{ "version": "v0_clean", "target_successful_episodes": 1500, "task_family_quotas": { "pick_place": 180, "object_to_container": 170, "button_press_click": 150, "articulated_open_close": 130, "tool_use": 120, "stacking": 120, "lifting": 100, "scanning_qrcode": 80, "shaking": 70, "rotation_orientation": 70, "dumping_pouring": 60, "ranking_arrangement": 60, "handover": 50, "hanging": 40, "coverage_unknown": 100 }, "config_ratios": { "wa_clean_fixed": 1.0 }, "target_domain": "RoboTwin2 Clean-50 / WorldArena Track1 Aloha-AgileX dual-arm gripper manipulation", "action_schema_required": "joint14", "expected_action_dim": 14, "is_dual_arm_required": true, "embodiment_strategy": { "main_embodiment": "aloha-agilex", "default_weights": [ { "embodiment": "aloha-agilex", "ratio": 1.0 } ], "include_secondary_embodiment": false, "weights": [ { "embodiment": "aloha-agilex", "ratio": 1.0 } ], "plan_counts": { "aloha-agilex": 1500 }, "note": "v0_clean defaults to 100% Aloha-AgileX and wa_clean_fixed." }, "jobs": [ { "target_id": "target_0000", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0001", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0002", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0003", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0004", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0005", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0006", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0007", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0008", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0009", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0010", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0011", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0012", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0013", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0014", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0015", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0016", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0017", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0018", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0019", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0020", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0021", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0022", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0023", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0024", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0025", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0026", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0027", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0028", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0029", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0030", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0031", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0032", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0033", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0034", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0035", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0036", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0037", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0038", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0039", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0040", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0041", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0042", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0043", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0044", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0045", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0046", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0047", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0048", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0049", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0050", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0051", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0052", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0053", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0054", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0055", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0056", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0057", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0058", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0059", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0060", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0061", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0062", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0063", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0064", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0065", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0066", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0067", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0068", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0069", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0070", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0071", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0072", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0073", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0074", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0075", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0076", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0077", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0078", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0079", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0080", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0081", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", "is_dual_arm_required": true }, { "target_id": "target_0082", "task_family": "pick_place", "config_name": "wa_clean_fixed", "embodiment": "aloha-agilex", "target_success": 1, "expected_action_dim": 14, "action_schema_required": "joint14", 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