Upload folder using huggingface_hub (part 4)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- certificates/episode_000750.json +113 -0
- certificates/episode_000751.json +113 -0
- certificates/episode_000752.json +113 -0
- certificates/episode_000753.json +113 -0
- certificates/episode_000754.json +113 -0
- certificates/episode_000755.json +113 -0
- certificates/episode_000756.json +113 -0
- certificates/episode_000757.json +113 -0
- certificates/episode_000758.json +113 -0
- certificates/episode_000759.json +113 -0
- certificates/episode_000760.json +113 -0
- certificates/episode_000761.json +113 -0
- certificates/episode_000762.json +113 -0
- certificates/episode_000763.json +113 -0
- certificates/episode_000764.json +113 -0
- certificates/episode_000765.json +113 -0
- certificates/episode_000766.json +113 -0
- certificates/episode_000767.json +113 -0
- certificates/episode_000768.json +113 -0
- certificates/episode_000769.json +113 -0
- certificates/episode_000770.json +113 -0
- certificates/episode_000771.json +113 -0
- certificates/episode_000772.json +113 -0
- certificates/episode_000773.json +113 -0
- certificates/episode_000774.json +113 -0
- certificates/episode_000775.json +113 -0
- certificates/episode_000776.json +113 -0
- certificates/episode_000777.json +113 -0
- certificates/episode_000778.json +113 -0
- certificates/episode_000779.json +113 -0
- certificates/episode_000780.json +113 -0
- certificates/episode_000781.json +113 -0
- certificates/episode_000782.json +113 -0
- certificates/episode_000783.json +113 -0
- certificates/episode_000784.json +113 -0
- certificates/episode_000785.json +113 -0
- certificates/episode_000786.json +113 -0
- certificates/episode_000787.json +113 -0
- certificates/episode_000788.json +113 -0
- certificates/episode_000789.json +113 -0
- certificates/episode_000790.json +113 -0
- certificates/episode_000791.json +113 -0
- certificates/episode_000792.json +113 -0
- certificates/episode_000793.json +113 -0
- certificates/episode_000794.json +113 -0
- certificates/episode_000795.json +113 -0
- certificates/episode_000796.json +113 -0
- certificates/episode_000797.json +113 -0
- certificates/episode_000798.json +113 -0
- certificates/episode_000799.json +113 -0
certificates/episode_000750.json
ADDED
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{
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"schema_version": 1,
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"episode_index": 750,
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| 4 |
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"task_id": "orange_white_left",
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| 5 |
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"tier": "L1",
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| 6 |
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"seed": 24174,
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| 7 |
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"instruction": "Sort the orange into the white bowl on the left.",
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"success": true,
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| 9 |
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"frame_count": 225,
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"strict_physics": true,
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"rigid_pose_write_guard": true,
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"kinematic_intervention_count": 0,
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"layout": {
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"arrangement": {
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"left": "home_slots",
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"right": "home_slots"
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},
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"color_swapped": {
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"left": false,
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"right": true
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},
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"fruit_pack": "home_jitter"
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},
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"initial_object_xy": {
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"banana": [
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],
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"lemon": [
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| 30 |
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],
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| 33 |
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"plum": [
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| 36 |
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],
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| 37 |
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"apple": [
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| 38 |
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| 39 |
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],
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"orange": [
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| 42 |
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],
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"white_left_bowl": [
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],
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"blue_left_bowl": [
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],
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"white_right_bowl": [
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],
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"blue_right_bowl": [
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| 60 |
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]
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},
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"runtime_randomization": {
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| 63 |
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"enabled": true,
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| 64 |
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"friction_ratio": 1.097022822194856,
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| 65 |
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"mass_ratios": {
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| 66 |
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"banana": 1.046428290693351,
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| 67 |
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"lemon": 0.8111397200259413,
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| 68 |
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"plum": 1.096393326466356,
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| 69 |
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"apple": 0.8499991358247916,
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| 70 |
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"orange": 0.9574645995686203,
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| 71 |
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"white_left_bowl": 1.1063442806830384,
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| 72 |
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"blue_left_bowl": 0.9074929267927591,
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| 73 |
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"white_right_bowl": 1.0770663687295046,
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| 74 |
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"blue_right_bowl": 1.1878854650915516
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| 75 |
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},
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| 76 |
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"world_camera_position_delta": [
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],
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"world_camera_lookat_delta": [
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]
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},
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"final_goal_positions": {
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"orange": [
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| 89 |
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},
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| 94 |
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"success_report": {
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| 95 |
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"success": true,
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"n_goals": 1,
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"n_success": 1,
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| 98 |
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"partial_success_rate": 1.0,
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"goals": [
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| 100 |
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{
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| 101 |
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"object": "orange",
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| 102 |
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"container": "white_left_bowl",
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| 103 |
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"success": true,
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| 104 |
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"object_correct": true,
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"target_correct": true
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}
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],
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"object_correct": true,
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"target_correct": true,
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| 110 |
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"strict_physics": true
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| 111 |
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},
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| 112 |
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"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
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| 113 |
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}
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certificates/episode_000751.json
ADDED
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@@ -0,0 +1,113 @@
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| 1 |
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{
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| 2 |
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"schema_version": 1,
|
| 3 |
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"episode_index": 751,
|
| 4 |
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"task_id": "orange_white_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 24175,
|
| 7 |
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"instruction": "Sort the orange into the white bowl on the right.",
|
| 8 |
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"success": true,
|
| 9 |
+
"frame_count": 209,
|
| 10 |
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"strict_physics": true,
|
| 11 |
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"rigid_pose_write_guard": true,
|
| 12 |
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"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
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"left": "home_slots",
|
| 16 |
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"right": "home_slots"
|
| 17 |
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},
|
| 18 |
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"color_swapped": {
|
| 19 |
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"left": false,
|
| 20 |
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"right": true
|
| 21 |
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},
|
| 22 |
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"fruit_pack": "home_jitter"
|
| 23 |
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},
|
| 24 |
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"initial_object_xy": {
|
| 25 |
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"banana": [
|
| 26 |
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|
| 27 |
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| 28 |
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],
|
| 29 |
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"lemon": [
|
| 30 |
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|
| 31 |
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| 32 |
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| 33 |
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"plum": [
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| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"apple": [
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| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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"orange": [
|
| 42 |
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|
| 43 |
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|
| 44 |
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],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
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|
| 47 |
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| 48 |
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],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
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|
| 51 |
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| 52 |
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| 53 |
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"white_right_bowl": [
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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"blue_right_bowl": [
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| 58 |
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|
| 59 |
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| 60 |
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|
| 61 |
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},
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| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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"friction_ratio": 1.1384606743318955,
|
| 65 |
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"mass_ratios": {
|
| 66 |
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"banana": 0.8830672586533783,
|
| 67 |
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"lemon": 1.181992333696832,
|
| 68 |
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"plum": 0.9490301727838236,
|
| 69 |
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"apple": 1.012181155039882,
|
| 70 |
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"orange": 1.0361312073458655,
|
| 71 |
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"white_left_bowl": 0.9706883723993942,
|
| 72 |
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"blue_left_bowl": 0.8322731303340629,
|
| 73 |
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"white_right_bowl": 0.801974488755147,
|
| 74 |
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"blue_right_bowl": 1.115282411288925
|
| 75 |
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},
|
| 76 |
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"world_camera_position_delta": [
|
| 77 |
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0.0,
|
| 78 |
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0.0,
|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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|
| 83 |
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|
| 84 |
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| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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"orange": [
|
| 89 |
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| 90 |
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| 91 |
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| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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"n_goals": 1,
|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
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"object": "orange",
|
| 102 |
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"container": "white_right_bowl",
|
| 103 |
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"success": true,
|
| 104 |
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"object_correct": true,
|
| 105 |
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"target_correct": true
|
| 106 |
+
}
|
| 107 |
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],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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"strict_physics": true
|
| 111 |
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},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
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certificates/episode_000752.json
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 752,
|
| 4 |
+
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|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 24176,
|
| 7 |
+
"instruction": "Pick the orange and place it in the blue bowl on the left.",
|
| 8 |
+
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|
| 9 |
+
"frame_count": 225,
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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| 34 |
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| 35 |
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| 36 |
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|
| 37 |
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| 38 |
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|
| 39 |
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| 40 |
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| 41 |
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| 42 |
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|
| 43 |
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| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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|
| 52 |
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|
| 53 |
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| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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"apple": 0.9201472654952411,
|
| 70 |
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"orange": 0.8064480832502852,
|
| 71 |
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"white_left_bowl": 0.8167647623326258,
|
| 72 |
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"blue_left_bowl": 0.9494931124511292,
|
| 73 |
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"white_right_bowl": 0.9727265538698961,
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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0.0,
|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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]
|
| 86 |
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|
| 87 |
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"final_goal_positions": {
|
| 88 |
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|
| 89 |
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| 90 |
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|
| 91 |
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| 92 |
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|
| 93 |
