code stringlengths 1.95k 38.4k | code_char_count int64 1.95k 38.4k | code_num_lines int64 21 412 | code_num_nonblank_lines int64 16 402 | compressed_candidate_available bool 2
classes | dataset_type stringclasses 1
value | episode_index int64 0 0 | final_code_state stringclasses 2
values | initial_env_config_json stringlengths 5.61k 11.6k | initial_scene_json stringlengths 7.47k 17.2k | is_source_compressed_policy_file bool 2
classes | motion_primitive_count int64 2 182 | pretrain_task_id int64 0 64 | retained_waypoint_count int64 2 182 | sim_aggregate_success bool 2
classes | sim_saved_summary_success bool 2
classes | sim_success bool 2
classes | sim_success_source stringclasses 1
value | sim_validation_matches_aggregate bool 2
classes | sim_validation_success bool 2
classes | source_split stringclasses 1
value | task_description stringlengths 19 117 | task_name stringlengths 8 29 | video_available bool 1
class | video_bytes int64 156k 1.24M | video_relpath stringlengths 33 54 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/AdjustToasterOvenTemperature/20260324_205246_adjust-toaster-oven-temperature_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=5; actual_retained_waypoints... | 2,615 | 24 | 19 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 5 | 0 | 5 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Increase the toaster oven temperature. | AdjustToasterOvenTemperature | true | 408,410 | videos/compressed/00_AdjustToasterOvenTemperature.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/AdjustWaterTemperature/20260324_205247_adjust-water-temperature_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=3; actual_retained_waypoints=3; keep_coun... | 2,216 | 22 | 17 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 3 | 1 | 3 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on. | AdjustWaterTemperature | true | 414,760 | videos/compressed/01_AdjustWaterTemperature.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/CheesyBread/20260324_205248_cheesy-bread_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=10; actual_retained_waypoints=10; keep_counts={0: 2, 1: 2, 2: 2,... | 4,128 | 40 | 35 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolation":null,"kp":150,... | {"env_kwargs":{"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolation":null,"kp":150,... | true | 10 | 2 | 10 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish. | CheesyBread | true | 376,205 | videos/compressed/02_CheesyBread.mp4 |
# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory
# Task: CloseBlenderLid
# Episode: episode_000000
from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait
SCENE_ARTIFACT = '/workspace/action2code/outputs/artifact... | 38,438 | 412 | 402 | false | compressed | 0 | fallback_current_policy | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | false | 182 | 3 | 182 | true | null | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Close the lid blender by securely placing the lid on top. | CloseBlenderLid | true | 610,250 | videos/compressed/03_CloseBlenderLid.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/CloseCabinet/20260324_205250_close-cabinet_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=6; actual_retained_waypoints=6; keep_counts={0: 6}
from primi... | 2,595 | 25 | 20 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 6 | 4 | 6 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Close the cabinet door. | CloseCabinet | true | 478,928 | videos/compressed/04_CloseCabinet.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/CloseDishwasher/seed_195/episode_000000/refinement/20260403/CloseDishwasher/iter_004/candidate.py
# Compression note: target_retained_waypoints=14; actual_retained_waypoints=14... | 4,344 | 38 | 33 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 14 | 5 | 14 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Close the dishwasher door. | CloseDishwasher | true | 302,135 | videos/compressed/05_CloseDishwasher.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/CloseDrawer/20260324_205252_close-drawer_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=6; actual_retained_waypoints=6; keep_counts={0: 6}
from primiti... | 2,584 | 25 | 20 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 6 | 6 | 6 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Close the right drawer. | CloseDrawer | true | 210,470 | videos/compressed/06_CloseDrawer.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/CloseElectricKettleLid/20260324_205253_close-electric-kettle-lid_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=5; actual_retained_waypoints=5; keep_cou... | 2,549 | 24 | 19 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 5 | 7 | 5 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Close the lid of the electric kettle. | CloseElectricKettleLid | true | 247,672 | videos/compressed/07_CloseElectricKettleLid.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260413/CloseFridge/20260413_t3_k20_c536553ec83a_CloseFridge_source-compressed.py
# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260413/CloseFridge/20260413... | 5,660 | 44 | 39 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 19 | 8 | 19 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Close the fridge doors. | CloseFridge | true | 676,973 | videos/compressed/08_CloseFridge.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/CloseFridgeDrawer/20260324_205255_close-fridge-drawer_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=3; actual_retained_waypoints=3; keep_counts={0: 3}
