endpoint_mm": 145.40518820285797, "gripper_change": 0.01054353080689907 }, "right": { "rms_displacement_mm": 18.488232046365738, "endpoint_mm": 26.38048864901066, "gripper_change": 0.011261706240475178 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case17/reverse_past/full_original/seed42", "prediction": { "left_xyz_mm": 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"video_mae_255": 10.911848540998932, "action_max_abs": 0.1420031189918518, "video_max_abs": 152, "reference_motion_mm": 36.52495890855789, "prediction_motion_mm": 17.61123165488243, "motion_ratio": 0.4821697869386535 }, "history_comparison": { "xyz_delta_mm": 3.071479732170701, "left_xyz_delta_mm": 3.665636992082, "right_xyz_delta_mm": 2.330468036234379, "video_mae_255": 0.8661729600694444, "action_max_abs": 0.007228493690490723, "video_max_abs": 112 } }, { "case": "case17", "variant": "full_swap_l1", "history": "reverse_past", "seed": 314, "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.", "context": "9a8760327ccdb2cb0b15ef65d0a63bef08e3263587b3f48da65af98eda9757fd", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 91.33139997720718, "endpoint_mm": 126.86987221240997, "gripper_change": 0.00484028086066246 }, "right": { "rms_displacement_mm": 18.16343702375889, "endpoint_mm": 21.09832875430584, "gripper_change": 0.003694402053952217 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case17/reverse_past/full_swap_l1/seed314", "prediction": { "left_xyz_mm": 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.", "context": "9a8760327ccdb2cb0b15ef65d0a63bef08e3263587b3f48da65af98eda9757fd", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 59.866759926080704, "endpoint_mm": 114.88938331604004, "gripper_change": 0.009739119559526443 }, "right": { "rms_displacement_mm": 38.70411962270737, "endpoint_mm": 55.510975420475006, "gripper_change": 0.01849019154906273 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case17/reverse_past/full_swap_l1/seed42", "prediction": { "left_xyz_mm": 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 101.35416686534882, "endpoint_mm": 153.12935411930084, "gripper_change": 0.005552206188440323 }, "right": { "rms_displacement_mm": 10.230815038084984, "endpoint_mm": 12.32428289949894, "gripper_change": 0.0025631291791796684 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case17/true_history/full_original/seed314", "prediction": { 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.", "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 85.39382368326187, "endpoint_mm": 137.83253729343414, "gripper_change": 0.010404838249087334 }, "right": { "rms_displacement_mm": 11.964757926762104, "endpoint_mm": 16.738299280405045, "gripper_change": 0.008946334943175316 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case17/true_history/full_original/seed42", "prediction": { 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Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.", "context": "9a8760327ccdb2cb0b15ef65d0a63bef08e3263587b3f48da65af98eda9757fd", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 146.41982316970825, "endpoint_mm": 215.41215479373932, "gripper_change": 0.0063288770616054535 }, "right": { "rms_displacement_mm": 7.951467297971249, "endpoint_mm": 7.849959656596184, "gripper_change": 0.0026396410539746284 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case17/true_history/full_swap_l1/seed314", "prediction": { 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Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Press the button blocked by the bottle with right gripper\nAtomic instruction: right arm: Wait in the starting position.", "context": "583dca92e535bbedef0eb9f32e960d8696cfea3ee883709ed53d59ee72c4a65c", "arm_swap_changes_text": true, "video_steps": 10, "action_steps": 10, "shift": 3, "motion": { "left": { "rms_displacement_mm": 2.910517156124115, "endpoint_mm": 3.7126585375517607, "gripper_change": 0.010113062337040901 }, "right": { "rms_displacement_mm": 2.97828228212893, "endpoint_mm": 3.499093931168318, "gripper_change": 0.014277458190917969 } }, "reference_note": "Recorded GT is not a counterfactual action target; semantic success requires environment execution.", "path": "ckpt-20000/diagnostics/case19/current_repeat/l3_conflict/seed314", "prediction": { "left_xyz_mm": [ [ 416.2380065917969, 240.79200744628906, 1161.1070556640625 ], [ 417.3089904785156, 240.22300720214844, 1160.4219970703125 ], 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