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|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
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"object": "orange",
|
| 102 |
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"container": "blue_left_bowl",
|
| 103 |
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"success": true,
|
| 104 |
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"object_correct": true,
|
| 105 |
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"target_correct": true
|
| 106 |
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}
|
| 107 |
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],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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|
| 111 |
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},
|
| 112 |
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"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
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}
|
certificates/episode_000753.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 753,
|
| 4 |
+
"task_id": "orange_blue_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 24177,
|
| 7 |
+
"instruction": "Pick the orange and place it in the blue bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 225,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
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|
| 12 |
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"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
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"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": false,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
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},
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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"plum": 0.9664395220252501,
|
| 69 |
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"apple": 1.1146635148444106,
|
| 70 |
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"orange": 1.1192287890698824,
|
| 71 |
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"white_left_bowl": 1.0236128041924435,
|
| 72 |
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"blue_left_bowl": 0.903550374839009,
|
| 73 |
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"white_right_bowl": 1.0891925196617542,
|
| 74 |
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"blue_right_bowl": 1.0841341369129327
|
| 75 |
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},
|
| 76 |
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"world_camera_position_delta": [
|
| 77 |
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0.0,
|
| 78 |
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0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
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0.0,
|
| 84 |
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0.0
|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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"orange": [
|
| 89 |
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0.5308091640472412,
|
| 90 |
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|
| 91 |
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|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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"n_goals": 1,
|
| 97 |
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"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "orange",
|
| 102 |
+
"container": "blue_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
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"strict_physics": true
|
| 111 |
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},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000754.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 754,
|
| 4 |
+
"task_id": "orange_white_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 24178,
|
| 7 |
+
"instruction": "Pick the orange and place it in the white bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 210,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": false
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"lemon": [
|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
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0.2856980770671051,
|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"apple": [
|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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"orange": [
|
| 42 |
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|
| 43 |
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|
| 44 |
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],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
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0.52,
|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
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0.52,
|
| 51 |
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0.34435587936997786
|
| 52 |
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],
|
| 53 |
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"white_right_bowl": [
|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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"blue_right_bowl": [
|
| 58 |
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|
| 59 |
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|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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"lemon": 0.9563741498331724,
|
| 68 |
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"plum": 0.8539509966691063,
|
| 69 |
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"apple": 1.1142804838678795,
|
| 70 |
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"orange": 1.1288023756299914,
|
| 71 |
+
"white_left_bowl": 0.9890996660632967,
|
| 72 |
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"blue_left_bowl": 1.1549914378161503,
|
| 73 |
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"white_right_bowl": 0.8366339767750128,
|
| 74 |
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"blue_right_bowl": 1.1775722770246497
|
| 75 |
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},
|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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|
| 83 |
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0.0,
|
| 84 |
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0.0
|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "orange",
|
| 102 |
+
"container": "white_left_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
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],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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"strict_physics": true
|
| 111 |
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},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000755.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
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|
|
|
|
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|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
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|
| 4 |
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"task_id": "orange_white_right",
|
| 5 |
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"tier": "L1",
|
| 6 |
+
"seed": 24179,
|
| 7 |
+
"instruction": "Pick the orange and place it in the white bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 209,
|
| 10 |
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"strict_physics": true,
|
| 11 |
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|
| 12 |
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"kinematic_intervention_count": 0,
|
| 13 |
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"layout": {
|
| 14 |
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"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": false,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
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"fruit_pack": "home_jitter"
|
| 23 |
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},
|
| 24 |
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"initial_object_xy": {
|
| 25 |
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"banana": [
|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"lemon": [
|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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"orange": [
|
| 42 |
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|
| 43 |
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|
| 44 |
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],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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| 58 |
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|
| 59 |
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|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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|
| 65 |
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|
| 66 |
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"banana": 0.8695517961117567,
|
| 67 |
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"lemon": 1.1915115822614621,
|
| 68 |
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"plum": 0.8362614921516756,
|
| 69 |
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"apple": 0.9862312031158504,
|
| 70 |
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"orange": 1.1723911358302406,
|
| 71 |
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"white_left_bowl": 0.8347492516793502,
|
| 72 |
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"blue_left_bowl": 1.0894030940731498,
|
| 73 |
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"white_right_bowl": 1.1380052970246852,
|
| 74 |
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"blue_right_bowl": 0.9170088094987392
|
| 75 |
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},
|
| 76 |
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"world_camera_position_delta": [
|
| 77 |
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0.0,
|
| 78 |
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0.0,
|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
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0.0,
|
| 84 |
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0.0
|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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"orange": [
|
| 89 |
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0.5213390588760376,
|
| 90 |
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|
| 91 |
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|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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"n_goals": 1,
|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
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"object": "orange",
|
| 102 |
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"container": "white_right_bowl",
|
| 103 |
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"success": true,
|
| 104 |
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"object_correct": true,
|
| 105 |
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"target_correct": true
|
| 106 |
+
}
|
| 107 |
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],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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"strict_physics": true
|
| 111 |
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},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000756.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 756,
|
| 4 |
+
"task_id": "orange_blue_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 24180,
|
| 7 |
+
"instruction": "Sort the orange into the blue bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 228,
|
| 10 |
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"strict_physics": true,
|
| 11 |
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"rigid_pose_write_guard": true,
|
| 12 |
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"kinematic_intervention_count": 0,
|
| 13 |
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"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
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"fruit_pack": "home_jitter"
|
| 23 |
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},
|
| 24 |
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"initial_object_xy": {
|
| 25 |
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"banana": [
|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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],
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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|
| 65 |
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|
| 66 |
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"banana": 1.048257929326047,
|
| 67 |
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"lemon": 1.0123472504671298,
|
| 68 |
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"plum": 1.0785683948855456,
|
| 69 |
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"apple": 0.9338585564856126,
|
| 70 |
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"orange": 1.1533980928576815,
|
| 71 |
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"white_left_bowl": 1.1033042324130014,
|
| 72 |
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"blue_left_bowl": 1.0947197169075376,
|
| 73 |
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"white_right_bowl": 1.1556582752634994,
|
| 74 |
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"blue_right_bowl": 0.9735867858723978
|
| 75 |
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},
|
| 76 |
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"world_camera_position_delta": [
|
| 77 |
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0.0,
|
| 78 |
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0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
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0.0,
|
| 84 |
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0.0
|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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"orange": [
|
| 89 |
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0.5444602370262146,
|
| 90 |
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0.3436266779899597,
|
| 91 |
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|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "orange",
|
| 102 |
+
"container": "blue_left_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000757.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 757,
|
| 4 |
+
"task_id": "orange_blue_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 24181,
|
| 7 |
+
"instruction": "Sort the orange into the blue bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 227,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
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|
| 12 |
+
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|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
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0.52,
|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
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0.52,
|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"white_right_bowl": [
|
| 54 |
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0.52,
|
| 55 |
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|
| 56 |
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],
|
| 57 |
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"blue_right_bowl": [
|
| 58 |
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0.52,
|
| 59 |
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|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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"friction_ratio": 1.0067148862833608,
|
| 65 |
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"mass_ratios": {
|
| 66 |
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|
| 67 |
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"lemon": 1.095969028764486,
|
| 68 |
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"plum": 0.8857454364642485,
|
| 69 |
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"apple": 0.9274962274623348,
|
| 70 |
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"orange": 1.1195110683760086,
|
| 71 |
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"white_left_bowl": 1.1448661166426897,
|
| 72 |
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"blue_left_bowl": 1.122186695588067,
|
| 73 |
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"white_right_bowl": 1.0243088631141015,
|
| 74 |
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"blue_right_bowl": 1.1341688522277598
|
| 75 |
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},
|
| 76 |
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"world_camera_position_delta": [
|
| 77 |
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0.0,
|
| 78 |
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0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
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0.0,
|
| 84 |
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0.0
|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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"orange": [
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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"n_goals": 1,
|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
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"object": "orange",
|
| 102 |
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"container": "blue_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
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],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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"strict_physics": true
|
| 111 |
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},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000758.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 758,
|
| 4 |
+
"task_id": "orange_white_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 24182,
|
| 7 |
+
"instruction": "Sort the orange into the white bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 210,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": false
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
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"banana": [
|
| 26 |
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0.2882685389342426,
|
| 27 |
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0.20908225217872448
|
| 28 |
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],
|
| 29 |
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"lemon": [
|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
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0.52,
|
| 47 |
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|
| 48 |
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],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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|
| 54 |
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0.52,
|
| 55 |
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-0.3330511599752417
|
| 56 |
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],
|
| 57 |
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"blue_right_bowl": [
|
| 58 |
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0.52,
|
| 59 |
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-0.13127458694874797
|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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"friction_ratio": 1.2147447252867836,
|
| 65 |
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"mass_ratios": {
|
| 66 |
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"banana": 0.9024166564786804,
|
| 67 |
+
"lemon": 1.0537193542436194,
|
| 68 |
+