... | 2,160 | 22 | 17 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 3 | 9 | 3 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Fully close the fridge drawer. | CloseFridgeDrawer | true | 302,183 | videos/compressed/09_CloseFridgeDrawer.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/CloseMicrowave/20260324_205256_close-microwave_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=6; actual_retained_waypoints=6; keep_counts={0: 6}
from p... | 2,617 | 25 | 20 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 6 | 10 | 6 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Close the microwave door. | CloseMicrowave | true | 586,916 | videos/compressed/10_CloseMicrowave.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/CloseOven/seed_195/episode_000000/refinement/20260403/CloseOven/iter_001/candidate.py
# Compression note: target_retained_waypoints=16; actual_retained_waypoints=16; keep_count... | 4,959 | 41 | 36 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 16 | 11 | 16 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Close the oven door. | CloseOven | true | 334,083 | videos/compressed/11_CloseOven.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/CloseStandMixerHead/20260324_205258_close-stand-mixer-head_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=4; actual_retained_waypoints=4; keep_counts={0... | 2,351 | 23 | 18 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 4 | 12 | 4 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Close the stand mixer head. | CloseStandMixerHead | true | 353,822 | videos/compressed/12_CloseStandMixerHead.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/CloseToasterOvenDoor/seed_195/episode_000000/refinement/20260403/CloseToasterOvenDoor/iter_002/candidate.py
# Compression note: target_retained_waypoints=11; actual_retained_wa... | 4,388 | 40 | 35 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 11 | 13 | 11 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Close the toaster oven door. | CloseToasterOvenDoor | true | 541,939 | videos/compressed/13_CloseToasterOvenDoor.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/CoffeeServeMug/seed_195/episode_000000/refinement/20260403/CoffeeServeMug/iter_002/candidate.py
# Compression note: target_retained_waypoints=10; actual_retained_waypoints=10; ... | 4,647 | 48 | 43 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 10 | 14 | 10 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Pick the mug from under the coffee machine dispenser and place it on the counter. | CoffeeServeMug | true | 267,337 | videos/compressed/14_CoffeeServeMug.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260413/CoffeeSetupMug/20260413_t2_k32_CoffeeSetupMug_source-compressed.py
# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260413/CoffeeSetupMug/20260413_t2_... | 6,952 | 57 | 52 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 20 | 15 | 20 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Pick the mug from the counter and place it under the coffee machine dispenser. | CoffeeSetupMug | true | 386,962 | videos/compressed/15_CoffeeSetupMug.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/LowerHeat/20260324_205302_lower-heat_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=4; actual_retained_waypoints=4; keep_counts={0: 2, 1: 2}
from primi... | 2,232 | 23 | 18 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolation":null,"kp":150,... | {"env_kwargs":{"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolation":null,"kp":150,... | true | 4 | 16 | 4 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Lower the heat of the kettle. | LowerHeat | true | 293,905 | videos/compressed/16_LowerHeat.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/MakeIcedCoffee/seed_195/episode_000000/refinement/20260403/MakeIcedCoffee/iter_001/candidate.py
# Compression note: target_retained_waypoints=10; actual_retained_waypoints=10; ... | 4,250 | 40 | 35 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolation":null,"kp":150,... | {"env_kwargs":{"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolation":null,"kp":150,... | true | 10 | 17 | 10 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Pick up an ice cube and place it in the glass of coffee. | MakeIcedCoffee | true | 650,699 | videos/compressed/17_MakeIcedCoffee.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/NavigateKitchen/20260324_205304_navigate-kitchen_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=3; actual_retained_waypoints=3; keep_counts={0: 1, 1: 2}... | 2,428 | 21 | 16 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":1,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":1,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 2 | 18 | 3 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Navigate to the fridge. | NavigateKitchen | true | 666,637 | videos/compressed/18_NavigateKitchen.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/OpenBlenderLid/20260324_205305_open-blender-lid_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=7; actual_retained_waypoints=7; keep_counts={0: 2, 1: 3, ... | 2,786 | 26 | 21 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 7 | 19 | 7 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Open the blender by taking off the lid and placing it on the counter. | OpenBlenderLid | true | 439,119 | videos/compressed/19_OpenBlenderLid.