"plum": 1.0503239100161919,
|
| 69 |
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"apple": 0.8531027655081889,
|
| 70 |
+
"orange": 0.9638169267883488,
|
| 71 |
+
"white_left_bowl": 0.8011729535275873,
|
| 72 |
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"blue_left_bowl": 1.1530622776440314,
|
| 73 |
+
"white_right_bowl": 1.0280524967973856,
|
| 74 |
+
"blue_right_bowl": 1.0407773826869517
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
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"orange": [
|
| 89 |
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0.5272952318191528,
|
| 90 |
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0.10726508498191833,
|
| 91 |
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0.7849326729774475
|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "orange",
|
| 102 |
+
"container": "white_left_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000759.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 759,
|
| 4 |
+
"task_id": "orange_white_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 24183,
|
| 7 |
+
"instruction": "Sort the orange into the white bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 211,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
+
0.28338519348330315,
|
| 27 |
+
0.21630600367462685
|
| 28 |
+
],
|
| 29 |
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"lemon": [
|
| 30 |
+
0.31049234708640794,
|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
+
0.27521687157283,
|
| 35 |
+
-0.19059196748482235
|
| 36 |
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],
|
| 37 |
+
"apple": [
|
| 38 |
+
0.3784450430684387,
|
| 39 |
+
0.09924977111606177
|
| 40 |
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],
|
| 41 |
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"orange": [
|
| 42 |
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0.3760897042773017,
|
| 43 |
+
-0.09705798448738077
|
| 44 |
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],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
+
0.52,
|
| 47 |
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0.12494358749604514
|
| 48 |
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],
|
| 49 |
+
"blue_left_bowl": [
|
| 50 |
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0.52,
|
| 51 |
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0.3480079157977701
|
| 52 |
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],
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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"apple": 0.9261665075195875,
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
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"object": "orange",
|
| 102 |
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"container": "white_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
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"object_correct": true,
|
| 105 |
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"target_correct": true
|
| 106 |
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}
|
| 107 |
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],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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|
| 111 |
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},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000760.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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|
| 4 |
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|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 24184,
|
| 7 |
+
"instruction": "Pick the orange and place it in the blue bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 210,
|
| 10 |
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"strict_physics": true,
|
| 11 |
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|
| 12 |
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"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
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"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": false,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
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"initial_object_xy": {
|
| 25 |
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"banana": [
|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"lemon": [
|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"orange": [
|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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"white_left_bowl": [
|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"white_right_bowl": [
|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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| 58 |
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|
| 59 |
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|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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"banana": 1.0439778050833703,
|
| 67 |
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"lemon": 0.8647942383840083,
|
| 68 |
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"plum": 0.9241127602867857,
|
| 69 |
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"apple": 0.9437276508812051,
|
| 70 |
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"orange": 0.8122253333932935,
|
| 71 |
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"white_left_bowl": 1.1923220240677053,
|
| 72 |
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"blue_left_bowl": 1.024759622207796,
|
| 73 |
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"white_right_bowl": 0.9995488889269946,
|
| 74 |
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"blue_right_bowl": 0.802363080562696
|
| 75 |
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},
|
| 76 |
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"world_camera_position_delta": [
|
| 77 |
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0.0,
|
| 78 |
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0.0,
|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
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0.0,
|
| 84 |
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0.0
|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
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"object": "orange",
|
| 102 |
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"container": "blue_left_bowl",
|
| 103 |
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"success": true,
|
| 104 |
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"object_correct": true,
|
| 105 |
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"target_correct": true
|
| 106 |
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}
|
| 107 |
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],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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"strict_physics": true
|
| 111 |
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},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000761.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 761,
|
| 4 |
+
"task_id": "orange_blue_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 24185,
|
| 7 |
+
"instruction": "Pick the orange and place it in the blue bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 228,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
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|
| 12 |
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"kinematic_intervention_count": 0,
|
| 13 |
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"layout": {
|
| 14 |
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"arrangement": {
|
| 15 |
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"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
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},
|
| 18 |
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"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
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"fruit_pack": "home_jitter"
|
| 23 |
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},
|
| 24 |
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"initial_object_xy": {
|
| 25 |
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"banana": [
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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"orange": 0.9977721592778963,
|
| 71 |
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|
| 72 |
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"blue_left_bowl": 1.0196212743736812,
|
| 73 |
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"white_right_bowl": 0.8359032567107592,
|
| 74 |
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"blue_right_bowl": 0.8256074787061868
|
| 75 |
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},
|
| 76 |
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|
| 77 |
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0.0,
|
| 78 |
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0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
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0.0,
|
| 84 |
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0.0
|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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"orange": [
|
| 89 |
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0.519892692565918,
|
| 90 |
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|
| 91 |
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|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "orange",
|
| 102 |
+
"container": "blue_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000762.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 762,
|
| 4 |
+
"task_id": "orange_white_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 24186,
|
| 7 |
+
"instruction": "Pick the orange and place it in the white bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 209,
|
| 10 |
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|
| 11 |
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|
| 12 |
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"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"white_right_bowl": [
|
| 54 |
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0.52,
|
| 55 |
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|
| 56 |
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],
|
| 57 |
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"blue_right_bowl": [
|
| 58 |
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0.52,
|
| 59 |
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|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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"friction_ratio": 1.2136315720857964,
|
| 65 |
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|
| 66 |
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"banana": 1.0885200127049692,
|
| 67 |
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"lemon": 0.8715663144470593,
|
| 68 |
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"plum": 0.9728021583574602,
|
| 69 |
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"apple": 0.8505588572083355,
|
| 70 |
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"orange": 1.1746445024442989,
|
| 71 |
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"white_left_bowl": 0.8844014030677204,
|
| 72 |
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"blue_left_bowl": 1.1883744694819343,
|
| 73 |
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"white_right_bowl": 0.9070447093269699,
|
| 74 |
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"blue_right_bowl": 0.9090765377599384
|
| 75 |
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},
|
| 76 |
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|
| 77 |
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0.0,
|
| 78 |
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0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
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0.0,
|
| 84 |
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0.0
|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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"n_goals": 1,
|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
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"object": "orange",
|
| 102 |
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"container": "white_left_bowl",
|
| 103 |
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"success": true,
|
| 104 |
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"object_correct": true,
|
| 105 |
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"target_correct": true
|
| 106 |
+
}
|
| 107 |
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],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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"strict_physics": true
|
| 111 |
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},
|
| 112 |
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"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000763.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 763,
|
| 4 |
+
"task_id": "orange_white_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 24187,
|
| 7 |
+
"instruction": "Pick the orange and place it in the white bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 209,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
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"rigid_pose_write_guard": true,
|
| 12 |
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"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": false,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
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},
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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|
| 65 |
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|
| 66 |
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"banana": 0.826369890751903,
|
| 67 |
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"lemon": 1.1056028227154215,
|
| 68 |
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"plum": 1.0730938515350785,
|
| 69 |
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"apple": 0.8647420840256478,
|
| 70 |
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"orange": 0.8742566812387557,
|
| 71 |
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"white_left_bowl": 0.8300752422183175,
|
| 72 |
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"blue_left_bowl": 1.1526360548366061,
|
| 73 |
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"white_right_bowl": 1.1262652858048667,
|
| 74 |
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"blue_right_bowl": 1.0356172617208206
|
| 75 |
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},
|
| 76 |
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"world_camera_position_delta": [
|
| 77 |
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0.0,
|
| 78 |
+
0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
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0.0,
|
| 84 |
+
0.0
|
| 85 |
+
]
|
| 86 |
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},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
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"orange": [
|
| 89 |
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0.5281679630279541,
|
| 90 |
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|
| 91 |
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|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "orange",
|
| 102 |
+
"container": "white_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000764.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 764,
|
| 4 |
+
"task_id": "orange_blue_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 24188,
|
| 7 |
+
"instruction": "Sort the orange into the blue bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 209,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": false,
|
| 20 |
+
"right": false
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
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0.2784370964150684,
|
| 27 |
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0.2115920722464155
|
| 28 |
+
],
|
| 29 |
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"lemon": [
|
| 30 |
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0.3300287703420485,
|
| 31 |
+
0.009141353310648893
|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
+
0.2819047270781958,
|
| 35 |
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-0.19287722951699204
|
| 36 |
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],
|
| 37 |
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"apple": [
|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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"orange": [
|
| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 58 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 67 |
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| 69 |
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| 70 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 78 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 93 |
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| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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{
|
| 101 |
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"object": "orange",
|
| 102 |
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|
| 103 |
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"success": true,
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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],
|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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},
|
| 112 |
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"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
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}
|
certificates/episode_000765.json
ADDED
|
@@ -0,0 +1,113 @@
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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"right": "home_slots"
|
| 17 |
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},
|
| 18 |
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"color_swapped": {
|
| 19 |
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"left": false,
|
| 20 |
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"right": false
|
| 21 |
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},
|
| 22 |
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|
| 23 |
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},
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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| 50 |
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|
| 52 |
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|
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| 55 |
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|
| 56 |
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|
| 57 |
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| 60 |
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|
| 61 |
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| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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| 78 |
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| 79 |
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|
| 81 |
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| 83 |
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| 84 |
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| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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{
|
| 101 |
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"object": "orange",
|
| 102 |
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|
| 103 |
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"success": true,
|
| 104 |
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|
| 105 |
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|
| 106 |
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}
|
| 107 |
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],
|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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},
|
| 112 |
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"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000766.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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"seed": 24190,
|
| 7 |
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"instruction": "Sort the orange into the white bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
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"frame_count": 209,
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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"arrangement": {
|
| 15 |
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"left": "home_slots",
|
| 16 |
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"right": "home_slots"
|
| 17 |
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},
|
| 18 |
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"color_swapped": {
|
| 19 |
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"left": true,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
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"fruit_pack": "home_jitter"
|
| 23 |
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},
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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|
| 52 |
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| 53 |
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| 54 |
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| 55 |
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|
| 56 |
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|
| 57 |
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| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
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|
| 67 |
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|
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
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|
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]
|
| 86 |
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},
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
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|
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
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"object": "orange",
|
| 102 |
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"container": "white_left_bowl",
|
| 103 |
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"success": true,
|
| 104 |
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"object_correct": true,
|
| 105 |
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"target_correct": true
|
| 106 |
+
}
|
| 107 |
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],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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|
| 111 |
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},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000767.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 767,
|
| 4 |
+
"task_id": "orange_white_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 24191,
|
| 7 |
+
"instruction": "Sort the orange into the white bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 227,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": false,
|
| 20 |
+
"right": false
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
+
0.2816041001266989,
|
| 27 |
+
0.21218021704770135
|
| 28 |
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],
|
| 29 |
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"lemon": [
|
| 30 |
+
0.31543915874187856,
|
| 31 |
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0.007965222204300626
|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
+
0.28690961555101735,
|
| 35 |
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-0.20767942576610748
|
| 36 |
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],
|
| 37 |
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"apple": [
|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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"orange": [
|
| 42 |
+
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|
| 43 |
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-0.09601991568874803
|
| 44 |
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],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
+
0.52,
|
| 47 |
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0.33515589080883595
|
| 48 |
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],
|
| 49 |
+
"blue_left_bowl": [
|
| 50 |
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0.52,
|
| 51 |
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0.1323390208959373
|
| 52 |
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],
|
| 53 |
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"white_right_bowl": [
|
| 54 |
+
0.52,
|
| 55 |
+
-0.3456098877628002
|
| 56 |
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],
|
| 57 |
+
"blue_right_bowl": [
|
| 58 |
+
0.52,
|
| 59 |
+
-0.1311206373017101
|
| 60 |
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]
|
| 61 |
+
},
|
| 62 |
+
"runtime_randomization": {
|
| 63 |
+
"enabled": true,
|
| 64 |
+
"friction_ratio": 0.8766206646437462,
|
| 65 |
+
"mass_ratios": {
|
| 66 |
+
"banana": 0.9271591103774999,
|
| 67 |
+
"lemon": 1.0804996658145343,
|
| 68 |
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"plum": 1.0673062718613375,
|
| 69 |
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"apple": 0.8680733113256591,
|
| 70 |
+
"orange": 1.0955724196934749,
|
| 71 |
+
"white_left_bowl": 0.8220519653332569,
|
| 72 |
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"blue_left_bowl": 0.8054380010205503,
|
| 73 |
+
"white_right_bowl": 1.0884961704856793,
|
| 74 |
+
"blue_right_bowl": 1.1003626262837016
|
| 75 |
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},
|
| 76 |
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"world_camera_position_delta": [
|
| 77 |
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0.0,
|
| 78 |
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0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
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0.0,
|
| 84 |
+
0.0
|
| 85 |
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]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
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"orange": [
|
| 89 |
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0.5346054434776306,
|
| 90 |
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-0.34791064262390137,
|
| 91 |
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0.7853581309318542
|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "orange",
|
| 102 |
+
"container": "white_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000768.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 768,
|
| 4 |
+
"task_id": "plum_blue_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25000,
|
| 7 |
+
"instruction": "Pick the plum and place it in the blue bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 225,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": false,
|
| 20 |
+
"right": false
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
+
0.2831595911535399,
|
| 27 |
+
0.2149885737020777
|
| 28 |
+
],
|
| 29 |
+
"lemon": [
|
| 30 |
+
0.3109582442076647,
|
| 31 |
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0.01145085580004801
|
| 32 |
+
],
|
| 33 |
+
"plum": [
|
| 34 |
+
0.2760785915195032,
|
| 35 |
+
-0.197186002216519
|
| 36 |
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],
|
| 37 |
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"apple": [
|
| 38 |
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|
| 39 |
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0.09742059372630138
|
| 40 |
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],
|
| 41 |
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"orange": [
|
| 42 |
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0.3804899820580863,
|
| 43 |
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-0.09646127352888892
|
| 44 |
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],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
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0.52,
|
| 47 |
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0.34467156866564574
|
| 48 |
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],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
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0.52,
|
| 51 |
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0.12431049903145566
|
| 52 |
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],
|
| 53 |
+
"white_right_bowl": [
|
| 54 |
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0.52,
|
| 55 |
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-0.3260653753682611
|
| 56 |
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],
|
| 57 |
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"blue_right_bowl": [
|
| 58 |
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0.52,
|
| 59 |
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-0.11440147624171686
|
| 60 |
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]
|
| 61 |
+
},
|
| 62 |
+
"runtime_randomization": {
|
| 63 |
+
"enabled": true,
|
| 64 |
+
"friction_ratio": 0.9832477844496008,
|
| 65 |
+
"mass_ratios": {
|
| 66 |
+
"banana": 0.9656178686617855,
|
| 67 |
+
"lemon": 1.0970455548422655,
|
| 68 |
+
"plum": 0.8648419378680308,
|
| 69 |
+
"apple": 1.1041519380423526,
|
| 70 |
+
"orange": 1.0508165684981179,
|
| 71 |
+
"white_left_bowl": 0.9872933998952671,
|
| 72 |
+
"blue_left_bowl": 1.1050533897909431,
|
| 73 |
+
"white_right_bowl": 0.8410791434237205,
|
| 74 |
+
"blue_right_bowl": 1.0628794722179267
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"world_camera_lookat_delta": [
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
+
"plum": [
|
| 89 |
+
0.5382412075996399,
|
| 90 |
+
0.11120184510946274,
|
| 91 |
+
0.7790784239768982
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "blue_left_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000769.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 769,
|
| 4 |
+
"task_id": "plum_blue_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25001,
|
| 7 |
+
"instruction": "Pick the plum and place it in the blue bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 244,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
+
0.2707759810900895,
|
| 27 |
+
0.22493909986905405
|
| 28 |
+
],
|
| 29 |
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"lemon": [
|
| 30 |
+
0.3197655245942815,
|
| 31 |
+
-0.007182750661285897
|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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"enabled": true,
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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"plum": 0.9248129052643351,
|
| 69 |
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"apple": 0.9452422676686634,
|
| 70 |
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"orange": 1.044607504276976,
|
| 71 |
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"white_left_bowl": 0.899936857779786,
|
| 72 |
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"blue_left_bowl": 1.185411784550923,
|
| 73 |
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"white_right_bowl": 0.9158841713007275,
|
| 74 |
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"blue_right_bowl": 1.0103964149505111
|
| 75 |
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},
|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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"n_goals": 1,
|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
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"object": "plum",
|
| 102 |
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"container": "blue_right_bowl",
|
| 103 |
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"success": true,
|
| 104 |
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"object_correct": true,
|
| 105 |
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"target_correct": true
|
| 106 |
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}
|
| 107 |
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],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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|
| 111 |
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},
|
| 112 |
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"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000770.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 770,
|
| 4 |
+
"task_id": "plum_white_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25002,
|
| 7 |
+
"instruction": "Pick the plum and place it in the white bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 225,
|
| 10 |
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"strict_physics": true,
|
| 11 |
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|
| 12 |
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"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": false
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
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"initial_object_xy": {
|
| 25 |
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"banana": [
|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"lemon": [
|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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"white_left_bowl": [
|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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"blue_right_bowl": [
|
| 58 |
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|
| 59 |
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|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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"banana": 1.1070422195838625,
|
| 67 |
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"lemon": 1.0909072557733976,
|
| 68 |
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"plum": 0.8954462042424699,
|
| 69 |
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"apple": 0.9987909292506977,
|
| 70 |
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"orange": 1.0057263139916324,
|
| 71 |
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"white_left_bowl": 1.0281254475649226,
|
| 72 |
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"blue_left_bowl": 1.0613976530545046,
|
| 73 |
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"white_right_bowl": 0.9337643750317267,
|
| 74 |
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"blue_right_bowl": 1.1977133163298848
|
| 75 |
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},
|
| 76 |
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"world_camera_position_delta": [
|
| 77 |
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0.0,
|
| 78 |
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0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
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0.0,
|
| 84 |
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0.0
|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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"plum": [
|
| 89 |
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0.5212095975875854,
|
| 90 |
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0.11171336472034454,
|
| 91 |
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|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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"n_goals": 1,
|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
+
"object": "plum",
|
| 102 |
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"container": "white_left_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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"strict_physics": true
|
| 111 |
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},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000771.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 771,
|
| 4 |
+
"task_id": "plum_white_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25003,
|
| 7 |
+
"instruction": "Pick the plum and place it in the white bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 242,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
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"rigid_pose_write_guard": true,
|
| 12 |
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"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
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"arrangement": {
|
| 15 |
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"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": false
|
| 21 |
+
},
|
| 22 |
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"fruit_pack": "home_jitter"
|
| 23 |
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},
|
| 24 |
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"initial_object_xy": {
|
| 25 |
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"banana": [
|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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],
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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"apple": 0.9280236749282479,
|
| 70 |
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"orange": 0.8295913492972288,
|
| 71 |
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|
| 72 |
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"blue_left_bowl": 0.8693795368884727,
|
| 73 |
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"white_right_bowl": 0.9741167051220292,
|
| 74 |
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"blue_right_bowl": 0.8624885682641185
|
| 75 |
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},
|
| 76 |
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"world_camera_position_delta": [
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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"n_goals": 1,
|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
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"object": "plum",
|
| 102 |
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"container": "white_right_bowl",
|
| 103 |
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"success": true,
|
| 104 |
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"object_correct": true,
|
| 105 |
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"target_correct": true
|
| 106 |
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}
|
| 107 |
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],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000772.json
ADDED
|
@@ -0,0 +1,113 @@
|
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|
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|
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|
|
|
|
|
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 772,
|
| 4 |
+
"task_id": "plum_blue_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25004,
|
| 7 |
+
"instruction": "Sort the plum into the blue bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 240,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": false
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
+
0.277542527480071,
|
| 27 |
+
0.2244754802066547
|
| 28 |
+
],
|
| 29 |
+
"lemon": [
|
| 30 |
+
0.3123731718293225,
|
| 31 |
+
-0.010864177766291469
|
| 32 |
+
],
|
| 33 |
+
"plum": [
|
| 34 |
+
0.27966763431772546,
|
| 35 |
+
-0.20877107465904654
|
| 36 |
+
],
|
| 37 |
+
"apple": [
|
| 38 |
+
0.38236878324444573,
|
| 39 |
+
0.09874043536605641
|
| 40 |
+
],
|
| 41 |
+
"orange": [
|
| 42 |
+
0.3791282119718979,
|
| 43 |
+
-0.0991165977519926
|
| 44 |
+
],
|
| 45 |
+
"white_left_bowl": [
|
| 46 |
+