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260413/OpenCabinet/20260413_k22_OpenCabinet_source-compressed.py
# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260413/OpenCabinet/20260413_k22_OpenCabinet... | 5,816 | 45 | 40 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 20 | 20 | 20 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Open the cabinet door. | OpenCabinet | true | 517,596 | videos/compressed/20_OpenCabinet.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/OpenDishwasher/20260324_205307_open-dishwasher_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=11; actual_retained_waypoints=11; keep_counts={0: 4, 1: 3,... | 3,442 | 30 | 25 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 11 | 21 | 11 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Open the dishwasher door. | OpenDishwasher | true | 213,243 | videos/compressed/21_OpenDishwasher.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/OpenDrawer/20260324_205308_open-drawer_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=6; actual_retained_waypoints=6; keep_counts={0: 3, 1: 3}
from pri... | 2,568 | 25 | 20 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 6 | 22 | 6 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Open the left drawer. | OpenDrawer | true | 287,465 | videos/compressed/22_OpenDrawer.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/OpenElectricKettleLid/20260324_205309_open-electric-kettle-lid_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=11; actual_retained_waypoints=11; keep_cou... | 3,509 | 30 | 25 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 11 | 23 | 11 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Press the button to open the lid of the electric kettle. | OpenElectricKettleLid | true | 162,485 | videos/compressed/23_OpenElectricKettleLid.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260413/OpenFridge/20260413_t3_k21_3229d9d7b4ac_OpenFridge_source-compressed.py
# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260413/OpenFridge/20260413_t3... | 6,031 | 46 | 41 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 20 | 24 | 20 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Open the fridge door. | OpenFridge | true | 409,080 | videos/compressed/24_OpenFridge.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/OpenFridgeDrawer/seed_195/episode_000000/refinement/20260403/OpenFridgeDrawer/iter_005/candidate.py
# Compression note: target_retained_waypoints=5; actual_retained_waypoints=5... | 2,980 | 26 | 21 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 4 | 25 | 5 | false | false | false | whole_body_ik_rerun | true | false | robocasa_pretrain_atomic_65 | Fully open the fridge drawer. | OpenFridgeDrawer | true | 328,081 | videos/compressed/25_OpenFridgeDrawer.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260414/OpenMicrowave/20260414_openmicro_cubic49_a_e539a3c9bb16_OpenMicrowave_source-compressed.py
# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260414/Ope... | 4,405 | 34 | 29 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 9 | 26 | 13 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Open the microwave door. | OpenMicrowave | true | 629,120 | videos/compressed/26_OpenMicrowave.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/OpenOven/20260324_205313_open-oven_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=4; actual_retained_waypoints=4; keep_counts={0: 2, 1: 2}
from primiti... | 2,223 | 23 | 18 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 4 | 27 | 4 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Open the oven door. | OpenOven | true | 352,141 | videos/compressed/27_OpenOven.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/OpenStandMixerHead/20260324_205314_open-stand-mixer-head_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=5; actual_retained_waypoints=5; keep_counts={0: ... | 2,498 | 24 | 19 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 5 | 28 | 5 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Open the stand mixer head. | OpenStandMixerHead | true | 304,236 | videos/compressed/28_OpenStandMixerHead.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/OpenToasterOvenDoor/seed_195/episode_000000/refinement/20260403/OpenToasterOvenDoor/iter_005/candidate.py
# Compression note: target_retained_waypoints=5; actual_retained_waypo... | 2,961 | 29 | 24 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 5 | 29 | 5 | false | false | false | whole_body_ik_rerun | true | false | robocasa_pretrain_atomic_65 | Open the toaster oven door. | OpenToasterOvenDoor | true | 277,520 | videos/compressed/29_OpenToasterOvenDoor.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PackDessert/20260324_205316_pack-dessert_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=16; actual_retained_waypoints=16; keep_counts={0: 3, 1: 3, 2: 4,... | 5,837 | 52 | 47 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolation":null,"kp":150,... | {"env_kwargs":{"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolation":null,"kp":150,... | true | 16 | 30 | 16 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Add the marshmallow to the tupperware that contains the hot dog. | PackDessert | true | 472,922 | videos/compressed/30_PackDessert.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/PickPlaceCabinetToCounter/seed_195/episode_000000/refinement/20260403/PickPlaceCabinetToCounter/iter_005/candidate.py
# Compression note: target_retained_waypoints=10; actual_r... | 4,587 | 44 | 39 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 10 | 31 | 10 | false | false | false | whole_body_ik_rerun | true | false | robocasa_pretrain_atomic_65 | Pick the ice cube from the cabinet and place it on the counter. | PickPlaceCabinetToCounter | true | 613,821 | videos/compressed/31_PickPlaceCabinetToCounter.