0.52,
|
| 47 |
+
0.11548973474685231
|
| 48 |
+
],
|
| 49 |
+
"blue_left_bowl": [
|
| 50 |
+
0.52,
|
| 51 |
+
0.3312994004610097
|
| 52 |
+
],
|
| 53 |
+
"white_right_bowl": [
|
| 54 |
+
0.52,
|
| 55 |
+
-0.33296088214289377
|
| 56 |
+
],
|
| 57 |
+
"blue_right_bowl": [
|
| 58 |
+
0.52,
|
| 59 |
+
-0.12257069304115914
|
| 60 |
+
]
|
| 61 |
+
},
|
| 62 |
+
"runtime_randomization": {
|
| 63 |
+
"enabled": true,
|
| 64 |
+
"friction_ratio": 1.121693676344176,
|
| 65 |
+
"mass_ratios": {
|
| 66 |
+
"banana": 1.1534611949849995,
|
| 67 |
+
"lemon": 1.1846040655199674,
|
| 68 |
+
"plum": 1.1708069206262537,
|
| 69 |
+
"apple": 1.0654123435886795,
|
| 70 |
+
"orange": 0.939832787999986,
|
| 71 |
+
"white_left_bowl": 0.9191168875713142,
|
| 72 |
+
"blue_left_bowl": 0.8783171989461148,
|
| 73 |
+
"white_right_bowl": 1.0126990279026529,
|
| 74 |
+
"blue_right_bowl": 1.097699018757795
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"world_camera_lookat_delta": [
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
+
"plum": [
|
| 89 |
+
0.5194650292396545,
|
| 90 |
+
0.3277749717235565,
|
| 91 |
+
0.780092179775238
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "blue_left_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000773.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
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|
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|
|
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|
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|
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|
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|
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|
|
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|
|
|
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|
|
|
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|
|
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|
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|
|
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|
|
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|
|
|
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|
|
|
|
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|
|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 773,
|
| 4 |
+
"task_id": "plum_blue_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25005,
|
| 7 |
+
"instruction": "Sort the plum into the blue bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 243,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
+
0.28819334817813314,
|
| 27 |
+
0.23140863017848684
|
| 28 |
+
],
|
| 29 |
+
"lemon": [
|
| 30 |
+
0.3149233993026724,
|
| 31 |
+
-0.010104714167721268
|
| 32 |
+
],
|
| 33 |
+
"plum": [
|
| 34 |
+
0.27454217301348244,
|
| 35 |
+
-0.19030549725824106
|
| 36 |
+
],
|
| 37 |
+
"apple": [
|
| 38 |
+
0.37722065955873835,
|
| 39 |
+
0.09926041126134351
|
| 40 |
+
],
|
| 41 |
+
"orange": [
|
| 42 |
+
0.38175710742844204,
|
| 43 |
+
-0.10074001713568954
|
| 44 |
+
],
|
| 45 |
+
"white_left_bowl": [
|
| 46 |
+
0.52,
|
| 47 |
+
0.1298893594777786
|
| 48 |
+
],
|
| 49 |
+
"blue_left_bowl": [
|
| 50 |
+
0.52,
|
| 51 |
+
0.3469118923280878
|
| 52 |
+
],
|
| 53 |
+
"white_right_bowl": [
|
| 54 |
+
0.52,
|
| 55 |
+
-0.10912173591239849
|
| 56 |
+
],
|
| 57 |
+
"blue_right_bowl": [
|
| 58 |
+
0.52,
|
| 59 |
+
-0.3287325106833948
|
| 60 |
+
]
|
| 61 |
+
},
|
| 62 |
+
"runtime_randomization": {
|
| 63 |
+
"enabled": true,
|
| 64 |
+
"friction_ratio": 1.1971265503204047,
|
| 65 |
+
"mass_ratios": {
|
| 66 |
+
"banana": 0.9014549898630861,
|
| 67 |
+
"lemon": 0.8642755059590178,
|
| 68 |
+
"plum": 0.9752395847929526,
|
| 69 |
+
"apple": 1.1876665507533004,
|
| 70 |
+
"orange": 0.8354314573897501,
|
| 71 |
+
"white_left_bowl": 1.1767368355218204,
|
| 72 |
+
"blue_left_bowl": 0.9041458781688524,
|
| 73 |
+
"white_right_bowl": 0.8373926114427791,
|
| 74 |
+
"blue_right_bowl": 1.133778204698174
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"world_camera_lookat_delta": [
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
+
"plum": [
|
| 89 |
+
0.5046408176422119,
|
| 90 |
+
-0.33311697840690613,
|
| 91 |
+
0.7815874218940735
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "blue_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000774.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 774,
|
| 4 |
+
"task_id": "plum_white_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25006,
|
| 7 |
+
"instruction": "Sort the plum into the white bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 244,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": false,
|
| 20 |
+
"right": false
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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| 32 |
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| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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|
| 39 |
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| 40 |
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| 41 |
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| 42 |
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|
| 43 |
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|
| 44 |
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| 45 |
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| 46 |
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|
| 47 |
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|
| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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|
| 55 |
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|
| 56 |
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| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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"orange": 0.8197647971994779,
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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]
|
| 86 |
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|
| 87 |
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"final_goal_positions": {
|
| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
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"object": "plum",
|
| 102 |
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"container": "white_left_bowl",
|
| 103 |
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"success": true,
|
| 104 |
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"object_correct": true,
|
| 105 |
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"target_correct": true
|
| 106 |
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}
|
| 107 |
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],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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|
| 111 |
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},
|
| 112 |
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"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000775.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25007,
|
| 7 |
+
"instruction": "Sort the plum into the white bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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"layout": {
|
| 14 |
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"arrangement": {
|
| 15 |
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"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
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"color_swapped": {
|
| 19 |
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"left": true,
|
| 20 |
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"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
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},
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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},
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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"plum": 1.134848663207702,
|
| 69 |
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"apple": 1.0684571686320443,
|
| 70 |
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"orange": 0.9259229711681392,
|
| 71 |
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"white_left_bowl": 1.0601131189722697,
|
| 72 |
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"blue_left_bowl": 0.9513347909835682,
|
| 73 |
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"white_right_bowl": 1.1261293743405645,
|
| 74 |
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|
| 75 |
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},
|
| 76 |
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"world_camera_position_delta": [
|
| 77 |
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0.0,
|
| 78 |
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0.0,
|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
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0.0,
|
| 84 |
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|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
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"object": "plum",
|
| 102 |
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"container": "white_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
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],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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"strict_physics": true
|
| 111 |
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},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000776.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 776,
|
| 4 |
+
"task_id": "plum_blue_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25008,
|
| 7 |
+
"instruction": "Pick the plum and place it in the blue bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
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"frame_count": 238,
|
| 10 |
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"strict_physics": true,
|
| 11 |
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|
| 12 |
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"kinematic_intervention_count": 0,
|
| 13 |
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"layout": {
|
| 14 |
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"arrangement": {
|
| 15 |
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"left": "home_slots",
|
| 16 |
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"right": "home_slots"
|
| 17 |
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},
|
| 18 |
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"color_swapped": {
|
| 19 |
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"left": true,
|
| 20 |
+
"right": false
|
| 21 |
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},
|
| 22 |
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"fruit_pack": "home_jitter"
|
| 23 |
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},
|
| 24 |
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|
| 25 |
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"banana": [
|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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],
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
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|
| 60 |
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|
| 61 |
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},
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
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|
| 70 |
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"orange": 1.1853292616404318,
|
| 71 |
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|
| 72 |
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"blue_left_bowl": 1.1403805856667724,
|
| 73 |
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|
| 74 |
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"blue_right_bowl": 0.9369401687015444
|
| 75 |
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},
|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
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|
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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"n_goals": 1,
|
| 97 |
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"n_success": 1,
|
| 98 |
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|
| 99 |
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"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "blue_left_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000777.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 777,
|
| 4 |
+
"task_id": "plum_blue_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25009,
|
| 7 |
+
"instruction": "Pick the plum and place it in the blue bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 242,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
+
0.2781338296552113,
|
| 27 |
+
0.22833152277976143
|
| 28 |
+
],
|
| 29 |
+
"lemon": [
|
| 30 |
+
0.3288167523951759,
|
| 31 |
+
0.002488389907337279
|
| 32 |
+
],
|
| 33 |
+
"plum": [
|
| 34 |
+
0.27399509967335894,
|
| 35 |
+
-0.20211526215251535
|
| 36 |
+
],
|
| 37 |
+
"apple": [
|
| 38 |
+
0.38231855778360313,
|
| 39 |
+
0.0988097770494163
|
| 40 |
+
],
|
| 41 |
+
"orange": [
|
| 42 |
+
0.37928619738400415,
|
| 43 |
+
-0.09885809410237673
|
| 44 |
+
],
|
| 45 |
+
"white_left_bowl": [
|
| 46 |
+
0.52,
|
| 47 |
+
0.12050411117138157
|
| 48 |
+
],
|
| 49 |
+
"blue_left_bowl": [
|
| 50 |
+
0.52,
|
| 51 |
+
0.32934592465590584
|
| 52 |
+
],
|
| 53 |
+
"white_right_bowl": [
|
| 54 |
+
0.52,
|
| 55 |
+
-0.12190367488370141
|
| 56 |
+
],
|
| 57 |
+
"blue_right_bowl": [
|
| 58 |
+
0.52,
|
| 59 |
+
-0.3413739902055535
|
| 60 |
+
]
|
| 61 |
+
},
|
| 62 |
+
"runtime_randomization": {
|
| 63 |
+
"enabled": true,
|
| 64 |
+
"friction_ratio": 1.0649126790890318,
|
| 65 |
+
"mass_ratios": {
|
| 66 |
+
"banana": 0.9320509903148304,
|
| 67 |
+
"lemon": 1.0639398584196045,
|
| 68 |
+
"plum": 1.116207342642744,
|
| 69 |
+
"apple": 0.9993240269839517,
|
| 70 |
+
"orange": 0.9346717208511216,
|
| 71 |
+
"white_left_bowl": 0.946803004382126,
|
| 72 |
+
"blue_left_bowl": 1.179093258678379,
|
| 73 |
+
"white_right_bowl": 1.155677737434078,
|
| 74 |
+
"blue_right_bowl": 0.9673041258039383
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"world_camera_lookat_delta": [
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
+
"plum": [
|
| 89 |
+
0.5464683771133423,
|
| 90 |
+
-0.3392840027809143,
|
| 91 |
+
0.7780789732933044
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "blue_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000778.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 778,
|
| 4 |
+
"task_id": "plum_white_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25010,
|
| 7 |
+
"instruction": "Pick the plum and place it in the white bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 243,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": false,
|
| 20 |
+
"right": false
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
+
0.2861647194730206,
|
| 27 |
+
0.22883996097995574
|
| 28 |
+
],
|
| 29 |
+
"lemon": [
|
| 30 |
+
0.31039584958775884,
|
| 31 |
+
0.00398547354324159
|
| 32 |
+
],
|
| 33 |
+
"plum": [
|
| 34 |
+
0.27658041656618465,
|
| 35 |
+
-0.1912598807759414
|
| 36 |
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],
|
| 37 |
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"apple": [
|
| 38 |
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0.37923651849623197,
|
| 39 |
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0.09970333416092175
|
| 40 |
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],
|
| 41 |
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"orange": [
|
| 42 |
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0.3828824849473498,
|
| 43 |
+
-0.10226517042954043
|
| 44 |
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],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
+
0.52,
|
| 47 |
+
0.34843310766437025
|
| 48 |
+
],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
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0.52,
|
| 51 |
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0.13477381254392287
|
| 52 |
+
],
|
| 53 |
+
"white_right_bowl": [
|
| 54 |
+
0.52,
|
| 55 |
+
-0.3500064551924721
|
| 56 |
+
],
|
| 57 |
+
"blue_right_bowl": [
|
| 58 |
+
0.52,
|
| 59 |
+
-0.13209268928339954
|
| 60 |
+
]
|
| 61 |
+
},
|
| 62 |
+
"runtime_randomization": {
|
| 63 |
+
"enabled": true,
|
| 64 |
+
"friction_ratio": 0.884109610630019,
|
| 65 |
+
"mass_ratios": {
|
| 66 |
+
"banana": 0.8388837118341882,
|
| 67 |
+
"lemon": 0.9163501150531741,
|
| 68 |
+
"plum": 1.1702661945882158,
|
| 69 |
+
"apple": 0.8268418019000423,
|
| 70 |
+
"orange": 1.1852710251043403,
|
| 71 |
+
"white_left_bowl": 0.9835546032868752,
|
| 72 |
+
"blue_left_bowl": 0.9140769323106117,
|
| 73 |
+
"white_right_bowl": 1.192582529123948,
|
| 74 |
+
"blue_right_bowl": 0.9353130920402853
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"world_camera_lookat_delta": [
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
+
"plum": [
|
| 89 |
+
0.5320629477500916,
|
| 90 |
+
0.34898585081100464,
|
| 91 |
+
0.778433084487915
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "white_left_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000779.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 779,
|
| 4 |
+
"task_id": "plum_white_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25011,
|
| 7 |
+
"instruction": "Pick the plum and place it in the white bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 225,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
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"rigid_pose_write_guard": true,
|
| 12 |
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"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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|
| 43 |
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|
| 44 |
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| 45 |
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| 46 |
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|
| 47 |
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|
| 48 |
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| 49 |
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| 50 |
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| 51 |
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|
| 52 |
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|
| 53 |
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| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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"lemon": 0.865729130975071,
|
| 68 |
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"plum": 0.9794061461152733,
|
| 69 |
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"apple": 0.8899405658562455,
|
| 70 |
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"orange": 0.9023530063208024,
|
| 71 |
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"white_left_bowl": 0.9654685947623892,
|
| 72 |
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"blue_left_bowl": 0.9304994210986813,
|
| 73 |
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"white_right_bowl": 1.1300457912777957,
|
| 74 |
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"blue_right_bowl": 0.933662785959005
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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| 92 |
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|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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"n_goals": 1,
|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
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"object": "plum",
|
| 102 |
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"container": "white_right_bowl",
|
| 103 |
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"success": true,
|
| 104 |
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"object_correct": true,
|
| 105 |
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"target_correct": true
|
| 106 |
+
}
|
| 107 |
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],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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"strict_physics": true
|
| 111 |
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},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000780.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
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|
| 4 |
+
"task_id": "plum_blue_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25012,
|
| 7 |
+
"instruction": "Sort the plum into the blue bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 225,
|
| 10 |
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"strict_physics": true,
|
| 11 |
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|
| 12 |
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"kinematic_intervention_count": 0,
|
| 13 |
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"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
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"left": false,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
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},
|
| 24 |
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"initial_object_xy": {
|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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"lemon": 0.9518039742501382,
|
| 68 |
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"plum": 1.1793867214579423,
|
| 69 |
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"apple": 1.1546161303386264,
|
| 70 |
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"orange": 0.8540935904948121,
|
| 71 |
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"white_left_bowl": 0.8177831734459475,
|
| 72 |
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"blue_left_bowl": 0.8912966502986687,
|
| 73 |
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"white_right_bowl": 0.8571331511176006,
|
| 74 |
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"blue_right_bowl": 0.8936272090893758
|
| 75 |
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},
|
| 76 |
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"world_camera_position_delta": [
|
| 77 |
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0.0,
|
| 78 |
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0.0,
|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
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0.0,
|
| 84 |
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0.0
|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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"plum": [
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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"n_goals": 1,
|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "blue_left_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
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"strict_physics": true
|
| 111 |
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},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000781.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 781,
|
| 4 |
+
"task_id": "plum_blue_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25013,
|
| 7 |
+
"instruction": "Sort the plum into the blue bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 226,
|
| 10 |
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"strict_physics": true,
|
| 11 |
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"rigid_pose_write_guard": true,
|
| 12 |
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"kinematic_intervention_count": 0,
|
| 13 |
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"layout": {
|
| 14 |
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"arrangement": {
|
| 15 |
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"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": false
|
| 21 |
+
},
|
| 22 |
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"fruit_pack": "home_jitter"
|
| 23 |
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},
|
| 24 |
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"initial_object_xy": {
|
| 25 |
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"banana": [
|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"apple": [
|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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],
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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|
| 65 |
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|
| 66 |
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"banana": 0.9003751617925687,
|
| 67 |
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"lemon": 0.8463266966338916,
|
| 68 |
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"plum": 1.0383683444979297,
|
| 69 |
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"apple": 1.1857871896814198,
|
| 70 |
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"orange": 1.071109308117193,
|
| 71 |
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|
| 72 |
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"blue_left_bowl": 1.149755638258064,
|
| 73 |
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"white_right_bowl": 1.005763391653544,
|
| 74 |
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"blue_right_bowl": 1.0239737194213012
|
| 75 |
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},
|
| 76 |
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"world_camera_position_delta": [
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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"plum": [
|
| 89 |
+
0.5171387791633606,
|
| 90 |
+
-0.1345026046037674,
|
| 91 |
+
0.7801892757415771
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "blue_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000782.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 782,
|
| 4 |
+
"task_id": "plum_white_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25014,
|
| 7 |
+
"instruction": "Sort the plum into the white bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 237,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": false,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
+
0.27732838297320994,
|
| 27 |
+
0.21735042551646172
|
| 28 |
+
],
|
| 29 |
+
"lemon": [
|
| 30 |
+
0.31921581361660123,
|
| 31 |
+
-0.008410807112798332
|
| 32 |
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],
|
| 33 |
+
"plum": [
|
| 34 |
+
0.28750173506839694,
|
| 35 |
+
-0.21120497029008287
|
| 36 |
+
],
|
| 37 |
+
"apple": [
|
| 38 |
+
0.3826237429648377,
|
| 39 |
+
0.0980817914161473
|
| 40 |
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],
|
| 41 |
+
"orange": [
|
| 42 |
+
0.3792773284861703,
|
| 43 |
+
-0.0987382487495279
|
| 44 |
+
],
|
| 45 |
+
"white_left_bowl": [
|
| 46 |
+
0.52,
|
| 47 |
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0.32809864728536636
|
| 48 |
+
],
|
| 49 |
+
"blue_left_bowl": [
|
| 50 |
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0.52,
|
| 51 |
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0.11399373934027593
|
| 52 |
+
],
|
| 53 |
+
"white_right_bowl": [
|
| 54 |
+
0.52,
|
| 55 |
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-0.11795597093536817
|
| 56 |
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],
|
| 57 |
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"blue_right_bowl": [
|
| 58 |
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0.52,
|
| 59 |
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-0.3267546829889669
|
| 60 |
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]
|
| 61 |
+
},
|
| 62 |
+
"runtime_randomization": {
|
| 63 |
+
"enabled": true,
|
| 64 |
+
"friction_ratio": 0.9422327198384081,
|
| 65 |
+
"mass_ratios": {
|
| 66 |
+
"banana": 1.1681033711346378,
|
| 67 |
+
"lemon": 1.0196163238364513,
|
| 68 |
+
"plum": 0.8525894359975282,
|
| 69 |
+
"apple": 1.077973704659466,
|
| 70 |
+
"orange": 1.114291246753234,
|
| 71 |
+
"white_left_bowl": 1.0387048421062062,
|
| 72 |
+
"blue_left_bowl": 1.0146612964048662,
|
| 73 |
+
"white_right_bowl": 0.8390625891252287,
|
| 74 |
+
"blue_right_bowl": 1.1603691029201084
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"world_camera_lookat_delta": [
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
+
"plum": [
|
| 89 |
+
0.5217664837837219,
|
| 90 |
+
0.3245770335197449,
|
| 91 |
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0.7800198793411255
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "white_left_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000783.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 783,
|
| 4 |
+
"task_id": "plum_white_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25015,
|
| 7 |
+
"instruction": "Sort the plum into the white bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 245,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": false
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
+
0.2842616782636107,
|
| 27 |
+
0.2122463835405664
|
| 28 |
+
],
|
| 29 |
+
"lemon": [
|
| 30 |
+
0.32338580395160416,
|
| 31 |
+
0.0021721162856460224
|
| 32 |
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],
|
| 33 |
+
"plum": [
|
| 34 |
+
0.2738659613330256,
|
| 35 |
+
-0.19270362243293365
|
| 36 |
+
],
|
| 37 |
+
"apple": [
|
| 38 |
+
0.38019947514697505,
|
| 39 |
+
0.10026888473164895
|
| 40 |
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],
|
| 41 |
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"orange": [
|
| 42 |
+
0.3781222762890589,
|
| 43 |
+
-0.10038667319157663
|
| 44 |
+
],
|
| 45 |
+
"white_left_bowl": [
|
| 46 |
+
0.52,
|
| 47 |
+
0.128347318589664
|
| 48 |
+
],
|
| 49 |
+
"blue_left_bowl": [
|
| 50 |
+
0.52,
|
| 51 |
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0.3271092154206978
|
| 52 |
+
],
|
| 53 |
+
"white_right_bowl": [
|
| 54 |
+
0.52,
|
| 55 |
+
-0.34877939016679826
|
| 56 |
+
],
|
| 57 |
+
"blue_right_bowl": [
|
| 58 |
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0.52,
|
| 59 |
+
-0.11336282279579239
|
| 60 |
+
]
|
| 61 |
+
},
|
| 62 |
+
"runtime_randomization": {
|
| 63 |
+
"enabled": true,
|
| 64 |
+
"friction_ratio": 1.1369543686191002,
|
| 65 |
+
"mass_ratios": {
|
| 66 |
+
"banana": 1.0612969393075289,
|
| 67 |
+
"lemon": 1.016270178444828,
|
| 68 |
+
"plum": 0.8237946187581802,
|
| 69 |
+
"apple": 0.909674009134362,
|
| 70 |
+
"orange": 0.9928247219796298,
|
| 71 |
+
"white_left_bowl": 1.0889780946153393,
|
| 72 |
+
"blue_left_bowl": 1.0286509671635329,
|
| 73 |
+
"white_right_bowl": 0.9926821549452828,
|
| 74 |
+
"blue_right_bowl": 0.8598299715495581
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"world_camera_lookat_delta": [
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
+
"plum": [
|
| 89 |
+
0.5048952102661133,
|
| 90 |
+
-0.3467181622982025,
|
| 91 |
+
0.7817216515541077
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "white_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000784.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
|
|
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|
|
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|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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"instruction": "Pick the plum and place it in the blue bowl on the left.",
|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
+
"right": "home_slots"
|
| 17 |
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},
|
| 18 |
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"color_swapped": {
|
| 19 |
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"left": true,
|
| 20 |
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"right": false
|
| 21 |
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},
|
| 22 |
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|
| 23 |
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|
| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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|
| 60 |
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| 61 |
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| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
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| 82 |
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|
| 83 |
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|
| 84 |
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| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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| 89 |
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| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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"success": true,
|
| 96 |
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|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
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"object": "plum",
|
| 102 |
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"container": "blue_left_bowl",
|
| 103 |
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"success": true,
|
| 104 |
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"object_correct": true,
|
| 105 |
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"target_correct": true
|
| 106 |
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}
|
| 107 |
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],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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|
| 111 |
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},
|
| 112 |
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"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
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}
|
certificates/episode_000785.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 785,
|
| 4 |
+
"task_id": "plum_blue_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25017,
|
| 7 |
+
"instruction": "Pick the plum and place it in the blue bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 223,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
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|
| 12 |
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"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
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"arrangement": {
|
| 15 |
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"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": false
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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},
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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"plum": 0.8884723639482109,
|
| 69 |
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"apple": 0.8062357945218128,
|
| 70 |
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"orange": 1.172758354025845,
|
| 71 |
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"white_left_bowl": 0.8130978748010185,
|
| 72 |
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"blue_left_bowl": 0.8122622616932619,
|
| 73 |
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"white_right_bowl": 1.1278046550963055,
|
| 74 |
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|
| 75 |
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},
|
| 76 |
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"world_camera_position_delta": [
|
| 77 |
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|
| 78 |
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0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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|
| 83 |
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|
| 84 |
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0.0
|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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"n_goals": 1,
|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "blue_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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"strict_physics": true
|
| 111 |
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},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000786.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 786,
|
| 4 |
+
"task_id": "plum_white_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25018,
|
| 7 |
+
"instruction": "Pick the plum and place it in the white bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 223,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
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|
| 12 |
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"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
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"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": false
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
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},
|
| 24 |
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"initial_object_xy": {
|
| 25 |
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"banana": [
|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"apple": [
|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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],
|
| 45 |
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|
| 46 |
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0.52,
|
| 47 |
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|
| 48 |
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],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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"lemon": 0.8815384539159128,
|
| 68 |
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"plum": 1.1795292783086544,
|
| 69 |
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"apple": 1.1127753953619166,
|
| 70 |
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"orange": 1.1324925682160887,
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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},
|
| 76 |
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|
| 77 |
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0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"world_camera_lookat_delta": [
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
+
"plum": [
|
| 89 |
+
0.5193565487861633,
|
| 90 |
+
0.11177834123373032,
|
| 91 |
+
0.7802586555480957
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "white_left_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000787.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 787,
|
| 4 |
+
"task_id": "plum_white_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25019,
|
| 7 |
+
"instruction": "Pick the plum and place it in the white bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 228,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
+
0.276959907208374,
|
| 27 |
+
0.22744370279673687
|
| 28 |
+
],
|
| 29 |
+
"lemon": [
|
| 30 |
+
0.30900909329701054,
|
| 31 |
+
0.008679837494668798
|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
+
0.26863788210153755,
|
| 35 |
+
-0.2068715282416892
|
| 36 |
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],
|
| 37 |
+
"apple": [
|
| 38 |
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0.38162255781882093,
|
| 39 |
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|
| 40 |
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],
|
| 41 |
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"orange": [
|
| 42 |
+
0.3769025727037823,
|
| 43 |
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-0.10266238014998341
|
| 44 |
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],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
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0.52,
|
| 47 |
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0.12213177828731543
|
| 48 |
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],
|
| 49 |
+
"blue_left_bowl": [
|
| 50 |
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0.52,
|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"white_right_bowl": [
|
| 54 |