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260413/PickPlaceCounterToBlender/20260413_t3_k113_0c07ac667a85_PickPlaceCounterToBlender_source-compressed.py
# Compression note: ppctb_action49_g; source_kind=accepted; segments=[{'start': 0, 'end': 39, ... | 11,667 | 63 | 58 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 24 | 32 | 49 | true | true | false | whole_body_ik_rerun | false | false | robocasa_pretrain_atomic_65 | Pick the orange from the counter and place it in the blender. | PickPlaceCounterToBlender | true | 484,979 | videos/compressed/32_PickPlaceCounterToBlender.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceCounterToCabinet/20260324_205319_pick-place-counter-to-cabinet_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=12; actual_retained_waypoints=12;... | 4,635 | 42 | 37 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 12 | 33 | 12 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Pick the cereal from the counter and place it in the cabinet. | PickPlaceCounterToCabinet | true | 512,612 | videos/compressed/33_PickPlaceCounterToCabinet.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260413/PickPlaceCounterToDrawer/20260413_exact21_s21_b0_l1_PickPlaceCounterToDrawer.py
# Compression note: exact20 from 20260413_exact21_s21_b0_l1_PickPlaceCounterToDrawer.py delete (0, 1)
from primitive... | 7,108 | 61 | 56 | false | compressed | 0 | fallback_current_policy | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | false | 20 | 34 | 20 | true | null | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Pick the ladle from the counter and place it in the drawer. | PickPlaceCounterToDrawer | true | 597,178 | videos/compressed/34_PickPlaceCounterToDrawer.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceCounterToMicrowave/20260324_205321_pick-place-counter-to-microwave_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=12; actual_retained_waypoints... | 4,779 | 43 | 38 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 12 | 35 | 12 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Pick the hot dog from the counter and place it in the microwave. | PickPlaceCounterToMicrowave | true | 652,522 | videos/compressed/35_PickPlaceCounterToMicrowave.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260413/PickPlaceCounterToOven/20260413_t3_k21_3168e8deaa08_PickPlaceCounterToOven_source-compressed.py
# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/2026041... | 6,964 | 48 | 43 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 12 | 36 | 20 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Place the potato on the rack of the oven. | PickPlaceCounterToOven | true | 824,266 | videos/compressed/36_PickPlaceCounterToOven.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceCounterToSink/20260324_205323_pick-place-counter-to-sink_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=9; actual_retained_waypoints=9; keep_co... | 4,100 | 39 | 34 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 9 | 37 | 9 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Pick the bowl from the counter and place it in the sink. | PickPlaceCounterToSink | true | 535,148 | videos/compressed/37_PickPlaceCounterToSink.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/PickPlaceCounterToStandMixer/seed_195/episode_000000/refinement/20260403/PickPlaceCounterToStandMixer/iter_001/candidate.py
# Compression note: target_retained_waypoints=12; ac... | 4,753 | 42 | 37 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 12 | 38 | 12 | true | true | false | whole_body_ik_rerun | false | false | robocasa_pretrain_atomic_65 | Place the cake in the stand mixer bowl. | PickPlaceCounterToStandMixer | true | 374,323 | videos/compressed/38_PickPlaceCounterToStandMixer.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceCounterToStove/20260324_205325_pick-place-counter-to-stove_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=10; actual_retained_waypoints=10; kee... | 4,429 | 41 | 36 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 10 | 39 | 10 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Pick the onion from the plate and place it in the pan. | PickPlaceCounterToStove | true | 520,505 | videos/compressed/39_PickPlaceCounterToStove.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceCounterToToasterOven/20260324_205326_pick-place-counter-to-toaster-oven_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=12; actual_retained_wayp... | 4,669 | 42 | 37 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 12 | 40 | 12 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Place the baguette on the rack of the toaster oven. | PickPlaceCounterToToasterOven | true | 495,720 | videos/compressed/40_PickPlaceCounterToToasterOven.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260413/PickPlaceDrawerToCounter/20260413_t3_k21_9dda7bdff2c6_PickPlaceDrawerToCounter_source-compressed.py
# Compression note: exact_cap single delete (4, 1)
from primitives import moveJoint, moveLinear,... | 6,858 | 55 | 50 | false | compressed | 0 | fallback_current_policy | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | false | 16 | 41 | 20 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Pick the wooden spoon from the drawer and place it on the counter. | PickPlaceDrawerToCounter | true | 1,243,175 | videos/compressed/41_PickPlaceDrawerToCounter.