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0.52,
|
| 55 |
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-0.11114932630816962
|
| 56 |
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],
|
| 57 |
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"blue_right_bowl": [
|
| 58 |
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0.52,
|
| 59 |
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-0.34448475305528753
|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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"friction_ratio": 1.1503391963884133,
|
| 65 |
+
"mass_ratios": {
|
| 66 |
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"banana": 0.8318455973959695,
|
| 67 |
+
"lemon": 1.1311893818391345,
|
| 68 |
+
"plum": 1.1197288673087464,
|
| 69 |
+
"apple": 0.8021441644381091,
|
| 70 |
+
"orange": 0.8911723764552201,
|
| 71 |
+
"white_left_bowl": 0.8448289499925365,
|
| 72 |
+
"blue_left_bowl": 0.9544942573106198,
|
| 73 |
+
"white_right_bowl": 1.1034676401385695,
|
| 74 |
+
"blue_right_bowl": 0.9232781142475786
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
+
0.0,
|
| 78 |
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0.0,
|
| 79 |
+
0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
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]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
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"plum": [
|
| 89 |
+
0.5029677152633667,
|
| 90 |
+
-0.11554951220750809,
|
| 91 |
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|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "white_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000788.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 788,
|
| 4 |
+
"task_id": "plum_blue_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25020,
|
| 7 |
+
"instruction": "Sort the plum into the blue bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 226,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": false,
|
| 20 |
+
"right": false
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
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0.28557951512228363,
|
| 27 |
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0.20919206029429863
|
| 28 |
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],
|
| 29 |
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"lemon": [
|
| 30 |
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0.31843823585581443,
|
| 31 |
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0.008012215151251813
|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
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0.27528005138951667,
|
| 35 |
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-0.19112296880050667
|
| 36 |
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],
|
| 37 |
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"apple": [
|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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"orange": [
|
| 42 |
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0.3835225996585859,
|
| 43 |
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|
| 44 |
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],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
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0.52,
|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
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0.52,
|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"white_right_bowl": [
|
| 54 |
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0.52,
|
| 55 |
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-0.35362606659739027
|
| 56 |
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],
|
| 57 |
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"blue_right_bowl": [
|
| 58 |
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0.52,
|
| 59 |
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-0.12847596109162962
|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
+
"friction_ratio": 1.092472288054076,
|
| 65 |
+
"mass_ratios": {
|
| 66 |
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"banana": 0.9204556951842674,
|
| 67 |
+
"lemon": 0.8329566668821786,
|
| 68 |
+
"plum": 0.9783832953991092,
|
| 69 |
+
"apple": 1.1173321054434708,
|
| 70 |
+
"orange": 0.9771372241860554,
|
| 71 |
+
"white_left_bowl": 1.0426405044488243,
|
| 72 |
+
"blue_left_bowl": 0.8590164619333933,
|
| 73 |
+
"white_right_bowl": 0.8745431428036887,
|
| 74 |
+
"blue_right_bowl": 0.8395261518372481
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"world_camera_lookat_delta": [
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
+
"plum": [
|
| 89 |
+
0.5188665986061096,
|
| 90 |
+
0.12308211624622345,
|
| 91 |
+
0.7801336050033569
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "blue_left_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000789.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 789,
|
| 4 |
+
"task_id": "plum_blue_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25021,
|
| 7 |
+
"instruction": "Sort the plum into the blue bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 171,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": false,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
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0.27708212461987586,
|
| 27 |
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0.21158095499274995
|
| 28 |
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],
|
| 29 |
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"lemon": [
|
| 30 |
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0.3193072816102107,
|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"white_right_bowl": [
|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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"blue_right_bowl": [
|
| 58 |
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0.52,
|
| 59 |
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|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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"friction_ratio": 1.0585514902298907,
|
| 65 |
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|
| 66 |
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"banana": 0.997866817461065,
|
| 67 |
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"lemon": 1.1297912320497334,
|
| 68 |
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"plum": 0.9836044622604977,
|
| 69 |
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"apple": 1.1012172971107306,
|
| 70 |
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"orange": 1.0920209264436893,
|
| 71 |
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"white_left_bowl": 1.0304516299840887,
|
| 72 |
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"blue_left_bowl": 0.9571096766509385,
|
| 73 |
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"white_right_bowl": 1.069599436349426,
|
| 74 |
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"blue_right_bowl": 1.1936128278102283
|
| 75 |
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},
|
| 76 |
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"world_camera_position_delta": [
|
| 77 |
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0.0,
|
| 78 |
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0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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|
| 83 |
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0.0,
|
| 84 |
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0.0
|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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"n_goals": 1,
|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "blue_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
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],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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"strict_physics": true
|
| 111 |
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},
|
| 112 |
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"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000790.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 790,
|
| 4 |
+
"task_id": "plum_white_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25022,
|
| 7 |
+
"instruction": "Sort the plum into the white bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 223,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
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0.29091101688726123,
|
| 27 |
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|
| 28 |
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],
|
| 29 |
+
"lemon": [
|
| 30 |
+
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
+
0.28000120235036496,
|
| 35 |
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|
| 36 |
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],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
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0.52,
|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"white_right_bowl": [
|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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"blue_right_bowl": [
|
| 58 |
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|
| 59 |
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|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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|
| 65 |
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"mass_ratios": {
|
| 66 |
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"banana": 1.0669625849118478,
|
| 67 |
+
"lemon": 0.8518014511667225,
|
| 68 |
+
"plum": 0.8295171213276075,
|
| 69 |
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"apple": 0.991372265077801,
|
| 70 |
+
"orange": 1.020349468426451,
|
| 71 |
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"white_left_bowl": 0.9578099277851786,
|
| 72 |
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"blue_left_bowl": 1.0931432008044037,
|
| 73 |
+
"white_right_bowl": 1.0778057024087604,
|
| 74 |
+
"blue_right_bowl": 0.9411228340302279
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
+
"plum": [
|
| 89 |
+
0.521019697189331,
|
| 90 |
+
0.11812623590230942,
|
| 91 |
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0.779864490032196
|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "white_left_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000791.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 791,
|
| 4 |
+
"task_id": "plum_white_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25023,
|
| 7 |
+
"instruction": "Sort the plum into the white bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 223,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": false,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
+
0.273140941088115,
|
| 27 |
+
0.2093867213589573
|
| 28 |
+
],
|
| 29 |
+
"lemon": [
|
| 30 |
+
0.32880727821542666,
|
| 31 |
+
0.004615934816630897
|
| 32 |
+
],
|
| 33 |
+
"plum": [
|
| 34 |
+
0.28132811592230944,
|
| 35 |
+
-0.21122509035142353
|
| 36 |
+
],
|
| 37 |
+
"apple": [
|
| 38 |
+
0.38117957465727215,
|
| 39 |
+
0.0994816381314072
|
| 40 |
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],
|
| 41 |
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"orange": [
|
| 42 |
+
0.37966912484858484,
|
| 43 |
+
-0.10358888275333135
|
| 44 |
+
],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
+
0.52,
|
| 47 |
+
0.32744761054596955
|
| 48 |
+
],
|
| 49 |
+
"blue_left_bowl": [
|
| 50 |
+
0.52,
|
| 51 |
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0.11464803574192026
|
| 52 |
+
],
|
| 53 |
+
"white_right_bowl": [
|
| 54 |
+
0.52,
|
| 55 |
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-0.11959932476290494
|
| 56 |
+
],
|
| 57 |
+
"blue_right_bowl": [
|
| 58 |
+
0.52,
|
| 59 |
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-0.3532577372225499
|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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"friction_ratio": 0.7711034242248007,
|
| 65 |
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"mass_ratios": {
|
| 66 |
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"banana": 0.834341629233482,
|
| 67 |
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"lemon": 1.0270368098609004,
|
| 68 |
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"plum": 1.1958972289525558,
|
| 69 |
+
"apple": 0.9364712064457724,
|
| 70 |
+
"orange": 1.009020141699854,
|
| 71 |
+
"white_left_bowl": 0.9007956024745768,
|
| 72 |
+
"blue_left_bowl": 0.829970274225478,
|
| 73 |
+
"white_right_bowl": 0.942537067079474,
|
| 74 |
+
"blue_right_bowl": 1.1543583042569754
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
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0.0,
|
| 84 |
+
0.0
|
| 85 |
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]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
+
"plum": [
|
| 89 |
+
0.5223134160041809,
|
| 90 |
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-0.12105244398117065,
|
| 91 |
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0.779917299747467
|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "white_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000792.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 792,
|
| 4 |
+
"task_id": "plum_blue_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25024,
|
| 7 |
+
"instruction": "Pick the plum and place it in the blue bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 228,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
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"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": false,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
+
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"lemon": [
|
| 30 |
+
0.3143623134975829,
|
| 31 |
+
0.0008633122345274805
|
| 32 |
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],
|
| 33 |
+
"plum": [
|
| 34 |
+
0.2716516503831892,
|
| 35 |
+
-0.18832854921368802
|
| 36 |
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],
|
| 37 |
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"apple": [
|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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"orange": [
|
| 42 |
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|
| 43 |
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|
| 44 |
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],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
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0.52,
|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"white_right_bowl": [
|
| 54 |
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0.52,
|
| 55 |
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-0.10703315244737133
|
| 56 |
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],
|
| 57 |
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"blue_right_bowl": [
|
| 58 |
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0.52,
|
| 59 |
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|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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"friction_ratio": 0.8833006755352798,
|
| 65 |
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"mass_ratios": {
|
| 66 |
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"banana": 1.1918744916170587,
|
| 67 |
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"lemon": 1.0676689633840701,
|
| 68 |
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"plum": 0.8001535601235379,
|
| 69 |
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"apple": 1.043904234009606,
|
| 70 |
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"orange": 0.8228531741143448,
|
| 71 |
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"white_left_bowl": 1.145862987668036,
|
| 72 |
+
"blue_left_bowl": 1.1456211426364047,
|
| 73 |
+
"white_right_bowl": 0.8422498007254717,
|
| 74 |
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"blue_right_bowl": 1.156221704354418
|
| 75 |
+
},
|
| 76 |
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"world_camera_position_delta": [
|
| 77 |
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0.0,
|
| 78 |
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0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
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0.0,
|
| 84 |
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0.0
|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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"plum": [
|
| 89 |
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0.5221719741821289,
|
| 90 |
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|
| 91 |
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|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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"n_goals": 1,
|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "blue_left_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
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"strict_physics": true
|
| 111 |
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},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000793.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 793,
|
| 4 |
+
"task_id": "plum_blue_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25025,
|
| 7 |
+
"instruction": "Pick the plum and place it in the blue bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 241,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
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"banana": [
|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"lemon": [
|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
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0.2899792187870457,
|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"apple": [
|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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"orange": [
|
| 42 |
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|
| 43 |
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|
| 44 |
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],
|
| 45 |
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|
| 46 |
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0.52,
|
| 47 |
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|
| 48 |
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],
|
| 49 |
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|
| 50 |
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0.52,
|
| 51 |
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|
| 52 |
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],
|
| 53 |
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|
| 54 |
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0.52,
|
| 55 |
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|
| 56 |
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],
|
| 57 |
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"blue_right_bowl": [
|
| 58 |
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0.52,
|
| 59 |
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|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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"friction_ratio": 1.2103470171289756,
|
| 65 |
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"mass_ratios": {
|
| 66 |
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"banana": 0.8489285585041266,
|
| 67 |
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"lemon": 0.8846828564972258,
|
| 68 |
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"plum": 0.8228607638301846,
|
| 69 |
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"apple": 1.0927599319761179,
|
| 70 |
+
"orange": 0.8802956081148305,
|
| 71 |
+
"white_left_bowl": 1.1427141469663273,
|
| 72 |
+
"blue_left_bowl": 0.8678637234584433,
|
| 73 |
+
"white_right_bowl": 1.1654322102665169,
|
| 74 |
+
"blue_right_bowl": 1.0855592218500685
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
+
"plum": [
|
| 89 |