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceFridgeDrawerToShelf/20260324_205328_pick-place-fridge-drawer-to-shelf_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=12; actual_retained_waypoi... | 4,646 | 42 | 37 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 12 | 42 | 12 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Pick the eggplant from the fridge drawer and place it on a fridge shelf. | PickPlaceFridgeDrawerToShelf | true | 341,142 | videos/compressed/42_PickPlaceFridgeDrawerToShelf.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceFridgeShelfToDrawer/20260324_205329_pick-place-fridge-shelf-to-drawer_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=10; actual_retained_waypoi... | 4,478 | 41 | 36 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 10 | 43 | 10 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Pick the kiwi from the fridge shelf and place it in the fridge drawer. | PickPlaceFridgeShelfToDrawer | true | 785,452 | videos/compressed/43_PickPlaceFridgeShelfToDrawer.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceMicrowaveToCounter/20260324_205330_pick-place-microwave-to-counter_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=12; actual_retained_waypoints... | 4,959 | 40 | 35 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 10 | 44 | 12 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Pick the potato from the microwave and place it on plate located on the counter. | PickPlaceMicrowaveToCounter | true | 1,162,178 | videos/compressed/44_PickPlaceMicrowaveToCounter.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceSinkToCounter/20260324_205331_pick-place-sink-to-counter_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=12; actual_retained_waypoints=12; keep_... | 4,576 | 42 | 37 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 12 | 45 | 12 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Pick the squash from the sink and place it on the plate located on the counter. | PickPlaceSinkToCounter | true | 391,223 | videos/compressed/45_PickPlaceSinkToCounter.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceStoveToCounter/20260324_205332_pick-place-stove-to-counter_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=15; actual_retained_waypoints=15; kee... | 5,790 | 51 | 46 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 15 | 46 | 15 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Pick the mushroom from the pan and place it in the bowl. | PickPlaceStoveToCounter | true | 407,437 | videos/compressed/46_PickPlaceStoveToCounter.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceToasterOvenToCounter/20260324_205333_pick-place-toaster-oven-to-counter_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=12; actual_retained_wayp... | 4,649 | 42 | 37 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 12 | 47 | 12 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Pick the hotdog bun from the rack and place it on the plate on the counter. | PickPlaceToasterOvenToCounter | true | 298,987 | videos/compressed/47_PickPlaceToasterOvenToCounter.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceToasterToCounter/20260324_205334_pick-place-toaster-to-counter_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=16; actual_retained_waypoints=16;... | 6,011 | 52 | 47 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 16 | 48 | 16 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Place the toasted item on a plate. | PickPlaceToasterToCounter | true | 444,517 | videos/compressed/48_PickPlaceToasterToCounter.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PreheatOven/20260324_205335_preheat-oven_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=5; actual_retained_waypoints=5; keep_counts={0: 3, 1: 2}
from p... | 2,420 | 24 | 19 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 5 | 49 | 5 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Preheat the oven by turning the temperature knob. | PreheatOven | true | 235,925 | videos/compressed/49_PreheatOven.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/SlideDishwasherRack/20260324_205336_slide-dishwasher-rack_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=3; actual_retained_waypoints=3; keep_counts={0:... | 2,182 | 22 | 17 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 3 | 50 | 3 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Fully slide the top dishwasher rack in. | SlideDishwasherRack | true | 539,204 | videos/compressed/50_SlideDishwasherRack.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/SlideOvenRack/20260324_205337_slide-oven-rack_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=3; actual_retained_waypoints=3; keep_counts={0: 3}
from pr... | 2,115 | 22 | 17 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 3 | 51 | 3 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Fully slide the bottom oven rack out. | SlideOvenRack | true | 470,396 | videos/compressed/51_SlideOvenRack.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/SlideToasterOvenRack/20260324_205338_slide-toaster-oven-rack_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=3; actual_retained_waypoints=3; keep_counts=... | 2,194 | 22 | 17 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 3 | 52 | 3 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Fully slide the toaster oven rack out. | SlideToasterOvenRack | true | 192,512 | videos/compressed/52_SlideToasterOvenRack.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/StartCoffeeMachine/20260324_205339_start-coffee-machine_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=6; actual_retained_waypoints=6; keep_counts={0: 6... | 2,657 | 25 | 20 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 6 | 53 | 6 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Press the button on the coffee machine to serve coffee. | StartCoffeeMachine | true | 155,602 | videos/compressed/53_StartCoffeeMachine.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/TurnOffMicrowave/20260324_205340_turn-off-microwave_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=9; actual_retained_waypoints=9; keep_counts={0: 4, 1:... | 3,127 | 28 | 23 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 9 | 54 | 9 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Press the stop button on the microwave. | TurnOffMicrowave | true | 218,698 | videos/compressed/54_TurnOffMicrowave.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/TurnOffSinkFaucet/20260324_205341_turn-off-sink-faucet_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=6; actual_retained_waypoints=6; keep_counts={0: 6}... | 2,655 | 25 | 20 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 6 | 55 | 6 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Turn off the sink faucet. | TurnOffSinkFaucet | true | 229,659 | videos/compressed/55_TurnOffSinkFaucet.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/TurnOffStove/seed_195/episode_000000/refinement/20260403/TurnOffStove/iter_005/candidate.py
# Compression note: target_retained_waypoints=11; actual_retained_waypoints=11; keep... | 4,484 | 47 | 42 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 11 | 56 | 11 | false | false | false | whole_body_ik_rerun | true | false | robocasa_pretrain_atomic_65 | Turn off the center burner of the stove. | TurnOffStove | true | 644,435 | videos/compressed/56_TurnOffStove.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/TurnOnBlender/seed_195/episode_000000/refinement/20260403/TurnOnBlender/iter_005/candidate.py
# Compression note: target_retained_waypoints=4; actual_retained_waypoints=4; keep... | 2,569 | 27 | 22 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 4 | 57 | 4 | false | false | false | whole_body_ik_rerun | true | false | robocasa_pretrain_atomic_65 | Turn on the blender by pressing the power button. | TurnOnBlender | true | 196,980 | videos/compressed/57_TurnOnBlender.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/TurnOnElectricKettle/seed_195/episode_000000/refinement/20260403/TurnOnElectricKettle/iter_001/candidate.py
# Compression note: target_retained_waypoints=10; actual_retained_wa... | 3,428 | 29 | 24 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 10 | 58 | 10 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Press down the lever to turn on the electric kettle. | TurnOnElectricKettle | true | 270,062 | videos/compressed/58_TurnOnElectricKettle.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/TurnOnMicrowave/20260324_205345_turn-on-microwave_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=9; actual_retained_waypoints=9; keep_counts={0: 3, 1: 6... | 3,122 | 28 | 23 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 9 | 59 | 9 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Press the start button on the microwave. | TurnOnMicrowave | true | 177,492 | videos/compressed/59_TurnOnMicrowave.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260413/TurnOnSinkFaucet/20260413_t3_k21_c0c0d68bbf4d_TurnOnSinkFaucet_source-compressed.py
# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260413/TurnOnSink... | 5,921 | 45 | 40 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 20 | 60 | 20 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Turn on the sink faucet. | TurnOnSinkFaucet | true | 289,555 | videos/compressed/60_TurnOnSinkFaucet.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/TurnOnStove/20260324_205347_turn-on-stove_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=7; actual_retained_waypoints=7; keep_counts={0: 1, 1: 2, 2: 2, ... | 3,142 | 28 | 23 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 6 | 61 | 7 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Turn on the rear left burner of the stove. | TurnOnStove | true | 702,167 | videos/compressed/61_TurnOnStove.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/TurnOnToaster/20260324_205348_turn-on-toaster_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=4; actual_retained_waypoints=4; keep_counts={0: 2, 1: 2}
f... | 2,283 | 23 | 18 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 4 | 62 | 4 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Push down the lever of the toaster to turn it on. | TurnOnToaster | true | 183,383 | videos/compressed/62_TurnOnToaster.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/TurnOnToasterOven/20260324_205349_turn-on-toaster-oven_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=4; actual_retained_waypoints=4; keep_counts={0: 2,... | 2,334 | 23 | 18 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 4 | 63 | 4 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Turn on the toaster oven by setting the timer. | TurnOnToasterOven | true | 431,509 | videos/compressed/63_TurnOnToasterOven.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/TurnSinkSpout/20260324_205350_turn-sink-spout_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=2; actual_retained_waypoints=2; keep_counts={0: 2}
from pr... | 1,949 | 21 | 16 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 2 | 64 | 2 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Turn the sink spout to the left. | TurnSinkSpout | true | 270,248 | videos/compressed/64_TurnSinkSpout.mp4 |
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