+
0.5051016807556152,
|
| 90 |
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-0.35912203788757324,
|
| 91 |
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0.7815349698066711
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "blue_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000794.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 794,
|
| 4 |
+
"task_id": "plum_white_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25026,
|
| 7 |
+
"instruction": "Pick the plum and place it in the white bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 244,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": false,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
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0.2716830371635508,
|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"lemon": [
|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
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0.52,
|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"white_right_bowl": [
|
| 54 |
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0.52,
|
| 55 |
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|
| 56 |
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],
|
| 57 |
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"blue_right_bowl": [
|
| 58 |
+
0.52,
|
| 59 |
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|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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"friction_ratio": 1.201860191538338,
|
| 65 |
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"mass_ratios": {
|
| 66 |
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"banana": 1.1820530336463477,
|
| 67 |
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"lemon": 0.9747327438372938,
|
| 68 |
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"plum": 0.8933757642098358,
|
| 69 |
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"apple": 0.8504627302887473,
|
| 70 |
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"orange": 1.1471556964840393,
|
| 71 |
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"white_left_bowl": 1.0773993010405012,
|
| 72 |
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"blue_left_bowl": 1.1239677955132719,
|
| 73 |
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"white_right_bowl": 1.167091773079217,
|
| 74 |
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"blue_right_bowl": 0.9882962660346728
|
| 75 |
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},
|
| 76 |
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"world_camera_position_delta": [
|
| 77 |
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0.0,
|
| 78 |
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0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
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0.0,
|
| 84 |
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0.0
|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"final_goal_positions": {
|
| 88 |
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"plum": [
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
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"success": true,
|
| 96 |
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"n_goals": 1,
|
| 97 |
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"n_success": 1,
|
| 98 |
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"partial_success_rate": 1.0,
|
| 99 |
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"goals": [
|
| 100 |
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{
|
| 101 |
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"object": "plum",
|
| 102 |
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"container": "white_left_bowl",
|
| 103 |
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"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
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"target_correct": true
|
| 106 |
+
}
|
| 107 |
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],
|
| 108 |
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"object_correct": true,
|
| 109 |
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"target_correct": true,
|
| 110 |
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"strict_physics": true
|
| 111 |
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},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000795.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 795,
|
| 4 |
+
"task_id": "plum_white_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25027,
|
| 7 |
+
"instruction": "Pick the plum and place it in the white bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 245,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": false
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
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"banana": [
|
| 26 |
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0.27146020552372174,
|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"lemon": [
|
| 30 |
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|
| 31 |
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0.00888756436367736
|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
+
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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]
|
| 61 |
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},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
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"enabled": true,
|
| 64 |
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|
| 65 |
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"mass_ratios": {
|
| 66 |
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"banana": 0.8013473309193623,
|
| 67 |
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"lemon": 0.9329127005157009,
|
| 68 |
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"plum": 0.8572512845737319,
|
| 69 |
+
"apple": 1.0146992051908112,
|
| 70 |
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"orange": 1.1045622690482433,
|
| 71 |
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"white_left_bowl": 1.0919123680779657,
|
| 72 |
+
"blue_left_bowl": 1.1550052099663841,
|
| 73 |
+
"white_right_bowl": 1.0196071476546023,
|
| 74 |
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"blue_right_bowl": 0.9308028754203793
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
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0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
+
]
|
| 86 |
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},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
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"plum": [
|
| 89 |
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0.5058752298355103,
|
| 90 |
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-0.3541930019855499,
|
| 91 |
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0.7815395593643188
|
| 92 |
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]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "white_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000796.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 796,
|
| 4 |
+
"task_id": "plum_blue_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25028,
|
| 7 |
+
"instruction": "Sort the plum into the blue bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 221,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": false,
|
| 20 |
+
"right": false
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
+
0.2687990661339801,
|
| 27 |
+
0.21876935843798723
|
| 28 |
+
],
|
| 29 |
+
"lemon": [
|
| 30 |
+
0.3094153256542949,
|
| 31 |
+
0.007163405205031118
|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
+
0.28990766567789844,
|
| 35 |
+
-0.2070650764590514
|
| 36 |
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],
|
| 37 |
+
"apple": [
|
| 38 |
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0.3777539608775903,
|
| 39 |
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0.09929614920249369
|
| 40 |
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],
|
| 41 |
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"orange": [
|
| 42 |
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0.37941305463477865,
|
| 43 |
+
-0.0963309638646302
|
| 44 |
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],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
+
0.52,
|
| 47 |
+
0.3523467936520499
|
| 48 |
+
],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
+
0.52,
|
| 51 |
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0.1082280213123317
|
| 52 |
+
],
|
| 53 |
+
"white_right_bowl": [
|
| 54 |
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0.52,
|
| 55 |
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-0.34407189654477954
|
| 56 |
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],
|
| 57 |
+
"blue_right_bowl": [
|
| 58 |
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0.52,
|
| 59 |
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-0.12089717555851419
|
| 60 |
+
]
|
| 61 |
+
},
|
| 62 |
+
"runtime_randomization": {
|
| 63 |
+
"enabled": true,
|
| 64 |
+
"friction_ratio": 0.7865585206459321,
|
| 65 |
+
"mass_ratios": {
|
| 66 |
+
"banana": 1.1202679740154797,
|
| 67 |
+
"lemon": 1.1933240582155433,
|
| 68 |
+
"plum": 1.1273281877931551,
|
| 69 |
+
"apple": 0.836299057072218,
|
| 70 |
+
"orange": 0.8117825322878047,
|
| 71 |
+
"white_left_bowl": 1.1306712211851306,
|
| 72 |
+
"blue_left_bowl": 0.8241903137744406,
|
| 73 |
+
"white_right_bowl": 1.0989432962181247,
|
| 74 |
+
"blue_right_bowl": 0.9416340544460927
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
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0.0
|
| 80 |
+
],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
+
"plum": [
|
| 89 |
+
0.5213449597358704,
|
| 90 |
+
0.10666557401418686,
|
| 91 |
+
0.7800138592720032
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "blue_left_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000797.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 797,
|
| 4 |
+
"task_id": "plum_blue_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25029,
|
| 7 |
+
"instruction": "Sort the plum into the blue bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 240,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
+
0.27254838328282066,
|
| 27 |
+
0.22118973086377872
|
| 28 |
+
],
|
| 29 |
+
"lemon": [
|
| 30 |
+
0.3129422008772805,
|
| 31 |
+
-0.0005075594501587986
|
| 32 |
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],
|
| 33 |
+
"plum": [
|
| 34 |
+
0.28752603777952734,
|
| 35 |
+
-0.19863579563675293
|
| 36 |
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],
|
| 37 |
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"apple": [
|
| 38 |
+
0.3791341697090784,
|
| 39 |
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0.09898045645701574
|
| 40 |
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],
|
| 41 |
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"orange": [
|
| 42 |
+
0.3809703677983874,
|
| 43 |
+
-0.09834010376505396
|
| 44 |
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],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
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0.52,
|
| 47 |
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0.13347349459941366
|
| 48 |
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],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
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0.52,
|
| 51 |
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0.3545639574635286
|
| 52 |
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],
|
| 53 |
+
"white_right_bowl": [
|
| 54 |
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0.52,
|
| 55 |
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-0.12007730934411334
|
| 56 |
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],
|
| 57 |
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"blue_right_bowl": [
|
| 58 |
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0.52,
|
| 59 |
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-0.3254704917740305
|
| 60 |
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]
|
| 61 |
+
},
|
| 62 |
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"runtime_randomization": {
|
| 63 |
+
"enabled": true,
|
| 64 |
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"friction_ratio": 1.23170086842825,
|
| 65 |
+
"mass_ratios": {
|
| 66 |
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"banana": 0.8167118460771087,
|
| 67 |
+
"lemon": 0.8639046149078864,
|
| 68 |
+
"plum": 0.91228232004225,
|
| 69 |
+
"apple": 1.015733689296052,
|
| 70 |
+
"orange": 1.0463589232277708,
|
| 71 |
+
"white_left_bowl": 1.0209826197315788,
|
| 72 |
+
"blue_left_bowl": 1.109312904487256,
|
| 73 |
+
"white_right_bowl": 0.9931299172388262,
|
| 74 |
+
"blue_right_bowl": 1.1653155273667324
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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"world_camera_lookat_delta": [
|
| 82 |
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0.0,
|
| 83 |
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0.0,
|
| 84 |
+
0.0
|
| 85 |
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]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
+
"plum": [
|
| 89 |
+
0.5212630033493042,
|
| 90 |
+
-0.32265105843544006,
|
| 91 |
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0.7802929878234863
|
| 92 |
+
]
|
| 93 |
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},
|
| 94 |
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"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "blue_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000798.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 798,
|
| 4 |
+
"task_id": "plum_white_left",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25030,
|
| 7 |
+
"instruction": "Sort the plum into the white bowl on the left.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 226,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
+
0.27038013354405294,
|
| 27 |
+
0.22350152174374163
|
| 28 |
+
],
|
| 29 |
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"lemon": [
|
| 30 |
+
0.3201747941780043,
|
| 31 |
+
-0.001727702545639009
|
| 32 |
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],
|
| 33 |
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"plum": [
|
| 34 |
+
0.2733994336406714,
|
| 35 |
+
-0.19716254243938508
|
| 36 |
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],
|
| 37 |
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"apple": [
|
| 38 |
+
0.3799127286868399,
|
| 39 |
+
0.0996632816513766
|
| 40 |
+
],
|
| 41 |
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"orange": [
|
| 42 |
+
0.3828005792760845,
|
| 43 |
+
-0.10199052988559215
|
| 44 |
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],
|
| 45 |
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"white_left_bowl": [
|
| 46 |
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0.52,
|
| 47 |
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0.11844635750260941
|
| 48 |
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],
|
| 49 |
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"blue_left_bowl": [
|
| 50 |
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0.52,
|
| 51 |
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0.3540950350302575
|
| 52 |
+
],
|
| 53 |
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"white_right_bowl": [
|
| 54 |
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0.52,
|
| 55 |
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-0.10679676840127036
|
| 56 |
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],
|
| 57 |
+
"blue_right_bowl": [
|
| 58 |
+
0.52,
|
| 59 |
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-0.3413159613920806
|
| 60 |
+
]
|
| 61 |
+
},
|
| 62 |
+
"runtime_randomization": {
|
| 63 |
+
"enabled": true,
|
| 64 |
+
"friction_ratio": 1.0678811258388357,
|
| 65 |
+
"mass_ratios": {
|
| 66 |
+
"banana": 0.9485446050773944,
|
| 67 |
+
"lemon": 0.9125617842149948,
|
| 68 |
+
"plum": 0.9151488126281592,
|
| 69 |
+
"apple": 0.9296650755303663,
|
| 70 |
+
"orange": 0.9184182813950325,
|
| 71 |
+
"white_left_bowl": 1.180918909991255,
|
| 72 |
+
"blue_left_bowl": 1.1846920022365441,
|
| 73 |
+
"white_right_bowl": 0.9677023698683248,
|
| 74 |
+
"blue_right_bowl": 0.9530812618743767
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"world_camera_lookat_delta": [
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
+
"plum": [
|
| 89 |
+
0.5361690521240234,
|
| 90 |
+
0.10920358449220657,
|
| 91 |
+
0.7791339755058289
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "white_left_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|
certificates/episode_000799.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
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|
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|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_index": 799,
|
| 4 |
+
"task_id": "plum_white_right",
|
| 5 |
+
"tier": "L1",
|
| 6 |
+
"seed": 25031,
|
| 7 |
+
"instruction": "Sort the plum into the white bowl on the right.",
|
| 8 |
+
"success": true,
|
| 9 |
+
"frame_count": 222,
|
| 10 |
+
"strict_physics": true,
|
| 11 |
+
"rigid_pose_write_guard": true,
|
| 12 |
+
"kinematic_intervention_count": 0,
|
| 13 |
+
"layout": {
|
| 14 |
+
"arrangement": {
|
| 15 |
+
"left": "home_slots",
|
| 16 |
+
"right": "home_slots"
|
| 17 |
+
},
|
| 18 |
+
"color_swapped": {
|
| 19 |
+
"left": true,
|
| 20 |
+
"right": true
|
| 21 |
+
},
|
| 22 |
+
"fruit_pack": "home_jitter"
|
| 23 |
+
},
|
| 24 |
+
"initial_object_xy": {
|
| 25 |
+
"banana": [
|
| 26 |
+
0.28973984126272556,
|
| 27 |
+
0.22891372007979804
|
| 28 |
+
],
|
| 29 |
+
"lemon": [
|
| 30 |
+
0.3291742681553212,
|
| 31 |
+
-0.01037542831338793
|
| 32 |
+
],
|
| 33 |
+
"plum": [
|
| 34 |
+
0.29116293269778015,
|
| 35 |
+
-0.21083131367362187
|
| 36 |
+
],
|
| 37 |
+
"apple": [
|
| 38 |
+
0.37954430991264465,
|
| 39 |
+
0.09905110424890581
|
| 40 |
+
],
|
| 41 |
+
"orange": [
|
| 42 |
+
0.3803481304844951,
|
| 43 |
+
-0.09598882145660369
|
| 44 |
+
],
|
| 45 |
+
"white_left_bowl": [
|
| 46 |
+
0.52,
|
| 47 |
+
0.13027428290762966
|
| 48 |
+
],
|
| 49 |
+
"blue_left_bowl": [
|
| 50 |
+
0.52,
|
| 51 |
+
0.3470964171821874
|
| 52 |
+
],
|
| 53 |
+
"white_right_bowl": [
|
| 54 |
+
0.52,
|
| 55 |
+
-0.11827739513853797
|
| 56 |
+
],
|
| 57 |
+
"blue_right_bowl": [
|
| 58 |
+
0.52,
|
| 59 |
+
-0.3374125551824958
|
| 60 |
+
]
|
| 61 |
+
},
|
| 62 |
+
"runtime_randomization": {
|
| 63 |
+
"enabled": true,
|
| 64 |
+
"friction_ratio": 0.7499630617806949,
|
| 65 |
+
"mass_ratios": {
|
| 66 |
+
"banana": 1.1187924900339716,
|
| 67 |
+
"lemon": 0.9287400502215479,
|
| 68 |
+
"plum": 0.832612083315421,
|
| 69 |
+
"apple": 0.9044214849894538,
|
| 70 |
+
"orange": 0.9740771952787268,
|
| 71 |
+
"white_left_bowl": 1.1476994314557563,
|
| 72 |
+
"blue_left_bowl": 1.0467181532505034,
|
| 73 |
+
"white_right_bowl": 0.9603905313501677,
|
| 74 |
+
"blue_right_bowl": 0.8987388145481742
|
| 75 |
+
},
|
| 76 |
+
"world_camera_position_delta": [
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"world_camera_lookat_delta": [
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"final_goal_positions": {
|
| 88 |
+
"plum": [
|
| 89 |
+
0.5217849612236023,
|
| 90 |
+
-0.11811685562133789,
|
| 91 |
+
0.7801539897918701
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"success_report": {
|
| 95 |
+
"success": true,
|
| 96 |
+
"n_goals": 1,
|
| 97 |
+
"n_success": 1,
|
| 98 |
+
"partial_success_rate": 1.0,
|
| 99 |
+
"goals": [
|
| 100 |
+
{
|
| 101 |
+
"object": "plum",
|
| 102 |
+
"container": "white_right_bowl",
|
| 103 |
+
"success": true,
|
| 104 |
+
"object_correct": true,
|
| 105 |
+
"target_correct": true
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"object_correct": true,
|
| 109 |
+
"target_correct": true,
|
| 110 |
+
"strict_physics": true
|
| 111 |
+
},
|
| 112 |
+
"source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
|
| 113 |
+
}
|